109results about How to "Safe driving" patented technology

The invention discloses a road adhesion coefficient estimation method and system for an electric vehicle, and relates to the technical field of electric vehicles, and the method comprises the steps: constructing a seven-degree-of-freedom model of a distributed driving electric vehicle; based on a Dugoff tire model, determining a nonlinear relationship among a vehicle motion state, a road adhesion coefficient and tire force, and fitting to obtain normalized tire longitudinal and lateral forces; judging a current working condition according to a vehicle driving state, constructing a longitudinal working condition model and a transverse and longitudinal coupling working condition model, calculating model matching probabilities of different working conditions based on a Bayesian method, and estimating a road adhesion coefficient; introducing an adaptive square root cubature Kalman filtering algorithm, and designing an adaptive strategy based on observed quantity residual sum of squares and a sliding window method to estimate a road adhesion coefficient; and model estimation results are fused through weighted average to obtain a road adhesion coefficient estimation value, so that the road adhesion coefficient can be accurately estimated according to the dynamic information of the vehicle under different driving conditions, and the stability and safety of the vehicle are improved.

The invention provides a distributed electric vehicle steering stability early warning method, device, equipment and medium, and relates to the technical field of vehicle steering stability monitoring, the method comprises the following steps: building a digital twin model, realizing comprehensive mapping of a physical entity and a virtual entity, using CarSim and MATLAB / Simulink joint simulation platform, fusing multi-source data, and realizing early warning of the steering stability of a distributed electric vehicle. And the accuracy and reliability of the model are improved. Specifically, an LSTM neural network algorithm is adopted, key operation parameters of a vehicle are monitored and analyzed in real time, the maximum side slip angle and the yaw velocity are predicted, and therefore potential steering stability faults are warned in advance. Through comparison with real-time data acquired by a vehicle sensor, the system can accurately evaluate the driving state of the vehicle, and early warning is given out in time when abnormity is detected, so that a driver is reminded to take corresponding measures.

The invention relates to a tunnel ponding early warning method and device, computer equipment and a storage medium. The method comprises the steps that at least two first flow detection units are arranged at an inlet and an outlet of a tunnel, at least one second flow detection unit is arranged at a water outlet of the tunnel, local water accumulation threshold values of a plurality of water accumulation sensitive areas are determined based on historical water accumulation data, and the local water accumulation threshold values are arranged according to the threshold values to obtain a threshold value distribution sequence; dividing the threshold distribution sequence into a first sequence and a second sequence based on a preset proportion, and determining a first global threshold by a local ponding threshold at the boundary of the first sequence and the second sequence; calculating the inlet and outlet flow difference according to the first flow data and the second flow data, and further determining the water accumulation amount; and adjusting a second global threshold value according to the ponding risk index, and starting a corresponding risk early warning strategy when the ponding amount exceeds the first global threshold value or the second global threshold value. Low-cost and high-precision tunnel ponding monitoring is realized based on simplified sensing data, and the safety of tunnel passage is improved.

The invention discloses an intelligent emergency control system of an arrangement ship steering oar, and belongs to the technical field of arrangement ship steering oar control. An intelligent emergency control system of an arrangement ship steering oar comprises a main control module, a steering oar driving module and a steering oar control module. The problem that in the prior art, when a main steering system breaks down, a ship is prone to being out of control, colliding or other safety accidents are caused is solved, the steering oar driving module is used for conducting driving operation on the arrangement ship steering oar in an emergency mode, the state of the arrangement ship steering oar is monitored in real time, and the safety of the arrangement ship steering oar is improved. When potential problems and fault trends exist in the arrangement ship steering oar, a control instruction of the arrangement ship steering oar is adjusted so as to ensure safe operation of the arrangement ship steering oar, quick response can be made and an emergency mode can be started in emergency, dangerous situations such as out-of-control of the ship can be effectively avoided, remote monitoring and management can be achieved, and the safety of the arrangement ship steering oar is improved. Safety and management efficiency of the ship are improved, and safe driving of the ship is effectively guaranteed.

The invention discloses an intelligent electric vehicle driving state safety estimation method under network attacks, and relates to automobile intelligent safety and automatic driving. Firstly, a three-degree-of-freedom dynamic model of the intelligent electric vehicle is established, the model comprehensively considers transverse, longitudinal and yaw dynamic characteristics of the vehicle, and accurate description is provided for subsequent state estimation. And designing an attack signal and state security estimation method based on an adaptive tolerance extended Kalman filtering algorithm. According to the method, the real-time and accurate estimation of the vehicle state is realized by fusing the information of various sensors such as GPS, LiDAR, IMU and the like, and malicious data introduced due to network attack can be effectively eliminated. Meanwhile, the method also has the capability of tolerating non-ideal network environments such as sensor data packet loss and the like, and the safety and reliability of the self-driving automobile are further enhanced. The intelligent electric vehicle can still maintain accurate driving state estimation when subjected to network attack, and safe driving of the vehicle is ensured.

The invention relates to the technical field of new energy automobile batteries, and particularly discloses a new energy battery health state monitoring method and system based on big data analysis, and the method comprises the steps: collecting historical performance parameters of a battery to which a new energy automobile belongs, and carrying out the big data analysis of a performance comprehensive evaluation value of the battery to which the new energy automobile belongs; therefore, the performance reference set of the battery to which the new energy automobile belongs is obtained through matching, a scientific data basis is provided for continuously monitoring the performance of the battery to which the new energy automobile belongs, and the performance stability index of the battery to which the new energy automobile belongs is evaluated by monitoring the actual operation condition of the new energy automobile. Therefore, the performance reference set of the battery to which the new energy automobile belongs is updated in time, the health state of the new energy battery can be continuously and accurately fed back, the safety and stability of the battery to which the new energy automobile belongs and even the running of the new energy automobile are powerfully guaranteed, and a solid guarantee is provided for safe running of the new energy automobile.

The invention discloses a driving behavior specification method and system based on a complex scene, a medium and equipment, and relates to the technical field of vehicle safety management and control. The method comprises the following steps: acquiring driving data and environment data of various drivers in real time; identifying and analyzing the driving data by using the behavior model to obtain a driving behavior evaluation result; generating a corresponding intervention decision according to a driving behavior evaluation result, classifying non-standard driving behaviors into self-factor influence behaviors and environmental factor influence behaviors, performing correction analysis on the self-factor influence behaviors to generate an internal cause intervention decision, extracting environmental data when the environmental factor influence behaviors occur, and determining the internal cause intervention decision according to the extracted environmental data. Generating an external cause intervention decision by combining the environment data on the environment factor influence behavior; and performing behavioral standard correction and continuous test on the driver by using the intervention decision. According to the invention, various driving behaviors of the driver can be identified in real time in a complex driving scene, and non-standard driving behaviors are effectively corrected through targeted continuous intervention.

The invention relates to the technical field of transportation management systems, and discloses an underground auxiliary transportation system based on vehicle-road cooperative localization, which comprises a data acquisition unit, a data processing unit, a data analysis unit, a data transmission unit, a barrier gate control unit and a vehicle-mounted control unit. Corresponding control signals are generated according to different conditions, safe driving of vehicles and orderly passing of roadways are effectively guaranteed, traffic signal lamps and vehicle-mounted warning lamps are controlled through the barrier gate control unit and the vehicle-mounted control unit respectively, intuitive and clear instructions are provided for drivers, the risk of accidents is reduced, and the traffic safety is improved. For a narrow one-way roadway, a reasonable locking function and a priority entry analysis mechanism are set, conflicts and congestion of vehicles in a narrow space are avoided, transportation safety and high efficiency under special conditions are ensured, and adaptability and flexibility of the system are improved.

The invention relates to an intelligent crossing early warning protection system, which comprises a central monitoring system, a crossing control terminal, an area acquisition terminal and a vehicle-mounted terminal, and is characterized in that the crossing control terminal acquires crossing information and wirelessly transmits the crossing information to the vehicle-mounted terminal, and the vehicle-mounted terminal wirelessly transmits the information to the crossing control terminal and the central monitoring system; the central monitoring system is in wired transmission with the crossing control terminal, and the area acquisition terminal acquires field equipment information and transmits the field equipment information to the crossing control terminal; the vehicle-mounted terminal is arranged on a locomotive cab operation table, a virtual electronic fence is arranged, when a crossing alarm is given, if a vehicle or a pedestrian invades the electronic fence, automatic grabbing is carried out, an early warning prompt signal is sent out, and a locomotive driver monitors the crossing state in real time; according to the invention, the crossing equipment state and the crossing video information are mastered in real time, the safety early warning and protection of the unattended crossing are realized, and the traffic safety of the crossing is comprehensively ensured.

The utility model discloses a dual-motor driving system which comprises a first motor and a second motor which are vertically arranged, the first motor and the second motor are close to each other, motor shafts of the first motor and the second motor are arranged in a back-to-back mode, and the motor shaft of the first motor is in transmission connection with a first output shaft through a first transmission assembly. A motor shaft of the second motor is in transmission connection with a second output shaft through a second transmission assembly, the first output shaft and the second output shaft are coaxial, and the distance between the first output shaft and the motor shaft of the first motor is equal to the distance between the second output shaft and the motor shaft of the second motor. The utility model has the advantages that: the layout is reasonable, the radial arrangement of the first motor and the second motor can greatly reduce the axial size, reduce the occupied arrangement space of the chassis structure, and can give consideration to the dynamic property and economical efficiency of the whole vehicle to the greatest extent. According to the design, the requirement for the space of the whole vehicle is low, and wide applicability is achieved.

The invention relates to a vehicle speed limiting method and device, electronic equipment and a readable storage medium. The method comprises the steps that a target position corresponding to a target speed limiting board and a first speed limiting value are determined; determining a speed limit interval according to the target position and the first speed limit value; and if the vehicle is located in the speed limiting interval, speed limiting operation is executed on the vehicle according to the first speed limiting value. Through detection of the target speed limit board, clear road speed limit requirements are achieved, then the first speed limit value meeting the speed limit requirements is obtained, and speed limit operation is performed on the vehicle through the first speed limit value, so that the running speed of the vehicle meets the road requirements, and safe driving of the vehicle is guaranteed.

The invention discloses an electric transport vehicle which comprises an operation unit, the operation unit comprises a speed operation unit and a direction operation unit, the speed operation unit is used for inputting a speed instruction, and the direction operation unit is used for inputting a direction instruction; the control unit sends a corresponding walking instruction according to the speed instruction and the direction instruction; the power unit executes a walking instruction; wherein the control unit further detects whether the operation unit completes the specified action or not when receiving the change of the direction instruction within the preset time, and sends a corresponding walking instruction to the power unit according to the latest direction instruction after detecting that the operation unit completes the specified action, otherwise, the control unit sends a parking instruction. According to the invention, the danger caused by changing the walking direction due to multiple times of misoperation of an operator in the walking process of the electric transport vehicle can be avoided, and the driving safety of the electric transport vehicle is improved.

The invention relates to a lane line detection result post-processing method used under fuzzy and shielding conditions, and the method comprises the steps: U1, inputting the collected image data information of a road into an image semantic segmentation model, carrying out the semantic segmentation of an image, and obtaining the data information of a semantic segmentation result of a lane line of the road; and U2, based on the data information of the semantic segmentation result of the lane line of the road, performing connected domain processing on the semantic segmentation result of each lane line by adopting an area threshold algorithm based on a sine and cosine operator to obtain data information of a connected domain of each lane line. According to the method, the problems that when the segmentation result of a certain lane line is broken due to the reasons such as fuzzy and shielding of the lane line, if no processing is added, multiple lane lines can be fitted, so that the output of the lane lines is inaccurate, and the use of planning is influenced can be solved, the fitting accuracy of the lane lines is high, and the efficiency is high. And safe driving of the automatic driving vehicle is ensured.

The utility model relates to a drum brake of a bicycle, a wheel assembly and the bicycle. The drum brake has a braking state and a non-braking state and comprises a drum brake disc arranged on a wheel of the bicycle and provided with a first side and a second side which are opposite to each other; the brake rocker arm is rotatably arranged on the first side of the drum brake disc and faces upwards; the leading shoe is rotatably arranged on the second side of the drum brake disc; the slave shoe is rotatably arranged on the second side of the drum brake disc; the cam is arranged on the second side of the drum brake disc and connected with the brake rocker arm, the cam comprises a first matching surface and a second matching surface which are deviated from each other, in a non-brake state, the first matching surface is in contact with the leading shoe, the second matching surface is in contact with the trailing shoe, and a first distance is formed between the first matching surface and a rotating shaft of the cam; and a second distance is formed between the second matching surface and the rotating shaft of the cam, and the first distance is greater than the second distance, so that the leading shoe is contacted with a lining on a wheel earlier than the trailing shoe in a braking state.

This utility model discloses a nighttime driving safety enhancement device at the nose of a highway, belonging to the field of highway traffic safety technology. This utility model uses nighttime vision guidance components deployed on the mainline and ramp guardrails in a designated area to continuously guide drivers in anticipating changes in traffic flow, preventing sudden accidents. Illuminated warning components behind the small nose point alert drivers to entering critical areas, while reflective guide components in front help predict road direction. Warm yellow and pure white guidance lights are respectively installed on the left and right sides to help determine road boundaries, with continuous lighting guiding the driver's line of sight along the road. A segmented guidance system is adopted: constant illumination at long distances provides stable guidance, flashing at medium distances enhances warnings, and constant illumination at close distances reduces visual fatigue. This effectively solves the problem of unstable visibility and warning effects of existing devices in the nose area at night and in low-visibility environments, and ensures guidance effectiveness under adverse conditions through a combination of active and passive illumination.

The invention discloses a large-reflection-area streaming media anti-dazzle inside rear-view mirror and an anti-dazzle installation structure.The large-reflection-area streaming media anti-dazzle inside rear-view mirror comprises mirror frames and the anti-dazzle installation structure.The mirror frames are installed in an automobile in an anti-dazzle mode through the anti-dazzle installation structure.Firstly, an existing integrated automobile inside rear-view mirror is installed through two independent mirror frames; the two mirror frames are combined to form a complete inside rear-view mirror structure, the independent inside rear-view mirror is automatically adjusted through an internal photosensitive sensor to avoid natural anti-dazzle, then anti-dazzle installation of the inside rear-view mirror in a vehicle is conducted through an anti-dazzle installation structure, and when a rear camera receives abnormal illumination, the inside rear-view mirror can be automatically adjusted through the anti-dazzle installation structure. The carry push rod carries to push the two parallel mirror frames to deflect, the mirror surfaces deflected by a certain angle prevent sudden brightness change of the display screens installed in the mirror frames from causing glare influence on a driver, in addition, the situation that the brightness difference in the two mirror frames is large to influence driving can be avoided, and safe driving of a vehicle is guaranteed.

The invention belongs to the field of vehicles, and discloses an obstacle recognition method for automatic parking. The method comprises the steps that an automatic parking starting instruction of a user and a target parking space are received, and a to-be-parked vehicle is controlled to stop running; determining an automatic parking route of the to-be-parked vehicle based on the current position of the to-be-parked vehicle, the target parking space, a pre-trained image recognition processing model and a visual sensor calibration algorithm; according to the automatic parking route, the vehicle to be parked is controlled to run, and the running direction and the steering direction are obtained; according to the driving direction and the steering direction, target image acquisition equipment of the read to-be-parked vehicle is determined, and image data acquired by the target image acquisition equipment is read; and according to the image data, an image recognition processing model and a visual sensor calibration algorithm, recognizing a dynamic obstacle in the automatic parking route. By adopting the method, the obstacle identification can be performed while the calculation load and the resource consumption are reduced, and the automatic parking safety is ensured.

This specification discloses a method and device for obstacle detection, which obtains point cloud data and image data corresponding to a designated device at the current moment. For each first obstacle involved in the image data, the similarity between the first obstacle and each obstacle involved in the point cloud data is determined as the first similarity, and for each second obstacle involved in the point cloud data, the similarity between the second obstacle and each obstacle involved in the image data is determined as the second similarity. Then, based on the determined first similarity and second similarity, a first matching result between each obstacle involved in the image data and each obstacle involved in the point cloud data is determined. Finally, based on the first matching result, obstacles located around the designated device at the current moment are detected. This method can improve the accuracy of obstacle matching, thereby making the obstacle detection result more accurate and reasonable.

The embodiment of the invention provides an intelligent driving control method and system, a gateway controller and a vehicle, and particularly relates to the technical field of intelligent driving, in the embodiment of the invention, the gateway controller sends received sensing data sent by a sensing sensor to a cloud server after detecting that an intelligent driving domain controller breaks down; the cloud server generates a vehicle control instruction based on the received sensing data and a pre-deployed backup intelligent driving domain controller, and sends the vehicle control instruction to a gateway controller; after receiving the vehicle control instruction, the gateway controller sends the vehicle control instruction to the actuator; the actuator executes the vehicle control instruction. The local intelligent driving domain controller of the vehicle is backed up by using the cloud server, and the vehicle does not need to realize hardware backup of the intelligent domain controller, so that the hardware cost of the vehicle is reduced.

The present invention relates to the field of autonomous driving, and in particular to a collision detection method, device, electronic device and storage medium for a vehicle autonomous driving system. The method comprises: obtaining a first target position frame diagram corresponding to a target vehicle in a target coordinate system; obtaining a second target position corresponding to each vertex in a target obstacle in the target coordinate system; detecting whether a line between any two adjacent second target positions intersects with the first target position frame diagram; when a line between any two adjacent second target positions intersects with the first target position frame diagram, determining that a collision occurs between the target vehicle and the target obstacle. The above method does not simplify the shape and size of the target obstacle, thereby ensuring the accuracy of the shape and size of the target obstacle determined according to the second target position corresponding to each vertex in the target obstacle. In addition, the accuracy of the result of the collision between the target vehicle and the target obstacle can be ensured.

The invention provides a double-pull-rod center valve type hydraulic brake master cylinder which comprises a cylinder body, a primary piston, a secondary piston, a center valve type device and the like. The center valve type device has the advantages that the center valve type device is high in response speed, the flow direction of brake fluid can be rapidly switched, and the instant braking requirement is met; all parts are tightly matched, stability is good, and braking force is uniform and stable; the sealing spring has small elasticity to avoid damage to the fourth sealing ring and ensure the system reliability; the spring seat and the valve seat are special in structure, so that stable work of the return spring and the pull rod and balanced circulation of brake fluid are facilitated; the connection of the primary piston and the push rod and the annular groove design of the secondary piston provide guarantee for the normal operation of the braking system. In conclusion, the patent technology effectively improves the performance and reliability of the hydraulic brake master cylinder, and provides important guarantee for safe driving of an automobile.

The application discloses a minimum risk control method of an automatic driving vehicle and the automatic driving vehicle, relates to the field of automatic driving vehicle control, and acquires distance information detected by a ranging module; determines a second coordinate of a target obstacle according to the distance information, a first coordinate of the ranging module in a preset reference coordinate system, so as to determine a second moving speed of the target obstacle in combination with a first moving speed of the automatic driving vehicle; determines a predicted collision time according to the second coordinate, the second moving speed and a preset collision prediction strategy, finally determines a risk level of the target obstacle to the automatic driving vehicle, and controls the automatic driving vehicle to perform an operation corresponding to the risk level. According to the scheme, the risk level of the target obstacle to the automatic driving vehicle is more accurately determined from three dimensions of the predicted collision time, the coordinate and the moving speed of the target obstacle, so that the automatic driving vehicle performs the operation corresponding to the risk level, and the effectiveness and reliability of the minimum risk control scheme are improved.

The utility model provides an outdoor anti-freezing ground, relates to the field of ground anti-freezing, and adopts the technical scheme that the outdoor anti-freezing ground comprises a base layer, an upper base layer is arranged at the upper part of the base layer, a heating coil is arranged on the upper base layer, a surface layer is arranged at the upper part of the upper base layer, and two ends of the heating coil are communicated with an indoor heating pipeline through valves. According to the utility model, ground temperature can be raised through heating, formation of a snow accumulation layer and icing of surface accumulated water are avoided, a good anti-freezing effect is achieved, and safe driving of a tested vehicle is ensured.

The invention provides a parent-child entertainment intelligent cabin system and a control method thereof. An HMI system can realize baby entertainment mode switching, baby entertainment mode setting items and baby entertainment mode pop-up prompt, a multimedia system can adjust the volume, a sound box sound area and sound area use, and a baby entertainment mode APP can control entering and exiting of a baby entertainment mode; according to the intelligent cabin system, different hardware configuration differences and different signal sources can be considered, control, playing and display of vehicle types with different configurations are achieved, rich audio and video entertainment programs such as children songs, animations, histories, stories and science popularization are provided for children, entertainment programs can be provided under the condition that safe driving is guaranteed, and the driving safety is improved. And meanwhile, investment and test verification brought by differential development of software of different vehicle types and different configurations can be reduced, and multiple vehicle types can be carried at the same time through one-time development and verification.

The invention relates to the field of automobile tire central inflation and deflation systems, and particularly discloses a real-time tire pressure monitoring electric tire valve assembly which comprises an air pressure monitoring device, a tire pressure control device and a tire pressure control device. The air injection device is used for injecting air into the tire when the air pressure in the tire is lower than a preset value; the gas injection device comprises a protective shell which is mounted on a hub of a tire and is used for forming a mounting cavity; the pump body part is arranged in the mounting cavity; the conveying pipe is used for forming a first connecting part connected with the output end of the pump body piece and a second connecting part communicated with an air passage connector of a tire; the control piece is used for controlling the opening and closing state of the second connecting part; wherein the protective shell is arranged in the middle of a hub of the tire; and a port for communicating the input end of the pump body piece with the external environment is formed in the middle of the protective shell. The air pressure monitoring device obtains the air pressure in the tire in real time, the air pressure in the tire is controlled in real time, and safe driving of the tire is better guaranteed through real-time tire pressure monitoring and adjustment.

The present invention relates to the technical field of bank slope protection, and discloses a bank slope protection device and method for waterway maintenance engineering, including a floating board arranged on one side of a bank protection dam, a pedal fixedly connected to the upper surface of the bank protection dam, a first connecting line fixedly connected to the upper surface of the floating board, and one end of the first connecting line passes through the pedal and extends to be arranged above the pedal, and one end of the first connecting line located above the pedal is fixedly connected to a first unidirectional drive connection assembly. The present invention, by arranging a floating board, can absorb the energy of water waves to reduce the energy of water waves, reduce the erosion of water waves on the bank protection dam, and protect the bank protection dam. At the same time, when the floating board moves downward, the energy of water waves can be converted into electrical energy for storage through the floating board, and by arranging a light bar, electrical energy can be used to power the light bar at night, so that the light bar provides lighting for the bank protection dam of the waterway, ensuring safe driving of the waterway.

The present invention discloses an autonomous mapping method, system, device and storage medium for an unmanned vehicle. The method comprises: obtaining laser radar data, and constructing a current real-time grid map based on the laser radar data; extracting a plurality of boundaries from the current real-time grid map, and calculating a cost value of each boundary; storing the boundaries and the cost values ​​in a candidate boundary array; taking the centroid of the boundary with the smallest cost value in the candidate boundary array as an initial frontier target point; based on the initial frontier target point, using a frontier target generation algorithm based on a fixed window to generate a new target point; judging whether the new target point has a collision risk, and if so, using a temporary target point production algorithm considering collision safety to generate a temporary target point, and using the temporary target point as a new target point; if not, using a path planning algorithm to drive the unmanned vehicle to navigate to the new target point; during the operation of the unmanned vehicle, repeating the above steps until there is no boundary in the map, thereby completing the autonomous mapping.

The invention provides a construction method for reinforcing a soil body through microorganisms. The construction method comprises the following steps that the soil body is paved layer by layer; measuring the natural moisture content and the optimal moisture content of the soil body; obtaining a soil body permeability coefficient, and determining the infiltration speed and required time of the moisture and the microorganism slurry in the soil body according to the soil body permeability coefficient; according to the difference value of the natural moisture content and the optimal moisture content of the soil body and the total amount of the soil body, the total amount of moisture needing to be supplemented for achieving the optimal moisture content of the soil body is calculated; determining the water required to be supplemented for averagely distributing each layer of soil body and the spraying times of the microorganism slurry required by each layer of soil body; according to the permeability coefficient of the soil body, calculating the infiltration time of the microorganism slurry per unit hydraulic gradient in the soil body; after permeation of the microorganism slurry is completed, the soil body is rolled, the compaction degree of the soil body is detected, and then a water filling test and a cutting ring test are conducted on the soil body; after it is detected that the design requirement is met, the next layer of soil body is paved; and repeating the steps until the soil body reaches the designed elevation and size.

The invention discloses a road recognition method and device, equipment and a storage medium, and belongs to the field of intelligent driving. The problem that a vehicle cannot effectively recognize a road boundary can be solved. The method comprises the following steps: acquiring a first point cloud and a second point cloud of a road within a preset range around a vehicle through a first point cloud acquisition device and a second point cloud acquisition device; performing point pair matching on the data of each frame of the first point cloud and the second point cloud to obtain a distance deviation value of the first point cloud and the second point cloud; determining a reflecting surface normal vector angle of the first point cloud; and determining the pavement condition of the road according to the normal vector angle of the reflecting surface and the change characteristics of the distance deviation value.

This invention provides a vehicle field of view expansion display method, device, vehicle, and storage medium. The method is applicable to the vehicle control center in a vehicle vision assistance system. The vehicle vision assistance system also includes a field of view acquisition device and a field of view display device connected to the vehicle control center. The field of view acquisition device is installed on the vehicle and located in the vehicle's blind spot. The method includes: real-time acquisition of the vehicle's speed, system resource information, the field of view display resolution of the field of view display device, and the field of view image sent by the field of view acquisition device; determining the display frame rate of the field of view image based on the vehicle speed, system resource information, and field of view display resolution; and sending the field of view image to the field of view display device for display at the specified frame rate. This method of expanding the driver's field of view by installing a field of view acquisition device in the vehicle effectively eliminates the driver's blind spot, thereby ensuring safe driving.