CAN bus test system and test method

Abstract

The present invention discloses a CAN bus testing system, comprising: a host computer, an analyzer, an electronic control unit, an adjustable power supply, and a temperature control box. The host computer is configured to send control instructions to the analyzer; the analyzer is configured to send a first communication message to the CAN bus for transmission based on the control instructions; the adjustable power supply is configured to control the power supply voltage of the electronic control unit; the electronic control unit is configured to send a second communication message to the CAN bus for transmission at the power supply voltage output by the adjustable power supply; and the temperature control box is configured to control the ambient temperature of the CAN bus. By combining CAN bus stress testing with environmental testing, the present invention improves the coverage of CAN bus testing under actual operating conditions, providing comprehensive testing.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a CAN bus testing system and a testing method. Background Art

[0002] With the development of automotive electronics, the number of electronic control units (ECUs) in vehicles continues to increase. The need for information exchange between ECUs has driven the rapid development of automotive CAN bus technology. With the widespread application of CAN bus technology in various fields, the development and testing methods of CAN bus are becoming increasingly important.

[0003] CAN bus testing is generally divided into single-node testing and bus system testing. Bus system testing primarily verifies the integrity and correctness of system operation, communication robustness, electrical robustness, and fault tolerance and self-recovery capabilities. On the one hand, these tests are cumbersome and highly specialized, hindering widespread adoption. On the other hand, these tests are primarily conducted under laboratory conditions, failing to cover the complex operating conditions encountered in actual use, resulting in incomplete test results.

[0004] In summary, there is an urgent need for a CAN bus testing technology to solve the problems existing in the above-mentioned existing technologies. Summary of the Invention

[0005] Since the prior art has the above problems, the present invention proposes a CAN bus testing system and a testing method to solve the above problems.

[0006] In a first aspect, the present invention provides a CAN bus test system, comprising a host computer, an analyzer, an electronic control unit, an adjustable power supply, and a temperature control box; wherein,

[0007] The host computer is used to send control instructions to the analyzer;

[0008] The analyzer is used to send a first communication message to the CAN bus for transmission according to the control instruction;

[0009] The adjustable power supply is used to control the supply voltage of the electronic control unit;

[0010] The electronic control unit is used to send a second communication message to the CAN bus for transmission under the supply voltage output by the adjustable power supply;

[0011] The temperature control box is used to control the ambient temperature of the CAN bus.

[0012] Furthermore, the first communication message is a short-cycle message frame; the host computer is also used to determine the control instruction based on the communication message transmission status on the CAN bus and / or the CAN communication protocol; the analyzer is also used to determine the period of the short-cycle message frame based on the control instruction.

[0013] Furthermore, the temperature control box is also used to control the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit; the adjustable power supply is also used to control the supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit.

[0014] Furthermore, the short-cycle message frame transmission mode includes at least one of a fixed frame ID and a fixed frame data combination, an incremental frame ID and a fixed frame data combination, a fixed frame ID and an incremental frame data combination, and an incremental frame ID and an incremental frame data combination.

[0015] Furthermore, the temperature control box selects N temperature values from the operating temperature range as test values of the ambient temperature of the CAN bus according to a first preset rule; the adjustable power supply selects M voltage values from the operating voltage range as test values of the power supply voltage of the electronic control unit according to a second preset rule; wherein M and N are positive integers;

[0016] The first preset rule is that the test value of the ambient temperature of the CAN bus includes at least the limit value and the normal value of the operating temperature of the electronic control unit; the second preset rule is that the test value of the power supply voltage of the electronic control unit includes at least the limit value and the normal value of the operating voltage of the electronic control unit.

[0017] Furthermore, the temperature control box selects the maximum value, minimum value and normal temperature value in the operating temperature range of the electronic control unit as the test value of the ambient temperature of the CAN bus; the adjustable power supply selects the maximum value, minimum value and normal pressure value in the operating voltage range of the electronic control unit as the test value of the power supply voltage of the electronic control unit.

[0018] In a second aspect, the present invention further provides a CAN bus testing method based on the above-mentioned CAN bus testing system. Specifically, the method comprises:

[0019] The host computer sends control instructions to the analyzer;

[0020] The analyzer sends a first communication message to the CAN bus for transmission according to the control instruction;

[0021] The adjustable power supply controls the supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit;

[0022] The temperature control box controls the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit;

[0023] The electronic control unit sends a second communication message to the CAN bus for transmission at the power supply voltage output by the adjustable power supply and the ambient temperature controlled by the temperature control box;

[0024] It is determined whether the second communication message and the electronic control unit are abnormal. If abnormal, the test result is determined to be abnormal; otherwise, the test result is determined to be normal.

[0025] Furthermore, the temperature control box selects N temperatures from the operating temperature range of the electronic control unit as test values of the ambient temperature of the CAN bus according to a first preset rule; the adjustable power supply selects M voltages from the operating voltage range of the electronic control unit as test values of the supply voltage of the CAN bus according to a second preset rule;

[0026] The first preset rule is that the test value of the ambient temperature of the CAN bus includes at least the limit value and the normal value of the operating temperature of the electronic control unit; the second preset rule is that the test value of the power supply voltage of the electronic control unit includes at least the limit value and the normal value of the operating voltage of the electronic control unit.

[0027] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned CAN bus testing method when executing the program.

[0028] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above-mentioned CAN bus testing method when executed by a processor.

[0029] The CAN bus testing system and method provided by the present invention rapidly implement CAN bus testing by connecting an analyzer to the CAN bus and combining it with environmental testing equipment. This system is simple to operate and improves testing efficiency. By combining CAN bus stress testing with environmental testing, the CAN bus test covers actual operating conditions more comprehensively. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is a block diagram of the main architecture of the CAN bus test system provided by the present invention;

[0032] Figure 2 A schematic diagram of a CAN bus test system provided by the present invention;

[0033] Figure 3 A schematic diagram of a method flow of a CAN bus testing method provided by the present invention;

[0034] Figure 4 This is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0035] The following embodiments of the present invention are further described in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0036] Figure 1 The main structure block diagram of a CAN bus test system provided by the present invention is shown, including a host computer 100, an analyzer 200, an electronic control unit 300, an adjustable power supply 400 and a temperature control box 500.

[0037] The host computer 100 is used to send control instructions to the analyzer 200 .

[0038] The analyzer 200 is configured to send a first communication message to the CAN bus for transmission according to a control instruction.

[0039] In this embodiment, the first communication message is a short-cycle message frame.

[0040] The host computer is also used to determine control instructions according to the communication message transmission status on the CAN bus or the CAN communication protocol.

[0041] The analyzer is further used to determine the period of the short-cycle message frame based on the control instruction.

[0042] In this embodiment, by continuously sending short-period message frames to the CAN bus through a CAN analyzer, the stability, fault tolerance, and robustness of the CAN bus, as well as implicit timing issues within the electronic control unit, can be quickly assessed, while also reversely evaluating the rationality of the CAN communication protocol. Short-period message frames include, but are not limited to, the following frame formats: standard data frame, standard remote frame, extended data frame, and extended remote frame. It should be noted that short-period message frames are in the tens of millions.

[0043] In a possible implementation, by checking the CAN communication protocol corresponding to the CAN bus, the shortest period in all message frames is found as the sending period of the CAN bus test system.

[0044] In another possible implementation, message data of the CAN bus is received for a period of time, and the shortest sending cycle is found as the sending cycle of the CAN bus test system.

[0045] For example, message frames with a cycle time of 10 ms to 50 ms are used.

[0046] Specifically, the short-cycle message frame transmission method includes at least one of a fixed frame ID and a fixed frame data combination, an incremental frame ID and a fixed frame data combination, a fixed frame ID and an incremental frame data combination, or an incremental frame ID and an incremental frame data combination.

[0047] The short-cycle message frame period determined by the CAN bus communication message transmission situation or the CAN communication protocol is realistic, avoiding excessive testing or incomplete testing. By sending a large number of short-cycle message frames to the CAN bus, the CAN bus load rate is increased to achieve the purpose of CAN bus stress testing.

[0048] Furthermore, the adjustable power supply 400 is further configured to control the supply voltage of the electronic control unit 300 according to the operating voltage range of the electronic control unit 300 .

[0049] The electronic control unit 300 is used to send the second communication message to the CAN bus for transmission under the power supply voltage output by the adjustable power supply 400.

[0050] The temperature control box 500 is further used to control the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit 300.

[0051] Specifically, the temperature control box selects N temperatures from the operating temperature range of the electronic control unit as test values for the ambient temperature of the CAN bus according to a first preset rule. The first preset rule stipulates that the test values for the ambient temperature of the CAN bus include at least the limit value and the normal value of the operating temperature of the electronic control unit 300.

[0052] For example, when the operating temperature range of the electronic control unit is -20℃ to 60℃, five temperatures of -20℃, 0℃, 20℃, 40℃ and 60℃ are selected as test values, among which -20℃ and 60℃ are the limit values of the operating temperature of the electronic control unit, and 40℃ is the normal value of the operating temperature of the electronic control unit.

[0053] Furthermore, the adjustable power supply selects M voltages from the operating voltage range of the electronic control unit as the supply voltage for testing the CAN bus according to a second preset rule. The second preset rule is that the test value of the supply voltage of the electronic control unit 300 includes at least the limit value and the normal value of the operating voltage of the electronic control unit 300.

[0054] For example, when the operating voltage range of the electronic control unit is 5V to 36V, four voltages of 5V, 12V, 18V, and 36V are selected as test values, among which 5V and 36V are the limit values of the operating voltage of the electronic control unit, and 12V is the normal value of the operating voltage of the electronic control unit.

[0055] It should be noted that the larger M or N is, the more accurate the test result is.

[0056] The N temperature values and M voltage values selected above can form an N×M temperature-voltage matrix. In this way, by combining the CAN bus stress test with the environmental test, the degree to which the CAN bus test covers actual working conditions is improved, and the test is comprehensive.

[0057] It should be noted that Figure 1 This is only an example of the system architecture of an embodiment of the present invention, and the present invention does not make any specific limitation to this.

[0058] Furthermore, Figure 2 A schematic diagram of a CAN bus test system provided by an embodiment of the present invention is shown, which includes a host computer, a CAN analyzer, an electronic control unit, an adjustable power supply, and a temperature control box.

[0059] from Figure 2 As can be seen in the figure, one end of the CAN analyzer is connected to the host computer, and the other end is connected to CAN_H and CAN_L through two CAN buses.

[0060] One end of the electronic control unit is connected to the adjustable power supply, and the other end is connected to CAN_H and CAN_L through two CAN buses.

[0061] The host computer is used to send control instructions to the CAN analyzer. The CAN analyzer can be a CAN transmitter, P-CAN or other terminal equipment with CAN data transmission and reception, which is not specifically limited in the present invention.

[0062] The CAN analyzer 200 is used to send a first communication message to the CAN bus for transmission.

[0063] Furthermore, the host computer is further configured to determine control instructions based on the communication message transmission status on the CAN bus or the CAN communication protocol. The CAN analyzer is further configured to determine the period of the short-cycle message frame based on the control instruction. In this embodiment, the CAN analyzer continuously sends short-cycle message frames to the CAN bus.

[0064] Furthermore, the adjustable power supply is used to control the power supply voltage of the electronic control unit. The adjustable power supply can be controlled by a host computer, which is not specifically limited in the present invention.

[0065] The electronic control unit is used to send a second communication message to the CAN bus for transmission under the supply voltage output by the adjustable power supply.

[0066] The temperature control box is used to control the ambient temperature of the CAN bus.

[0067] Furthermore, the temperature control box is also used to control the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit.

[0068] The adjustable power supply is also used to control the supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit.

[0069] Specifically, the temperature control box selects N temperatures from the operating temperature range of the electronic control unit as the ambient temperature for testing the CAN bus according to a first preset rule.

[0070] Furthermore, the adjustable power supply selects M voltages from the operating voltage range of the electronic control unit as the power supply voltage for testing the CAN bus according to a second preset rule.

[0071] In a possible implementation, for the test value of the environmental file where the CAN bus is located, the temperature control box selects the maximum value, the minimum value and the normal temperature value in the operating temperature range of the electronic control unit respectively.

[0072] For example, when the operating temperature range of the electronic control unit is -40°C to 60°C, three temperatures are selected: -40°C, 25°C, and 60°C.

[0073] In a possible implementation, for the test value of the power supply voltage of the electronic control unit, a maximum value, a minimum value, and a normal voltage value in the operating voltage range of the electronic control unit are selected respectively.

[0074] For example, when the operating voltage range of the ECU is 9V to 36V and the operating voltage of the vehicle system is 24V, the three voltages selected are 9V, 24V, and 36V.

[0075] The three selected temperature and voltage values above form a 3×3 temperature-voltage matrix, as shown in Table 1. Using the nine-point environmental test method, the CAN bus test system is tested at different ambient temperatures and supply voltages, simulating the CAN bus's operating conditions under different operating conditions. This ensures comprehensive testing and improves test efficiency.

[0076] Table 1

[0077] <h2 style=";text-align:left;direction:ltr"><![CDATA[U <h2 style=";text-align:left;direction:ltr"> max <h2 style=";text-align:left;direction:ltr"> (36V)]]><h2 style=";text-align:left;direction:ltr"> U(24V) <![CDATA[U min (9V)]]> Tmax(60℃) 1 2 3 T(25℃) 4 5 6 <![CDATA[T min (-40℃)]]> 7 8 9

[0078] In this way, by combining CAN bus stress testing with environmental testing, the degree to which CAN bus testing covers actual working conditions is improved, and the testing is comprehensive.

[0079] Figure 3 The flow of a CAN bus testing method provided by an embodiment of the present invention is exemplarily shown and can be executed by the above-mentioned CAN bus testing system.

[0080] like Figure 3 As shown in the figure, the process specifically includes:

[0081] Step 301: The host computer sends a control instruction to the analyzer.

[0082] Specifically, one end of the analyzer is connected to the host computer, and the other end is connected to the CAN bus.

[0083] It should be noted that the analyzer may be a CAN transmitter, P-CAN or other terminal device capable of transmitting and receiving CAN data, and the embodiment of the present invention does not specifically limit this.

[0084] Step 302: The analyzer sends a first communication message to the CAN bus for transmission according to the control instruction.

[0085] In the embodiment of the present application, the first communication message is a short-cycle message frame.

[0086] Furthermore, the host computer determines the control instruction according to the communication message transmission status on the CAN bus or the CAN communication protocol.

[0087] Furthermore, the analyzer determines the period of the short-period message frame according to the control instruction.

[0088] In the embodiment of the present invention, short-period message frames are continuously sent to the CAN bus via a CAN analyzer.

[0089] Specifically, short-cycle message frames include but are not limited to the following frame formats:

[0090] Standard data frame, standard remote frame, extended data frame, extended remote frame.

[0091] In a possible implementation, by checking the CAN communication protocol corresponding to the CAN bus, the shortest period in all message frames is found as the sending period of the CAN bus test system.

[0092] In another possible implementation, message data of the CAN bus is received for a period of time, and the shortest sending cycle is found as the sending cycle of the CAN bus test system.

[0093] Specifically, the short-cycle message frame transmission method includes at least one of a fixed frame ID and a fixed frame data combination, an incremental frame ID and a fixed frame data combination, a fixed frame ID and an incremental frame data combination, or an incremental frame ID and an incremental frame data combination.

[0094] The above scheme uses the actual short-cycle message frame period determined by the CAN bus communication message transmission situation or the CAN communication protocol to avoid excessive testing or incomplete testing. By sending a large number of short-cycle message frames to the CAN bus, the CAN bus load rate is increased, achieving the purpose of CAN bus stress testing.

[0095] Step 303: The adjustable power supply controls the supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit.

[0096] Specifically, the adjustable power supply selects M voltages from the operating voltage range of the electronic control unit according to the second preset rule as test values of the power supply voltage of the electronic control unit.

[0097] Step 304: The temperature control box controls the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit.

[0098] Specifically, the temperature control box selects N temperatures from the operating temperature range of the electronic control unit as test values of the ambient temperature of the CAN bus according to a first preset rule.

[0099] Step 305: The electronic control unit sends a second communication message to the CAN bus for transmission under the supply voltage output by the adjustable power supply and the ambient temperature controlled by the temperature control box.

[0100] Step 306 , determining whether the second communication message and the electronic control unit are abnormal. If abnormal, determining that the test result is abnormal; otherwise, determining that the test result is normal.

[0101] Another embodiment of the present invention provides an electronic device, see Figure 4 , the electronic device specifically includes the following contents: a processor 401, a memory 402, a communication interface 403 and a communication bus 404;

[0102] The processor 401, memory 402, and communication interface 403 communicate with each other via the communication bus 404; the communication interface 403 is used to implement information transmission between devices;

[0103] The processor 401 is used to call the computer program in the memory 402. When the processor executes the computer program, all steps of the above-mentioned CAN bus testing method are implemented. For example, when the processor executes the computer program, the following steps are implemented: the host computer sends a control instruction to the analyzer; the analyzer sends a first communication message to the CAN bus for transmission according to the control instruction; the adjustable power supply controls the power supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit; the temperature control box controls the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit; the electronic control unit sends a second communication message to the CAN bus for transmission under the power supply voltage output by the adjustable power supply and the ambient temperature controlled by the temperature control box; it is determined whether the second communication message and the electronic control unit are abnormal. If an abnormality occurs, the test result is determined to be abnormal; otherwise, the test result is determined to be normal.

[0104] Another embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, all the steps of the above-mentioned CAN bus testing method are implemented. For example, when the processor executes the computer program, the following steps are implemented: the host computer sends a control instruction to the analyzer; the analyzer sends a first communication message to the CAN bus for transmission according to the control instruction; the adjustable power supply controls the power supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit; the temperature control box controls the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit; the electronic control unit sends a second communication message to the CAN bus for transmission under the power supply voltage output by the adjustable power supply and the ambient temperature controlled by the temperature control box; it is determined whether the second communication message and the electronic control unit are abnormal. If an abnormality occurs, the test result is determined to be abnormal; otherwise, the test result is determined to be normal.

[0105] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a user life pattern prediction device, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A CAN bus test system, characterized in that: include: Host computer, analyzer, electronic control unit, adjustable power supply and temperature control box; The host computer is used to send control instructions to the analyzer; The analyzer is used to send a first communication message to the CAN bus for transmission according to the control instruction; the first communication message is a short-cycle message frame; The short-cycle message frame transmission mode includes at least one of a fixed frame ID and a fixed frame data combination, an incremental frame ID and a fixed frame data combination, a fixed frame ID and an incremental frame data combination, and an incremental frame ID and an incremental frame data combination; The host computer is further configured to determine the control instruction based on the communication message transmission status on the CAN bus and / or the CAN communication protocol; The analyzer is further configured to determine the period of the short-period message frame according to the control instruction; The adjustable power supply is used to control the supply voltage of the electronic control unit; the adjustable power supply is also used to control the supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit; The electronic control unit is used to send a second communication message to the CAN bus for transmission under the supply voltage output by the adjustable power supply; determine whether the second communication message and the electronic control unit are abnormal, and if abnormal, determine that the test result is abnormal; otherwise, determine that the test result is normal; The temperature control box is used to control the ambient temperature of the CAN bus; the temperature control box is also used to control the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit; the temperature control box selects N temperature values from the operating temperature range as test values of the ambient temperature of the CAN bus according to a first preset rule; the adjustable power supply selects M voltage values from the operating voltage range as test values of the power supply voltage of the electronic control unit according to a second preset rule; wherein M and N are positive integers; the first preset rule is that the test value of the ambient temperature of the CAN bus includes at least the limit value and the normal value of the operating temperature of the electronic control unit; the second preset rule is that the test value of the power supply voltage of the electronic control unit includes at least the limit value and the normal value of the operating voltage of the electronic control unit.

2. The CAN bus test system according to claim 1, characterized in that: The temperature control box selects the maximum value, minimum value and normal temperature value in the operating temperature range of the electronic control unit as the test value of the ambient temperature of the CAN bus; the adjustable power supply selects the maximum value, minimum value and normal pressure value in the operating voltage range of the electronic control unit as the test value of the power supply voltage of the electronic control unit.

3. A CAN bus testing method based on the CAN bus testing system according to claim 1 or 2, characterized in that: include: The host computer sends control instructions to the analyzer; The analyzer sends a first communication message to the CAN bus for transmission according to the control instruction; the first communication message is a short-cycle message frame; The host computer is further configured to determine the control instruction based on the communication message transmission status on the CAN bus and / or the CAN communication protocol; The analyzer is further configured to determine the period of the short-period message frame according to the control instruction; The adjustable power supply controls the supply voltage of the electronic control unit according to the operating voltage range of the electronic control unit; the adjustable power supply selects M voltages from the operating voltage range of the electronic control unit as test values of the supply voltage of the CAN bus according to a second preset rule; The temperature control box controls the ambient temperature of the CAN bus according to the operating temperature range of the electronic control unit; the temperature control box selects N temperatures from the operating temperature range of the electronic control unit as test values of the ambient temperature of the CAN bus according to a first preset rule; the first preset rule stipulates that the test value of the ambient temperature of the CAN bus includes at least a limit value and a normal value of the operating temperature of the electronic control unit; the second preset rule stipulates that the test value of the power supply voltage of the electronic control unit includes at least a limit value and a normal value of the operating voltage of the electronic control unit; The electronic control unit sends a second communication message to the CAN bus for transmission at the power supply voltage output by the adjustable power supply and the ambient temperature controlled by the temperature control box; It is determined whether the second communication message and the electronic control unit are abnormal. If abnormal, the test result is determined to be abnormal; otherwise, the test result is determined to be normal.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to claim 3 are implemented.

5. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 3 are implemented.

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