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

Petrochina Company Limited

Yinghui Li

Wei Zhang

Zhixiang Zhang

Xianming Xu

Fangwei Li

Sunan Deng

Fujian Liu

Xiangju Meng

Xiangmin Yu

Wenpeng Li

Kezhong Xu

Guoquan Song

Fengshou Xiao

Haotian Pei

Qunying Zeng

Haicheng Xiao

Yueman Li

Embodiments of the present disclosure provide a method, apparatus, device, and storage medium for determining a lane where a vehicle is located. In the method, the image lane information of the position where the vehicle is located is determined from a lane line image; actual lane information of a position where the vehicle is located is acquired from existing lane information according to the positioning information of the vehicle; and an actual lane where the vehicle is located is determined based on the image lane information and the actual lane information.

Method, apparatus, device and storage medium for determining lane where vehicle located

The present application discloses an image projection method, apparatus, device and storage medium and relates to the field of intelligent transportation, and the specific implementation thereof is: acquiring a first camera coordinate of an area to be calibrated in a camera coordinate system of an AR camera on a vehicle, where the area to be calibrated is located within a photographing range of the AR camera; acquiring a relative conversion relationship between a first extrinsic parameter matrix of the AR camera and a second extrinsic parameter matrix of a head-up display on the vehicle; determining, according to the first camera coordinate and the relative conversion relationship, a second camera coordinate of a projection symbol corresponding to the area to be calibrated in a coordinate system of the head-up display; and controlling, according to the second camera coordinate, the head-up display to project an image including the projection symbol.

Image projection method, apparatus, device and storage medium

The invention relates to a catalyst for the catalytic esterification and acylation reaction. The catalyst is prepared by the steps of adding a divinyl benzene monomer into a solvent prepared by mixing azobisisobutyronitrile, tetrahydrofuran and water, performing hydrothermal treatment at the normal temperature under the constant pressure, and volatilizing the solvent at the room temperature to obtain polydivinylbenzene; grinding the polydivinylbenzene into 200-mesh powder and performing degassing treatment under the nitrogen condition; adding polydivinylbenzene blocks into 1,1',2-trichloroethane to explode and crack into small blocks, wherein the small blocks swell; evenly mixing 1,1&#x2032;,2-trichloroethane and concentrated sulfuric acid, adding silver sulfate serving as a catalyst, adding processed polydivinylbenzene, performing sulfonation, filtering and washing with dioxane and water till it is neutral, performing drying, using dilute sulphuric acid to activate, performing washing till the it is neutral and performing drying. The catalyst has high catalytic activity and conversion rate.

Use of organic framework porous solid acid

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Beijing, China

Yinghui Li