Object detection is becoming increasingly critical in autonomous driving. However, the accuracy and effectiveness of object detectors are often constrained by the obscuration of object features and details in adverse weather conditions. Therefore, this paper presented the DAN-YOLO vehicle object detector specifically designed for driving conditions in adverse weather. Building on the YOLOv7-Tiny network, SPP was replaced with SPPF, resulting in the SPPFCSPC structure, which enhances processing speed. The concept of Hybrid Dilated Convolution (HDC) was also introduced to improve the SPPFCSPC and ELAN-T structures, expanding the network’s receptive field (RF) while maintaining a lightweight design. Furthermore, an efficient multi-scale attention (EMA) mechanism was introduced to enhance the effectiveness of feature fusion. Finally, the Wise-IoUv1 loss function was employed as a replacement for CIoU to enhance the localization accuracy of the bounding box (bbox) and the convergence speed of the model. With an input size of 640 × 640, the DAN-YOLO algorithm proposed in this study achieved an increase in mAP0.5 values of 3.4% and 6.3% compared to the YOLOv7-Tiny algorithm in the BDD100K and DAWN benchmark tests, respectively, while achieving real-time detection (142.86 FPS). When compared with other state-of-the-art detectors, it reports better trade-off in terms of detection accuracy and speed under adverse driving conditions, indicating the suitability for autonomous driving applications.

This study investigates the evolution mechanisms and electrochemical corrosion behavior of laser-welded joints (WJs) between 6063 and 6082 dissimilar aluminum alloys under varying welding powers. The analysis focused on the microstructure of the weld metal zone (WMZ), its grain boundary (GB) features, and its electrochemical corrosion properties. Data from the experiments indicate that a higher laser power (LP) leads to an increase in grain size within the WMZ. At an LP of 1750 W, the weld surface exhibits the poorest corrosion resistance, while other parameters show a relatively better resistance. Additionally, electron backscatter diffraction tests indicate that the high-angle GB fraction on the 6063-T6 side of the heat-affected zone exhibits a substantially reduced measurement compared to the 6082-T6 side. The corrosion form in the WMZ is intergranular, with energy-dispersive spectroscopy (EDS) scans revealing that the poor corrosion resistance is primarily due to the presence of a large amount of Mg₂Si phase.

Lane detection is a key technology in automatic driving environment perception, and its accuracy directly affects vehicle positioning, path planning, and driving safety. In this study, an enhanced real-time model for lane detection based on an improved DeepLabV3+ architecture is proposed to address the challenges posed by complex dynamic backgrounds and blurred road boundaries in suburban road scenarios. To address the lack of feature correlation in the traditional Atrous Spatial Pyramid Pooling (ASPP) module of the DeepLabV3+ model, we propose an improved LC-DenseASPP module. First, inspired by DenseASPP, the number of dilated convolution layers is reduced from six to three by adopting a dense connection to enhance feature reuse, significantly reducing computational complexity. Second, the convolutional block attention module (CBAM) attention mechanism is embedded after the LC-DenseASPP dilated convolution operation. This effectively improves the model’s ability to focus on key features through the adaptive refinement of channel and spatial attention features. Finally, an image-pooling operation is introduced in the last layer of the LC-DenseASPP to further enhance the ability to capture global context information. DySample is introduced to replace bilinear upsampling in the decoder, ensuring model performance while reducing computational resource consumption. The experimental results show that the model achieves a good balance between segmentation accuracy and computational efficiency, with a mean intersection over union (mIoU) of 95.48% and an inference speed of 128 frames per second (FPS). Additionally, a new lane-detection dataset, SubLane, is constructed to fill the gap in the research field of lane detection in suburban road scenarios.

Mandatory lane-changing in complex driving scenarios poses significant challenges for autonomous driving systems due to complex vehicle interactions and strict safety requirements. Existing methods often rely on handcrafted rules or extensive expert demonstrations, which increase data collection costs and provide limited safety guarantees during learning. To address these issues, this paper proposes a rule-guided reinforcement learning framework for lane-changing policy optimization. A lightweight rule-based controller is employed to generate initial experience, guiding the training of an improved Distributional Soft Actor–Critic with Three Refinements (DSAC-T), while a safety-aware constraint controller filters high-risk actions to ensure stable and safe learning. The proposed method is evaluated in Regular Lane Change and Lane Merging scenarios under mixed traffic composed of aggressive and conservative vehicles within a simulation environment. Simulation results show that although lane-changing success rates decrease as traffic aggressiveness increases, the proposed method consistently outperforms SAC and TD3. Notably, under highly aggressive traffic conditions with an aggressiveness ratio of 0.7, the proposed approach improves the success rate by 17.13% compared to SAC and by 10.49% compared to TD3, demonstrating superior robustness and safety in complex, high-conflict lane-changing scenarios. The present study is conducted solely in simulation and requires further validation before application to real-world traffic environments.