Vehicle safety promises to be one of the Advanced Driver Assistance System (ADAS) biggest benefits. Higher levels of automation remove the human driver from the chain of events that can lead to a crash. Sensors play an influential role in vehicle driving as well as in ADAS by helping the driver to watch the vehicle’s surroundings for safe driving. Thus, the driving load is drastically reduced from steering as well as accelerating and braking for long-term driving. The baseline for the development of future intelligent vehicles relies even more on the fusion of data from surrounding sensors such as Camera, Lidar and Radar. These sensors not only need to perceive in clear weather but also need to detect accurately adverse weather and illumination conditions. Otherwise, a small error could have an incalculable impact on ADAS. As most of the current study is based on indoor or static testing. In order to solve this problem, this paper designs a series of dynamic test cases with the help of outdoor rain and intelligent lightning simulation facilities to make the sensor application scenarios more realistic. As a result, the effect of rainfall and illumination on sensor perception performance is investigated. As speculated, the performance of all automotive sensors is degraded by adverse environmental factors, but their behaviour is not identical. Future work on sensor model development and sensor information fusion should therefore take this into account.

Road marking recognition is of great importance for the deployment of automated driving systems and for already existing driver line-keeping assistance systems. For proper and reliable function of machine vision systems that include LiDAR and camera, road markings must be visible to them to facilitate planning of driving trajectory. In this study, LiDAR intensity and the number of LiDAR points collected from a field analysis of two road markings systems reflectorised with premium and standard glass beads were analysed. In the lateral direction, it was demonstrated that the use of premium glass beads for road markings lead to 56% higher LiDAR intensity and 14% more LiDAR points captured than in case of standard road markings. In the longitudinal direction, premium road markings showed less distance attenuation, which is seen as advantageous for trajectory planning by machine version systems. The outcomes of this study offer insights for road infrastructure decision-makers, developers of automated driving systems, and researchers in the field of transportation technology.

Abstract：Objective: To compare the effects of fermentation on the chemical composition of Gastrodia Tuder Halimasch Powder, and to provide a basis for the processing, processing and clinical application of this medicinal material. Methods: UHPLC-Q-Orbitrap HRMS was used to identify compound structure by comparing excimer ions, characteristic fragment ions and reference substances, and referring to relevant literature and database search. The main differential components were screened by orthogonal partial least squares-discriminant analysis (OPLS-DA), and the differential components were quantitatively studied by high performance liquid chromatography, and the differences in the types and contents of chemical components before and after fermentation were compared. Results: A total of 77 compounds were identified or preliminarily derived after fermentation, including 21 terpenes, 18 organic acids, 9 flavonoids, 7 nucleosides, 6 amides, 4 amino acids, 2 pyrrolidone derivatives, 2 sterols, 2 alkaloids and 6 others.Through high performance liquid chromatography, it was found that the content of daidzein genistein and ergosterol was significantly increased after fermentation, and a new component ergosterol was produced. Compared with Gastrodia Tuder Halimasch Powder before fermentation, the content of genistin and other components was significantly reduced, and there may be a process of genistin conversion to genistein.Conclusion: The fermentation process will have a certain influence on the types and contents of the chemical components of Gastrodia Tuder Halimasch Powder, and ergosterol, genistein and .daidzein may be the main pharmacodynamic components, which can provide a useful reference for the clinical rational application, quality control and mechanism of action of Gastrodia Tuder Halimasch Powder.