2718results about How to "Solve technical problems" patented technology

The invention discloses a rotational cutting tool state multiple parameter overall assessment method based on image identification, belonging to the technical field of electronic measurement. The concrete steps are as follows: a reliable and clear cutting tool surface image is obtained by high speed rotational cutting tool transient image capture based on CCD; calculating the abrasion area of the surface of cutting tool by utilizing cutting tool image abrasion zone partition of a support vector machine to assess abrasion degree of cutting tool; performing three-dimensional image reconstruction to cutting points of the cutting tool to obtain most of parameter values reflecting abrasion degree of cutting tool; and extracting textual features of the image on surface of a workpiece to indirectly obtain abrasion degree of cutting tool. The invention aims to realize exact and quantitative digital characterization of abrasion state of the rotational cutting tool by fusing and comparing a plurality of parameters.

The invention provides an Internet teaching method and system for developing teaching activities through the Internet including a wireless communication network, and particularly discloses a method and system capable of recording the Internet teaching process in real time and accurately and efficiently storing the Internet teaching process in a cloud side. The method includes the step of evaluating educational document learning results by students to learn and distinguish learning situations of students of different levels, thereby achieving targeted differential teaching, tutoring, homework doing, exercising and the like and easily improving the learning efficiency and learning effect, especially continuously improving the students at different learning progresses. Furthermore, by means of a data return gateway, a data verification mechanism, a timestamp verification mechanism, an audio and video flow verification mechanism, a data complementary transmitting mechanism, a local fragmentation encrypting, storing and uploading mechanism and other means, recorded data is stored in the cloud side efficiently and accurately.

The invention discloses a safety film with a dynamic three-dimensional effect, which comprises a microlens array layer, a substrate layer and a micro graphic layer. The micro graphic layer comprises at least six micro-graphics; and when the safety film is used, the micro graphic layer is arranged near the focal plane of the microlens array layer. The safety film is characterized in that the central coordinates of each microlens in the microlens array layer are distributed at random in the microlens array layer, and the microlenses in the microlens array layer correspond to the micro-graphics in the micro graphic layer. Due the use of the Moore amplification technology and the microlenses, the invention realizes multiple unique visual effects, reduces the process flow, and can be directly manufactured on the PET, PMMA, PC and other organic film materials in addition to ultraviolet imprinting. Moreover, the safety film has high performance.

This invention discloses a fluorine-containing polymer and its application as ion exchange fiber material. The fluorine-containing polymer is a perfluoro resin containing sulfonylfluoride groups, and is shown in formula 1. The fluorine-containing polymer has ion exchange function, and is prepared by free radical copolymerization of perfluorosulfonyl vinyl ether, tetrafluoroethylene and hexafluoropropylene in the presence of dispersant, solvent and initiator. The dispersant / solvent is mixed solution of melamine derivative containing linear perfluoro hydrocarbon and water. The fluorine-containing polymer can be melt-spun into polymer fibers, which can be woven into fiber network that can be used as the reinforcing network material for ion exchange membranes and chlor-alkali ion membrane to reinforce and improve the ion exchange ability.

The invention provides an upstream multiple access method combined with orthogonal multiple access and nonorthogonal multiple access, comprising the steps as follows: a base station performing orthogonal partition to a band width resource of a multiple access channel according to channel state information and business requirement of K users in the coverage range thereof to obtain L orthogonal sub-channels of the multiple access channel; performing nonorthogonal partition to each orthogonal sub-channel to obtain one or a plurality of sub-layer channels, the base station determining a transmission mode of each user according to channel state information, business requirement, bandwidth and power resource partitioning condition of the multiple access channel of K users in the coverage range thereof and respectively and correspondingly transmitting to each user; performing coded modulation to information bits of the transmission mode by each user to obtain a transmitting signal with the information bits, and outputting to the multiple access channel. The upstream multiple access method combined with orthogonal multiple access and nonorthogonal multiple access of the invention reduces distance of multi-user united reachable rate upper bound and theoretical cycle, and reduces receiving delay and improves error spread to reduce realizing complexity.

The invention discloses a mobile terminal network key negotiation method based on a bock chain. The mobile terminal network comprises a plurality of nodes, the node information of the nodes is stored in the form of blocks, a plurality of blocks form a bock chain, the block data in the bock chain are the node information of the nodes, and the node information at least comprises a public session key. The method comprises the following steps: searching the public session keys of the nodes in the bock chain; and obtaining session keys among the nodes according to the public session keys to perform communication. According to the mobile terminal network key negotiation method disclosed by the invention, the bock chain can be regarded as a credible node of a consensus mechanism, and the user in the mobile terminal network participates in the key negotiation according to the features of the bock chain without depending on a credible third party.

The invention belongs to the building support component technology field including the stress automatic control and monitoring as well as the structural safety, and relates to a steel tube supporting internal force automatic compensating and displacement controlling system. The system comprises an upper system, a PLC control system module and a field executive system. A steel support is arranged on a reinforced concrete diaphragm wall, a hydraulic jack is arranged on the steel support, and real time pressure monitoring values are fed back through a pressure sensor. The steel support and the hydraulic jack form a pre-stressed steel support structure, the hydraulic jack is connected with a hydraulic pump station through an oil circuit, and is connected with the PLC control system module through the pressure sensor, the hydraulic pump station is connected with the PLC control system module, and a PLC controlling device is connected with the upper system. Through auto-control software and a PLC control system, the automatic control to the axial force of the steel support is realized, thereby controlling the displacement and the settlement of the deep excavation supporting structure and the adjacent basic facilities.

The invention relates to the field of touch virtual control, in particular to a touch screen virtual unit control method and mobile terminal. A center control area, an inner control area and an outer control area are arranged on a touch screen. The method includes the steps of detecting touch positions and / or touch gestures on the touch screen; triggering corresponding operating instructions according to the control area where the touch positions is located and / or moving paths of the touch gestures on the control area. According to the touch screen virtual unit control method and mobile terminal, the center control area, the inner control area and the outer control area are arranged and a virtual joystick is integrated in the center control area and is moved to different areas to complete a single or combined operation, so that the complexity of the virtual joystick is greatly simplified, the convenience and quickness of the control of virtual characters in a game of a mobile intelligent device, the technical problem is solved, and convenient, efficient, fast, smooth and easy operation control effects are met for a user.

The invention discloses a cloud platform based electric automobile path planning method. The method comprises steps as follows: the deployment conditions of charging piles of the entire network as well as traveling data of an electric automobile are collected through a cloud platform in real time, the traveling path data of the automobile are calculated by a vehicle navigation system, reasonable traveling paths, such as a path with the shortest traveling time, a path with the shortest traveling distance and a path recommended by the cloud platform, of the electric automobile are planned in advance according to the use saturation degree of the charging piles, the path recommended by the cloud platform is selected on the basis of shorter increased time, shorter detouring distance and preferable use of the charging piles with low saturation degree, then the cloud platform sends the paths to a user, and the user selects one path according to individual demand and reserves the corresponding charging pile through the cloud platform. According to the method, the reasonable traveling path can be planned for the electric automobile, the difficulty of finding the charging piles for the electric automobile is reduced, and the utilization rate of the charging piles of the entire network is effectively balanced.

The invention provides uplink / downlink scheduling information transmitting and receiving methods and a device. The downlink scheduling information transmitting method includes determining a first downlink subframe in a downlink subframe on a second carrier, and defining a subframe at the moment, corresponding to that of the first downlink subframe, on a first carrier as an uplink subframe; transmitting downlink scheduling information corresponding to the first downlink subframe on the second carrier to a terminal on a fifth downlink subframe on the first carrier; and leading the moment corresponding to the fifth downlink subframe to be prior to the moment corresponding to the first downlink subframe. The uplink scheduling information transmitting method includes determining a first uplink subframe in an uplink subframe on the second carrier; transmitting uplink scheduling information corresponding to the first uplink subframe on the second carrier to the terminal on a sixth downlink subframe of the first carrier; and leading the moment corresponding to the sixth downlink subframe to be prior to that of the first uplink subframe. The purpose of uplink and downlink scheduling is realized by the aid of the first carrier and the second carrier which carry a PDCCH (physical downlink control channel).

The invention discloses a startup control method and a startup control system of an electric vehicle, and the electric vehicle having the same. The system comprises a power battery, a positive pole contactor, a prefilled contactor, a prefilled resistor, a negative pole contactor, a storage battery, a vehicle management system (VMS), a DC / DC converter, a relay and a battery management system (BMS). The DC / DC converter is used for powering the storage battery and the VMS after performing conversion according to the voltage of the storage battery; the relay is used for controlling the DC / DC converter; the BMS is used for controlling the contactors to be closed when the storage battery is in lack of power and converting the voltage of the power battery into a low voltage control signal to control the relay to be closed, to enable the DC / DC converter to work. According to the system disclosed by the embodiment of the invention, when the storage battery is in lack of power, the voltage between the positive pole and the negative pole of the power battery is acquired and converted into the low voltage control signal to control the positive pole contactor, the prefilled contactor and the negative pole contactor to be closed, the DC / DC converter is activated, low-voltage electrical appliances of the vehicle are guaranteed to perform normal work, and the problem of static current of the vehicle is effectively solved.

A architectural engineering area technology controllable a well lamination construction, including: (1) falls water well use two section or more strainer designs, in the diving water-bearing stratum and the bearing pressure water-bearing stratum has the strainer separately; (2) in the well, between the diving water-bearing stratum and in bearing pressure water-bearing stratum's section of well tubes installs stops the water installment controllably; when (3) tenth well constructs, outside between well tube's wall and the opening wall, the diving water-bearing stratum and the bearing pressure water-bearing stratum's aquiclude place establishment stops the water section; when (4) precipitation construction, carries on the diving unwater precipitation first, when in has the dangerous depth which structure excavation to the confined water produces wells up suddenly, opens in the well to stop the water installment, the extraction confined water, and may continue to the diving water-bearing stratum to carry on the unwater precipitation; In the pump process, in the well stops the water installment to open repeatedly and to close, realizes to the precipitation level, the precipitation process, the precipitation degree control. This invention uses a well to solve the diving unwater and the confined water voltage dropping or the unwater question.

The invention discloses a control method and device of an air conditioner. The air conditioner comprises a compressor, an indoor fan and an outdoor fan. The method comprises the steps that indoor environment temperature T1 is detected; the set temperature Ts of the air conditioner is obtained, and the temperature difference [delta]T= T1-Ts between the indoor environment temperature T1 and the set temperature Ts is computed; according to the temperature difference delta T, the air conditioner is controlled to go into corresponding working modes, wherein the working modes comprise an energy-saving mode, a pure-comfort mode and a mode integrated with energy saving and comfort. According to the method, during the whole air conditioner operation process, an operation mode determined by a pre-designed function module is selected completely depending on the indoor environment temperature sensed by the air conditioner according to the difference value between the indoor environment temperature and the set temperature; accordingly, the energy saving performance and the comfort of the air conditioner are achieved; user experience is improved.

The application discloses a man-machine interaction method and device based on artificial intelligence; the method comprises the following steps: forming multi-dimensional structured analysis results according to historical interaction information between a preset analysis strategy and a user and present multi-mode input information; using characteristic resources of a plurality of dialogue sources to obtain a plurality of results matched with the analysis results; determining the multi-mode output information matched with the multi-mode input information from the plurality of results according to a preset screening strategy, and pushing same to the user. The man-machine interaction method and device can improve dialogue content richness, thus satisfying user customized, interest and intellectual dialogue demands.

The invention provides a voice wake-up method and device based on artificial intelligence, and computer equipment. The method comprises steps that windowing enframing operation of online recorded voice is carried out to acquire at least one voice frame; characteristic extraction of the voice frame is carried out to acquire voice characteristics; a voice wake-up model based on the convolutional neural network is utilized to carry out calculation of the static voice characteristics contained in the voice frame, and posterior probabilities of the static voice characteristics contained in the voice frame corresponding to a non-wake-up word class and a wake-up word class are acquired; if the posterior probability of the static voice characteristics contained in the voice frame corresponding to the wake-up word class is greater than a pre-determined threshold, the online recorded voice is determined to contain wake-up words. The method is advantaged in that parameter quantities of the voice wake-up model based on the convolutional neural model can be effectively reduced, so the operand reduction effect is realized, and the voice wake-up effect can be improved.

The invention discloses a router accessing method for communication equipment and an accessing system. The router accessing method for the communication equipment comprises that a router obtains accessing password information requiring accessing to the router and router identification information identifying the identity of the router; the accessing password information and the router identification information of the accessed router are packaged into a non-encryption portion of a data package and the data package is broadcasted in a broadcasting mode; the communication equipment monitors under a self-supporting sniffer mode, analyzes the data package when the data package broadcasted by the router is monitored, extracts the non-encryption portion in the data package and obtains the router identification information and the accessing password information for routing the router; the received router identification information and the accessing password information are packaged into an access request to be sent to the router to perform access authentication. The router accessing method for the communication equipment can improve the accessing success rate of the communication equipment accessing the router.

The invention relates to a key technical scheme for promoting thermal insulation and material mechanical performances of aerated concrete, which belongs to the building envelope insulation technical field. The invention promotes the performances of the aerated concrete in two steps to facilitate the concrete to be capable of satisfying the requirements of the national construction energy saving (50-80 percent) standard: the first step is to improve the thermal insulation performance until the stem thermal conductivity coefficient is smaller than or equal to 0.05W / (m question mark K); the second step is to strengthen the material mechanical performance until the cube compressive strength is larger than or equal to 3.5MPa and larger than or equal to 2.0MPa after 100 times of freeze-thaw. The first step includes: firstly, minimizing the density of the aerated concrete; secondly, maximizing the porosity; thirdly, optimizing the pore structure. The second step includes: firstly, enhancing additive; secondly, strengthening fibers; thirdly, optimizing the coordination; fourthly, optimizing the mixing process; fifthly, improving the maintenance method (including CO2, variable pressure steam nourishing, middle temperature and high humidity and strength agent surface maintenance).

The invention discloses a method for improving sheet quality by increasing retention of a filler calcium carbonate in a sheet, belonging to the technical field of tobacco sheets. The method adopts thefollowing technical measures: (1) selecting nonsphericity as the grain shape of the calcium carbonate through an electron microscope; (2) controlling the granularity between 125 meshes and 400 meshes; (3) ensuring the addition of the filler calcium carbonate to be 7-12% of the total weight of mixed slurry; (4) adding guar gum accounting for 0.04-0.2% of the total weight of the mixed slurry into the slurry to serve as a retention aid; and (5) adding an anion catcher accounting for 0.1-0.8% of the total weight of the mixed slurry into the slurry. The method features effective measures and obvious generated technical effects, solves the technical problems and can improve the retention of the filler calcium carbonate in the sheet and the sheet quality.

The invention discloses a preparation method of a composite heat conduction graphene membrane and the composite heat conduction graphene film. The preparation method comprises the following steps: S1, putting crystalline flake graphite or graphite powder into a mixed solution of concentrated sulfuric acid, potassium persulfate and phosphorus pentoxide, soaking for a day and a night, then carrying out suction filtration, drying, and carrying out pre-oxidizing; S2, oxidizing pre-oxidized graphite further by adopting a Hummers method, that is, oxidizing fully in concentrated sulfuric acid and potassium permanganate, then adding deionized water for diluting, and carrying out repeated washing and suction filtration, so as to obtain an oxidized graphene aqueous solution; S3, spraying the oxidized graphene aqueous solution on a substrate by adopting a thermal spray method, and depositing, so as to obtain an oxidized graphene film; S4, reducing the oxidized graphene film, so as to obtain the graphene film; and S5, laminating the graphene film, so as to obtain the composite heat conduction graphene film. Compared with the prior art, the preparation method is simple, the cost is low, and the prepared composite heat conduction graphene film has a favorable heat conduction performance.

The invention discloses a method of using intelligent glasses for vehicle maintenance, which belongs to the field of vehicle maintenance and aims at solving the technical problem that as intelligent glasses can not be used for vehicle maintenance, intelligence is not high. According to the technical points, the method comprises a step of head pose recognition on the intelligent glasses for vehicle maintenance, a step of sharing of other equipment data for vehicle maintenance by the intelligent glasses, a step of vehicle remote maintenance support by the intelligent glasses, a step of using of an intelligent glass touch board during the vehicle maintenance process, and a step of hand gesture recognition by the intelligent glasses during the vehicle maintenance process. The method of the invention has the advantages that applications of the intelligent glasses in the vehicle maintenance field can be realized.

The invention is concerned with the electricity surge protector with proper motion monitoring, includes the SPD body, the signal collector, the processer and the memory cell, there into, the memory cell on the in or outside of the processer can protect the standard configuration of the SPD; the processer, connecting the signal convertor to process the SPD state from the collector to obtain the operating state data, and it can compare the data and the standard configuration with the advanced designed information, at the last, to analyze the result and give remain to the users and / or control the action of the SPD.

The invention discloses a material distribution method. The material distribution method includes the following steps that distribution nodes, distribution paths, distribution modes and a packaging rule are set for achieving distribution modeling; information of a BOM structure and a material supplier is acquired, and then basic conditions required for material decomposition are formed; material decomposition is conducted according to distribution modeling information and the preset packaging rule; decomposed material requirements are assembled, in-plant or out-plant distribution bills are acquired, and the materials are distributed through a warehouse or the material supplier. By the adoption of the method, the complexity of an existing distribution system is lowered, the stability and the timeliness of the system are improved, real-time decomposition and real-time distribution (JIT) of the materials are achieved, and the requirements for material pull type distribution in multi-variety, small-batch and mixed flow production in modern discrete manufacturing are met.

The application provides a train slipping or idling detection method and device. The method comprising: acquiring a measured speed value detected by an axle sensor, and obtaining a filtered measured speed value; calculating a predicted speed value; estimating a first speed difference ratio according to the predicted speed value and the filtered measured speed value; acquiring a radar speed measurement value obtained by a Doppler radar, and obtaining a filtered radar speed measurement value; acquiring a measured acceleration value obtained by an acceleration sensor; calculating a theoretical speed value; calculating an average speed value of the filtered radar speed measurement value and the theoretical speed value, and calculating a second speed difference ratio according to the estimatedspeed value and the average speed value; calculating a difference ratio between the first speed difference value and the second speed difference ratio; and judging whether the train slips or idles based on the difference ratio and the running state of the train. The method can improve the detection accuracy and then improve the speed compensation accuracy.

The invention provides a three-dimensional magnetic flux leakage inspection and defect compound inversion imaging method. The method comprises the following steps: selecting an imaging area from a pipeline to be detected; scanning the pipeline to be detected to obtain a final three-dimensional magnetic flux leakage field detecting value; analyzing the three-dimensional magnetic flux leakage field detecting value according to the principal component analysis to obtain actual eigenvalue vectors corresponding to a plurality of eigenvalues; determining the opening outline of a defect, and building a three-dimensional outline strip model of the defect; building a forward radial basis function nerve network model; inputting an initial depth vector into the forward radial basis function nerve network model to obtain forecasted eigenvalue vectors corresponding to the eigenvalues; if the difference between the actual eigenvalue vectors and the forecasted eigenvalue vectors is smaller than an error threshold, carrying out inversion imaging, otherwise, modifying the initial depth vector, and continuing iterative operation till the difference between the actual eigenvalue vectors and the forecasted eigenvalue vectors is smaller than or equal to the error threshold. The method is more targeted and good in stability, is helpful to reduce the calculated amount and improves the imaging precision.

The invention discloses an updating method of vehicle-mounted ECU (Electronic Control Unit) software, which comprises the steps of receiving an update instruction sent by an operating terminal; acquiring update date corresponding to the vehicle-mounted ECU software according to the update instruction; determining a target vehicle through a VIN (vehicle identification number); sending the update data to the target vehicle, and updating the vehicle-mounted ECU software through a vehicle-mounted terminal. The updating method disclosed by the embodiment of the invention has high adaptability and high reliability, and can effectively improve the update efficiency of the remote vehicle-mounted ECU software. In addition, the maintenance cost of the system is reduced, and the use experience of users is improved. The invention further discloses an updating system of the vehicle-mounted ECU software.

The invention provides a safety early warning method during running of vehicles on the freeway and a system. The method comprises steps of detecting the running speed of a basic vehicle and the running speed of the back vehicle via a radar speed detection device installed over a lane, wherein the basic vehicle and the back vehicle are on the same lane; detecting vehicle distance between the basic vehicle and the back vehicle via a high-definition video installed over the lane, obtaining image information and determining license plate information according to the high-definition camera; determining the safe vehicle distance threshold between the basic vehicle and the back vehicle; judging whether the vehicle distance is smaller than the safe vehicle distance threshold or not; and if the vehicle distance is smaller than the safe vehicle distance threshold, displaying first early warning information and the license plate information by use of a variable information plate installed over the lane. According to the invention, it can be achieved that following distance of vehicles can be detected, whether one vehicle is very close to another vehicle can be judged, and distance too-close early warnings can be given to follower drivers; traffic accident rate is reduced; and traffic safety level is increased.

The invention discloses a mobile terminal self-organizing network positioning method based on a blockchain. A mobile terminal network comprises multiple nodes, node information of the nodes is stored in the form of blocks, multiple blocks form a blockchain, block data in the blockchain is the node information of the nodes, and the node information at least includes the relative location information of adjacent nodes. The method comprises the following steps: searching the relative location information of the adjacent nodes in the blockchain; and acquiring a relative location among the nodes and the relative location in the blockchain according to the relative location information of the adjacent nodes in the blockchain. According to the mobile terminal self-organizing network positioning method disclosed by the invention, the blocks in the blockchain can be regarded as trusted nodes of a consensus mechanism, and users in the mobile terminal network can accurately position the own location information in a communication network without relying on a trusted third party in case of no GPS signals or weak GPS signals according to the characteristics of the blockchain.

The invention discloses a light-free T-shaped stitch for embroidery and an embroidering method. At least three layers of embroidering stitches are embroidered from top to bottom on the front face of an embroidered cloth through an embroidering needle and an embroidering thread, wherein each layer of embroidering stitches is formed by adjacently arranging a group of T-shaped embroidering stitch units with stitches having approximately the same length on the front face of the embroidered cloth; when any T-shaped embroidering stitch unit serves as a standard, the tightly adjacent T-shaped embroidering stitch units around the T-shaped embroidering stitch unit are arranged at angles; the lengths of needle feet of the T-shaped embroidering stitch units in each layer of embroidering stitches aregradually reduced from top to bottom; the stitch of the T-shaped embroidering stitch units consists of first needle feet and second needle feet; the first needle feet and the second needle feet are arranged in a shape of 'T' on the front face of the embroidered cloth; an included angle between the first needle feet and the second needle feet is in a range of between 60 and 90 degrees in the shapeof 'T'; and the ratio of the length of the first needle feet to the length of the second needle feet is in a range of between 1:0.7 and 1:1.3. The problem that faces and limbs of characters reflect light because of inherent thread light and thread textures of silk threads is solved through the T-shaped stitch and the embroidering method, so breakthrough and innovation are made in Suzhou (a province in China) embroidery in the embroidering method for portraits.

The invention discloses a logistics vehicle dispatching system. The logistics vehicle dispatching system comprises an on-board terminal, which is disposed on the logistics vehicles, and is used to record the operation states, the vehicle information, and the vehicle authentication information of the logistics vehicles; a server, which is used for the management of the logistics vehicles according to the operation states, the vehicle information, and the vehicle authentication information of the logistics vehicles transmitted by the on-board terminal, and is used to receive the transport orders required by the users; and a dispatching center, which is used for the monitoring and the dispatching of the logistics vehicles managed by the server according to the transport orders, and can be used to transmit dispatching instruction to the corresponding logistics vehicle by the on-board terminal. The logistics vehicle dispatching system is advantageous in that the server can be used to manage the logistics vehicles according to the states of the logistics vehicles, the vehicle information, and the vehicle authentication information transmitted by the on-board terminal, and can be used to receive the transport orders, and then the dispatching center can be used for the monitoring and the dispatching, and can be used to transmit the dispatching instructions by the on-board terminal, and therefore the fast response to the changes of the transport demands can be realized, and the use is simple and fast.

The invention provides a methodanddevicefor controlling a self-driving vehicle, a computer device, and a storage medium. The method for controlling the self-driving vehicle comprises the steps that a current steering wheel angle,a current vehicle speed, and a current yaw velocity of the vehicle are obtained; the current steering wheel angle is correctedaccording to a pre-stored firstcorrection deviation coefficient and second correction deviation coefficient obtained in a previous periodto generate a corrected steering wheel angle, and the corrected steering wheel angle and the current vehicle speed are inputted into a preset vehicle dynamics model to obtain an estimated yaw velocity; the current yaw velocity and a first yaw velocity deviation value of the estimated yaw velocity are processed to obtain the first correction deviation coefficient and the second correction deviation coefficient of the current period to correct a target steering wheel angle, and driving is performed according to the target steering wheel angle after correction. By correcting the target steering wheel angle in real time, the yaw velocity generated by the vehicle is close to a desired yaw velocity, and lateral control precision of the vehicle is improved.