China Petroleum & Chemical Corporation

Sinopec Research Institute of Petroleum Engineering

Apollo Intelligent Driving Technology (beijing) Co., Ltd.

Sinopec Petroleum Engineering Technology Research Institute Co., Ltd.

Xiaohua Yang

Lin Wang

Yongxue Lin

Fan Yang

Sheng Shuang Li

Haibo Wang

Jian He

Zhoujun Li

Xiaoqiang Dong

Xianguang Wang

Jing Li

Chen Chen

Shuang Zhang

Ning Yu

Haifeng Li

Junping Wang

Yan Feng

Wenlong Rao

Xuan Huang

Xiong Li

Shi Hu

Gao Yu

Changming Su

Mengmeng Tang

Wanqi Chai

Suli Zhao

Jiafen Li

Liwei Ren

Zhifa Wang

Guichuan Liu

Bingzhong Shi

Junbin Jin

Xiuzhen Han

Jianwu Zhen

Long Chai

Xiaolin Qian

A method and an apparatus for controlling an autonomous vehicle are provided according to the embodiments of the disclosure. The method includes: sending, in response to determining that a pedestrian is in a first target area, behavior prompt information representing prompting the pedestrian to make a corresponding behavior; determining whether a deceleration condition matching the behavior prompt information is satisfied based on acquired behavior information of the pedestrian; and sending control information for reducing a moving speed of the autonomous vehicle, in response to determining that the deceleration condition is satisfied and determining that a speed of the autonomous vehicle is greater than a preset deceleration threshold. According to the embodiments, deceleration control of the autonomous vehicle is achieved based on the response of the pedestrian to the behavior prompt information.

Method and apparatus for controlling autonomous vehicle

A random copolymer, a preparation method of the random copolymer, a drilling fluid containing the random copolymer. The random copolymer contains structural unit (A) represented by formula (1), structural unit (B) represented by formula (2), structural unit (C) represented by formula (3), and structural unit (D) represented by formula (4) or (5): wherein X is halogen. When the random copolymer is used as a filter loss reducer in a high-calcium drilling fluid, the filter loss of the high-calcium drilling fluid can be reduced.

Random copolymer and preparation method thereof, and drilling fluid

A maleamic acid monomer, and a preparation method and a use of the maleamic acid monomer. The structural formula of the monomer is as follows: formula (1), wherein, R is selected from The maleamic acid monomer provided in the present invention may be used as a comonomer to prepare temperature-tolerant and calcium salt-tolerant polymers.

Maleamic acid monomer and preparation method and use thereof

A composition and use thereof are disclosed herein. The composition comprises at least two selected from the group of amphiphilic block copolymer, polyurethane and acidic ionic compound. Also an oil-based drilling fluid comprising the composition and a method improving shearing force of oil-based drilling fluid are disclosed. The composition disclosed herewith can raise the shearing force of oil-based drilling fluid.

Composition and use therof, oil-based drilling fluid and a method for raising shearing force of oil-based drilling fluid

The present invention provides a filtration control agent and a drilling fluid containing the same. The filtration control agent comprises the product obtained from the reaction of water, lignite, aldehyde and sulfonate polymer at 180-220&#xb0; C. and the units containing sulfonate groups in the molecular chains of sulfonate polymer are at least 30 wt %. The filtration control agent provided by the present invention features a good filtration loss reduction effect and a low viscosity effect and can improve the rheological behavior of the drilling fluid, thereby meeting the requirements of the drilling of deep wells, ultra-deep wells and ultra high pressure formations.

Filtration control agent and a drilling fluid containing the same

A copolymer and preparation method and application thereof are disclosed. The copolymer is random copolymer obtained from monomers consisting of acrylamide, acrylic acid, alkenyl sulfonate, 2-acrylamido-dodecyl sulfonate, p-styrene sulfonate or isoprene sulfonate and so on. The copolymer of present invention can be used as fluid loss additive and has good fluid loss properties, which would not make the drilling fluid thicken at high temperature of 200&#xb0; C. and high salt conditions of saturated brine. It has a medium-pressure fluid loss after aging and rolling for 16 h at high temperature of 200&#xb0; C., as measured in accordance with the American Petroleum Institute Standard Test at room temperature, and has good properties of high temperature-resisting and salt-resisting.

Copolymer and preparation method and application thereof

Growing community of inventors

Beijing, China

Xiaohua Yang