Vehicle positioning method and device, computer device and storage medium

Abstract

The application relates to a vehicle positioning method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring wheel speed encoder resolution, a first speed ratio, a second speed ratio, a wheel rolling radius of each wheel of a vehicle, and a pulse signal detected by a wheel speed sensor within a preset time period, wherein the first speed ratio refers to the speed ratio of a half shaft gear and a wheel speed sensor meshing gear, and the second speed ratio refers to a wheel speed sensor coupling speed ratio; determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel; calculating the displacement generated by the vehicle within the preset time period, and calculating the position of the vehicle at the terminal moment corresponding to the preset time period according to the displacement. The method can improve the accuracy of vehicle positioning.

Description

Technical Field

[0001] This application relates to the field of autonomous vehicle technology, and in particular to a vehicle positioning method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the development of autonomous driving technology, vehicle positioning technology within this field is also constantly improving. To ensure the safety of autonomous flatbed trucks or drive-by-wire vehicles operating in ports, the accuracy of their positioning is paramount. Currently, these vehicles use GPS signals for positioning. However, when GPS signals are blocked by surrounding objects, the vehicles may be unable to receive them, resulting in inaccurate positioning. Summary of the Invention

[0003] Therefore, it is necessary to provide a vehicle positioning method, device, computer equipment, computer-readable storage medium, and computer program product to address the aforementioned technical problems.

[0004] Firstly, this application provides a vehicle positioning method. The method includes:

[0005] The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period are obtained for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0006] The wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0007] Calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0008] In one embodiment, the pulse signal includes an A-phase pulse signal and a B-phase pulse signal; accordingly, the wheel speed of each wheel is determined based on the wheel speed encoder resolution, a first speed ratio, a second speed ratio, the wheel rolling radius, and the pulse signal, including:

[0009] Determine the phase difference signal between phase A pulse signal and phase B pulse signal;

[0010] If the phase difference signal is a pulse signal with 0.25 cycles, then the wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and A-phase pulse signal of each wheel.

[0011] In one embodiment, the wheel speed of each wheel is determined based on the wheel speed encoder resolution, a first speed ratio, a second speed ratio, the wheel rolling radius, and the A-phase pulse signal, including:

[0012]

[0013] In formula (1), n wheel f represents the wheel speed. sensor Indicates phase A pulse signal, s sensor i represents the wheel speed encoder resolution, i0 represents the first speed ratio, i1 represents the second speed ratio, and R represents the wheel rolling radius.

[0014] In one embodiment, calculating the displacement of the vehicle within a preset time period includes:

[0015] Acquire the turning signals generated by the vehicle within a preset time period;

[0016] Based on the steering signal, determine whether the vehicle has made a steering operation. If there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period.

[0017] If a steering operation is performed, the second longitudinal displacement and lateral displacement of the vehicle within a preset time period are calculated.

[0018] In one embodiment, calculating the first longitudinal displacement of the vehicle within a preset time period includes:

[0019] Determine the start time corresponding to the preset time period;

[0020] Based on the wheel speed, start time, and end time of each wheel, calculate the vehicle's first longitudinal displacement within a preset time period, including:

[0021]

[0022] In formula (2), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... c This indicates the first longitudinal displacement.

[0023] In one embodiment, calculating the second longitudinal displacement and lateral displacement of the vehicle within a preset time period includes:

[0024] Determine the start time and average wheel angle corresponding to the preset time period;

[0025] Based on the wheel speed, start time, and end time of each wheel, the second longitudinal displacement of the vehicle within a preset time period is calculated, including:

[0026]

[0027] In formula (3), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... cx This indicates the second longitudinal displacement. Indicates the average turning angle of the wheel;

[0028] Based on the wheel speed, start time, and end time of each wheel, the lateral displacement of the vehicle within a preset time period is calculated, including...

[0029]

[0030] In formula (4), S cy This indicates lateral displacement.

[0031] Secondly, this application also provides a vehicle positioning device. The device includes:

[0032] The acquisition module is used to acquire the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal detected by the wheel speed sensor within a preset time period for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0033] The determination module is used to determine the wheel speed of each wheel based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal of each wheel.

[0034] The calculation module is used to calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0035] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0036] The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period are obtained for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0037] The wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0038] Calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0039] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0040] The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period are obtained for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0041] The wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0042] Calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0043] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0044] The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period are obtained for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0045] The wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0046] Calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0047] The aforementioned vehicle positioning method, apparatus, computer equipment, storage medium, and computer program product acquire the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signals detected by wheel speed sensors within a preset time period for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling. Based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signals for each wheel, the wheel speed of each wheel is determined. The displacement generated by the vehicle within the preset time period is calculated, and based on the displacement, the position of the vehicle at the end point of the preset time period is calculated. This method can be used for assisted vehicle positioning when GPS signals are unavailable, improving the safety and reliability of vehicles operating in ports. Furthermore, this method can also be used for real-time position accuracy correction, improving the precision of vehicle positioning. Attached Figure Description

[0048] Figure 1 This is a flowchart illustrating a vehicle positioning method in one embodiment;

[0049] Figure 2 This is a schematic diagram of a pulse signal in one embodiment;

[0050] Figure 3 This is a structural block diagram of a vehicle positioning device in one embodiment;

[0051] Figure 4 This is a structural block diagram of the vehicle positioning device in another embodiment;

[0052] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] It is understood that the terms "first," "second," etc., used in this application may be used to describe various technical terms, but unless otherwise specified, these technical terms are not limited by these terms. These terms are only used to distinguish one technical term from another. For example, without departing from the scope of this application, the third preset threshold and the fourth preset threshold may be the same or different. In addition, the quantity of "multiple," etc., mentioned in the embodiments of this application refers to a quantity of "at least two," for example, "multiple" means "at least two."

[0055] In one embodiment, such as Figure 1 As shown, a vehicle positioning method is provided. This embodiment illustrates the method applied to a terminal. It is understood that this method can also be applied to a server, and further to a system including both a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0056] 101. Obtain the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal detected by the wheel speed sensor within a preset time period for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0057] 102. Determine the wheel speed of each wheel based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0058] 103. Calculate the displacement of the vehicle within a preset time period, and calculate the position of the vehicle at the end time corresponding to the preset time period based on the displacement.

[0059] In step 101 above, the wheel speed encoder consists of a half-shaft gear, a wheel speed sensor meshing gear, a wheel speed sensor coupling, and a wheel speed sensor. Before calculating the wheel speed of each wheel, the parameters of the wheel speed sensor for each vehicle are determined. The parameters of the wheel speed encoder include the wheel speed encoder resolution, the first speed ratio, and the second speed ratio.

[0060] The method for determining the first speed ratio and the second speed ratio includes, based on the torque T that the wheel speed sensor can handle. sensor Torque T of the half-shaft gear Axle Wheel speed c wheel The wheel speed n of the half-shaft gear Axle and the measured value n of the wheel speed sensor sensor Determine the first speed ratio i0 and the second speed ratio i1 as shown in formula (5):

[0061]

[0062] In practical applications, the wheel speed sensor coupling serves as the connecting shaft between the wheel speed sensor's meshing gear and the wheel speed sensor itself; therefore, the speed ratio of the wheel speed sensor coupling can be 1. Of course, the speed ratio of the wheel speed sensor coupling can also be other values ​​other than 1.

[0063] Generally, the wheel speed encoder resolution, first gear ratio, and second gear ratio of all four wheels of the same vehicle are the same. Of course, they can also be different; the wheel speed encoder resolution, first gear ratio, and second gear ratio of each wheel are determined according to the actual situation.

[0064] Specifically, when the vehicle controller does not receive a GPS signal within a preset time period, it calculates the average wheel speed of each wheel within that time period by acquiring the wheel speed encoder resolution, first gear ratio, second gear ratio, wheel rolling radius, and pulse signals detected by the wheel speed sensors. Then, based on the average wheel speeds of all four wheels and the preset time period, the horizontal and vertical displacement distances of the vehicle can be calculated. Furthermore, the controller needs to acquire the vehicle's position at the start time corresponding to the preset time period. Finally, based on the start time position, horizontal displacement distance, and vertical displacement distance, the vehicle's position at the end time corresponding to the preset time period can be calculated. When the controller can acquire a GPS signal within the preset time period, the vehicle's position at the end time corresponding to the preset time period is obtained from the GPS signal.

[0065] The controller can be the vehicle's main controller or other controllers controlled by the vehicle's main controller.

[0066] Additionally, when the controller needs to correct the vehicle's real-time position, it can also be corrected using the method provided in this embodiment. For example, the controller can obtain the vehicle's current position through GPS signals as the first position. The controller will use the position at the destination time calculated in the above embodiment as the second position. Then, the controller will determine the difference between the first position and the second position. If the difference is greater than a preset difference, the controller will correct the first position.

[0067] The method provided in this invention, through real-time analysis, determines the wheel rotation speed of each wheel and calculates the vehicle's displacement within a preset time period, thereby assisting in vehicle positioning and improving the safety and reliability of vehicles operating in ports. Furthermore, this method can also be used for real-time positional accuracy correction of vehicles, enhancing the precision of vehicle positioning.

[0068] In conjunction with the above embodiments, in one embodiment, the pulse signal includes an A-phase pulse signal and a B-phase pulse signal; correspondingly, the wheel speed of each wheel is determined based on the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal, including:

[0069] 201. Determine the phase difference signal between phase A pulse signal and phase B pulse signal;

[0070] 202. If the phase difference signal is a pulse signal with 0.25 cycles, then the wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and A-phase pulse signal of each wheel.

[0071] Specifically, the wheel speed sensor outputs pulse signals through three channels, such as... Figure 2 The diagram shows the A-phase pulse signal, B-phase pulse signal, and Z-phase pulse signal, respectively. The A-phase and B-phase pulse signals are generally a pair of orthogonal pulse signals. When the main shaft of the wheel speed encoder rotates clockwise, the A-phase pulse signal precedes the B-phase pulse signal; when the main shaft rotates counterclockwise, the A-phase pulse signal follows the B-phase pulse signal. Additionally, the wheel speed encoder generates one pulse signal per revolution; this pulse signal is the Z-phase pulse signal.

[0072] Once the controller successfully verifies the pulse signal, it will calculate the average wheel speed of each wheel based on the A-phase pulse signal in the pulse signal, as well as the wheel speed encoder resolution, first speed ratio, second speed ratio, and wheel rolling radius of each wheel.

[0073] The method provided in this embodiment of the invention can improve the accuracy of the wheel speed calculated from the A-phase pulse signal by verifying the A-phase pulse signal, thereby improving the accuracy of the displacement calculated from the wheel speed.

[0074] In conjunction with the above embodiments, in one embodiment, determining the wheel speed of each wheel based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and A-phase pulse signal includes:

[0075]

[0076] In formula (6), n wheel f represents the wheel speed. sensor Indicates phase A pulse signal, s sensor i represents the wheel speed encoder resolution, i0 represents the first speed ratio, i1 represents the second speed ratio, and R represents the wheel rolling radius.

[0077] Specifically, since the wheel speed encoder cannot directly measure the rotational speed of the wheel speed sensor coupling, it is necessary to calculate the rotational speed of the wheel speed sensor coupling using the A-phase pulse signal detected by the wheel speed sensor within a preset time period and the resolution of the wheel speed encoder. Based on the rotational speed of the wheel speed sensor coupling, the first gear ratio, the second gear ratio of each wheel, and the wheel rolling radius, the rotational speeds of the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle are finally determined.

[0078] Wheel speed encoders typically have a resolution of 1 to 10000, with 1024 being the most commonly used resolution. This means that when the wheel speed encoder receives 1024 A-phase pulse signals, the vehicle's wheel completes one revolution. The controller's frequency acquisition port can effectively identify the encoder's encoding frequency, i.e., the pulse signal acquired within 1 second.

[0079] The method provided in this embodiment of the invention can determine the wheel speed of each wheel by using the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and the A-phase pulse signal of each wheel.

[0080] In conjunction with the above embodiments, in one embodiment, calculating the displacement of a vehicle within a preset time period includes:

[0081] 301. Obtain the turning signals generated by the vehicle within a preset time period;

[0082] 302. Based on the steering signal, determine whether the vehicle has a steering operation. If there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period.

[0083] 303. If there is a steering operation, calculate the second longitudinal displacement and lateral displacement of the vehicle within the preset time period.

[0084] In step 301 above, the turn signal can indicate whether the vehicle has made a turn operation.

[0085] In step 302 above, the first longitudinal displacement refers to the vehicle's travel distance.

[0086] In step 303 above, the second longitudinal displacement refers to the vertical component of the vehicle's travel distance, and the lateral displacement refers to the horizontal component of the vehicle's travel distance.

[0087] Specifically, if the controller does not receive a steering signal within the preset time period, the vehicle does not perform a steering operation. In this case, it is only necessary to calculate the first longitudinal displacement, and based on the first longitudinal displacement and the vehicle's position at the start time of the preset time period, calculate the vehicle's position at the end time of the preset time period. For example, the first longitudinal displacement is S. c The vehicle's position at the starting point of the preset time period is (X). L ,Y L Then the vehicle's position at the destination time corresponding to the preset time period is (X). L +S c Y L ).

[0088] If the controller receives a steering signal, the vehicle performs a steering operation. Then, it's necessary to calculate the second longitudinal displacement and the lateral displacement. Based on the second longitudinal displacement, the lateral displacement, and the vehicle's position at the start time within the preset time period, the position of the vehicle at the end time within the preset time period is calculated. For example, the second longitudinal displacement is S... cx The lateral displacement is S cy The vehicle's position at the starting point of the preset time period is (X). L ,Y L Then the vehicle's position at the destination time corresponding to the preset time period is (X). L +S cx Y L +S cy ).

[0089] The method provided in this embodiment of the invention can determine whether a vehicle has performed a steering operation within a preset time period by using steering signals within that preset time period. This allows for the classification of displacement calculation methods, thereby improving the operating efficiency of the controller.

[0090] In conjunction with the above embodiments, in one embodiment, calculating the first longitudinal displacement of the vehicle within a preset time period includes:

[0091] 401. Determine the start time corresponding to the preset time period;

[0092] 402. Based on the wheel speed, start time, and end time of each wheel, calculate the first longitudinal displacement of the vehicle within a preset time period, including:

[0093]

[0094] In formula (7), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... c This indicates the first longitudinal displacement.

[0095] Specifically, after determining the start and end times corresponding to the preset time period, the controller can calculate the first longitudinal displacement of the vehicle within the preset time period based on the wheel speeds of the four wheels, and determine the position of the vehicle at the end time corresponding to the preset time period based on the first longitudinal displacement.

[0096] The method provided in this embodiment of the invention can determine the position of the vehicle at the end time corresponding to the preset time period by calculating the first longitudinal displacement of the vehicle within the preset time period.

[0097] In conjunction with the above embodiments, in one embodiment, calculating the second longitudinal displacement and lateral displacement of the vehicle within a preset time period includes:

[0098] 501. Determine the start time and average wheel angle corresponding to the preset time period;

[0099] 502. Based on the wheel speed, start time, and end time of each wheel, calculate the second longitudinal displacement of the vehicle within a preset time period, including:

[0100]

[0101] In formula (8), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... cx This indicates the second longitudinal displacement. Indicates the average turning angle of the wheel;

[0102] 503. Based on the wheel speed, start time, and end time of each wheel, calculate the lateral displacement of the vehicle within a preset time period, including...

[0103]

[0104] In formula (9), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, and t1 represents the end time. S represents the average wheel rotation angle. cy This indicates lateral displacement.

[0105] Specifically, the controller can determine the average wheel angle of the vehicle based on the steering signal. After determining the start time, end time and average wheel angle corresponding to the preset time period, the controller can calculate the second longitudinal displacement and lateral displacement of the vehicle within the preset time period based on the wheel speed and average wheel angle of the four wheels, and determine the position of the vehicle at the end time corresponding to the preset time period based on the second longitudinal displacement and lateral displacement.

[0106] The method provided in this invention can determine the position of the vehicle at the end point of the preset time period by calculating the second longitudinal displacement and lateral displacement of the vehicle within the preset time period.

[0107] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0108] Based on the same inventive concept, this application also provides a vehicle positioning device for implementing the vehicle positioning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle positioning device embodiments provided below can be found in the limitations of the vehicle positioning method described above, and will not be repeated here.

[0109] In one embodiment, such as Figure 3 As shown, a vehicle positioning device is provided, including: an acquisition module 301, a determination module 302, and a calculation module 303, wherein:

[0110] The acquisition module 301 is used to acquire the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal detected by the wheel speed sensor within a preset time period for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0111] The determining module 302 is used to determine the wheel speed of each wheel based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius and pulse signal of each wheel.

[0112] The calculation module 303 is used to calculate the displacement of the vehicle within a preset time period, and to calculate the position of the vehicle at the end time corresponding to the preset time period based on the displacement.

[0113] In one embodiment, such as Figure 4 As shown, the device further includes:

[0114] The controller is used to collect the wheel speed of each wheel and calculate the vehicle position based on the wheel speed.

[0115] A half-shaft gear is used for a rigid connection between the half-shaft and the wheel; the gear's rotational speed is the wheel speed. Furthermore, half-shaft gears include the left front half-shaft gear, the right front half-shaft gear, the left rear half-shaft gear, and the right rear half-shaft gear.

[0116] Wheel speed sensor meshing gears are used when the rotational torque borne by the wheel speed sensor is relatively small, while the torque of the half-shaft gear is relatively large. Directly connecting the half-shaft gear to the wheel speed sensor would damage it. Therefore, the wheel speed sensor meshing gears can be used to increase the rotational speed and reduce the torque. Furthermore, wheel speed sensor meshing gears include left front wheel speed sensor meshing gears, right front wheel speed sensor meshing gears, left rear wheel speed sensor meshing gears, and right rear wheel speed sensor meshing gears.

[0117] Wheel speed sensor couplings are used to rigidly connect wheel speed sensors to wheel speed sensor meshing gears and transmit the wheel speed of the meshing gears to the wheel speed sensors. Furthermore, wheel speed sensor couplings include left front wheel speed sensor couplings, right front wheel speed sensor couplings, left rear wheel speed sensor couplings, and right rear wheel speed sensor couplings.

[0118] Wheel speed sensors are used to measure the rotational speed transmitted to the coupling. Furthermore, wheel speed sensors include a front left wheel speed sensor, a front right wheel speed sensor, a rear left wheel speed sensor, and a rear right wheel speed sensor.

[0119] In one embodiment, the pulse signal includes an A-phase pulse signal and a B-phase pulse signal; correspondingly, the determining module 302 includes:

[0120] The first determining submodule is used to determine the phase difference signal between the A-phase pulse signal and the B-phase pulse signal;

[0121] The second determining submodule is used to determine the wheel speed of each wheel based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and A-phase pulse signal if the phase difference signal is a pulse signal with 0.25 cycles.

[0122] In one embodiment, the second determining submodule includes:

[0123] The first calculation unit is used to calculate formula (10);

[0124]

[0125] In formula (10), n wheel f represents the wheel speed. sensor Indicates phase A pulse signal, s sensor i represents the wheel speed encoder resolution, i0 represents the first speed ratio, i1 represents the second speed ratio, and R represents the wheel rolling radius.

[0126] In one embodiment, the computing module 303 includes:

[0127] The acquisition submodule is used to acquire the turning signals generated by the vehicle within a preset time period;

[0128] The judgment submodule is used to determine whether the vehicle has a steering operation based on the steering signal. If there is no steering operation, the first longitudinal displacement of the vehicle within a preset time period is calculated.

[0129] The calculation submodule is used to calculate the second longitudinal displacement and lateral displacement of the vehicle within a preset time period if there is a steering operation.

[0130] In one embodiment, determining the submodule includes:

[0131] The first determining unit is used to determine the start time corresponding to the preset time period;

[0132] The second calculation unit is used to calculate the first longitudinal displacement of the vehicle within a preset time period based on the wheel speed, start time, and end time of each wheel, including:

[0133]

[0134] In formula (11), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... c This indicates the first longitudinal displacement.

[0135] In one embodiment, the computing submodule includes:

[0136] The second determining unit is used to determine the start time and the average wheel angle corresponding to the preset time period.

[0137] The third calculation unit is used to calculate the second longitudinal displacement of the vehicle within a preset time period based on the wheel speed, start time, and end time of each wheel, including:

[0138]

[0139] In formula (12), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... cx This indicates the second longitudinal displacement. Indicates the average turning angle of the wheel;

[0140] The fourth calculation unit is used to calculate the lateral displacement of the vehicle within a preset time period based on the wheel speed, start time, and end time of each wheel, including:

[0141]

[0142] In formula (13), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, and t1 represents the end time. S represents the average wheel rotation angle. cy This indicates lateral displacement.

[0143] Each module in the aforementioned vehicle positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0144] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, memory, and a communication interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle positioning method. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0145] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0146] The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period are obtained for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0147] The wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0148] Calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0149] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0150] Determine the phase difference signal between phase A pulse signal and phase B pulse signal;

[0151] If the phase difference signal is a pulse signal with 0.25 cycles, then the wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and A-phase pulse signal of each wheel.

[0152] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0153]

[0154] In formula (14), n wheel f represents the wheel speed. sensor Indicates phase A pulse signal, s sensor i represents the wheel speed encoder resolution, i0 represents the first speed ratio, i1 represents the second speed ratio, and R represents the wheel rolling radius.

[0155] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0156] Acquire the turning signals generated by the vehicle within a preset time period;

[0157] Based on the steering signal, determine whether the vehicle has made a steering operation. If there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period.

[0158] If a steering operation is performed, the second longitudinal displacement and lateral displacement of the vehicle within a preset time period are calculated.

[0159] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0160] Determine the start time corresponding to the preset time period;

[0161] Based on the wheel speed, start time, and end time of each wheel, calculate the vehicle's first longitudinal displacement within a preset time period, including:

[0162]

[0163] In formula (15), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... c This indicates the first longitudinal displacement.

[0164] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0165] Determine the start time and average wheel angle corresponding to the preset time period;

[0166] Based on the wheel speed, start time, and end time of each wheel, the second longitudinal displacement of the vehicle within a preset time period is calculated, including:

[0167]

[0168] In formula (16), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... cx This indicates the second longitudinal displacement. Indicates the average turning angle of the wheel;

[0169] Based on the wheel speed, start time, and end time of each wheel, the lateral displacement of the vehicle within a preset time period is calculated, including...

[0170]

[0171] In formula (17), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, and t1 represents the end time. S represents the average wheel rotation angle. cy This indicates lateral displacement.

[0172] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0173] The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period are obtained for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0174] The wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0175] Calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0176] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0177] Determine the phase difference signal between phase A pulse signal and phase B pulse signal;

[0178] If the phase difference signal is a pulse signal with 0.25 cycles, then the wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and A-phase pulse signal of each wheel.

[0179] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0180]

[0181] In formula (18), n wheel f represents the wheel speed. sensor Indicates phase A pulse signal, s sensor i represents the wheel speed encoder resolution, i0 represents the first speed ratio, i1 represents the second speed ratio, and R represents the wheel rolling radius.

[0182] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0183] Acquire the turning signals generated by the vehicle within a preset time period;

[0184] Based on the steering signal, determine whether the vehicle has made a steering operation. If there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period.

[0185] If a steering operation is performed, the second longitudinal displacement and lateral displacement of the vehicle within a preset time period are calculated.

[0186] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0187] Determine the start time corresponding to the preset time period;

[0188] Based on the wheel speed, start time, and end time of each wheel, calculate the vehicle's first longitudinal displacement within a preset time period, including:

[0189]

[0190] In formula (19), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... c This indicates the first longitudinal displacement.

[0191] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0192] Determine the start time and average wheel angle corresponding to the preset time period;

[0193] Based on the wheel speed, start time, and end time of each wheel, the second longitudinal displacement of the vehicle within a preset time period is calculated, including:

[0194]

[0195] In formula (20), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... cx This indicates the second longitudinal displacement. Indicates the average turning angle of the wheel;

[0196] Based on the wheel speed, start time, and end time of each wheel, the lateral displacement of the vehicle within a preset time period is calculated, including...

[0197]

[0198] In formula (21), n wheel,FL n wheel,FR n wheel,RL and n wheel,RRThese represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, and t1 represents the end time. S represents the average wheel rotation angle. cy This indicates lateral displacement.

[0199] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0200] The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period are obtained for each wheel of the vehicle. The first speed ratio refers to the speed ratio between the half-shaft gear and the meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling.

[0201] The wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and pulse signal.

[0202] Calculate the displacement of the vehicle within a preset time period, and based on the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

[0203] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0204] Determine the phase difference signal between phase A pulse signal and phase B pulse signal;

[0205] If the phase difference signal is a pulse signal with 0.25 cycles, then the wheel speed of each wheel is determined based on the wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius, and A-phase pulse signal of each wheel.

[0206] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0207]

[0208] In formula (22), n wheel f represents the wheel speed. sensor Indicates phase A pulse signal, s sensor i represents the wheel speed encoder resolution, i0 represents the first speed ratio, i1 represents the second speed ratio, and R represents the wheel rolling radius.

[0209] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0210] Acquire the turning signals generated by the vehicle within a preset time period;

[0211] Based on the steering signal, determine whether the vehicle has made a steering operation. If there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period.

[0212] If a steering operation is performed, the second longitudinal displacement and lateral displacement of the vehicle within a preset time period are calculated.

[0213] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0214] Determine the start time corresponding to the preset time period;

[0215] Based on the wheel speed, start time, and end time of each wheel, calculate the vehicle's first longitudinal displacement within a preset time period, including:

[0216]

[0217] In formula (23), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... c This indicates the first longitudinal displacement.

[0218] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0219] Determine the start time and average wheel angle corresponding to the preset time period;

[0220] Based on the wheel speed, start time, and end time of each wheel, the second longitudinal displacement of the vehicle within a preset time period is calculated, including:

[0221]

[0222] In formula (24), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, t1 represents the end time, and S... cx This indicates the second longitudinal displacement. Indicates the average turning angle of the wheel;

[0223] Based on the wheel speed, start time, and end time of each wheel, the lateral displacement of the vehicle within a preset time period is calculated, including...

[0224]

[0225] In formula (25), n wheel,FL n wheel,FR n wheel,RL and n wheel,RR These represent the wheel speeds of the vehicle's left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. t0 represents the start time, and t1 represents the end time. S represents the average wheel rotation angle. cy This indicates lateral displacement.

[0226] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0227] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0228] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0229] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle positioning method characterized by, The method comprises: acquiring wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius of each wheel of a vehicle, and pulse signals detected by a wheel speed sensor in a preset time period, wherein the pulse signals comprise A-phase pulse signals and B-phase pulse signals; the first speed ratio refers to the speed ratio of a half axle gear and a wheel speed sensor meshing gear, and the second speed ratio refers to a wheel speed sensor coupling speed ratio; wherein the determination formula of the first speed ratio and the second speed ratio comprises: ； where T sensor is the torque assumed by the wheel speed sensor, T Axle is the torque of the axle gear, c wheel is the wheel speed of the vehicle, n Axle is the wheel speed of the axle gear, n sensor is the wheel speed sensor measured value; determining the wheel rotational speed of each wheel based on the wheel speed encoder resolution of each wheel, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal; wherein a phase difference signal between the A-phase pulse signal and the B-phase pulse signal is determined; wherein, if the phase difference signal is a 0.25-cycle pulse signal, determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius of each wheel, and the A-phase pulse signals; wherein it comprises: ； where n wheel represents the wheel speed, f sensor represents the A-phase pulse signal, s sensor represents the wheel speed encoder resolution, i0 represents the first speed ratio, i1 represents the second speed ratio, and R represents the wheel rolling radius. calculating the displacement generated by the vehicle in the preset time period, and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement.

2. The method of claim 1, wherein, The calculation of the displacement generated by the vehicle in the preset time period comprises: acquiring the steering signal generated by the vehicle in the preset time period; judging whether there is steering operation of the vehicle according to the steering signal, if there is no steering operation, calculating the first longitudinal displacement of the vehicle in the preset time period; if there is steering operation, calculating the second longitudinal displacement and the lateral displacement of the vehicle in the preset time period.

3. The method of claim 2, wherein, The calculation of the first longitudinal displacement of the vehicle in the preset time period comprises: determining the starting time corresponding to the preset time period; calculating the first longitudinal displacement of the vehicle in the preset time period according to the wheel speed of each wheel, the starting time and the end time, comprising: ； wherein n wheel,FL , n wheel,FR , n wheel,RL , and n wheel,RR represent wheel speeds of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel of the vehicle, respectively, t0represents the start time, t1represents the end time, S c represents the first longitudinal displacement.

4. The method of claim 2, wherein, The calculation of the second longitudinal displacement and the lateral displacement of the vehicle in the preset time period comprises: determining the starting time corresponding to the preset time period and the average wheel rotation angle; calculating the second longitudinal displacement of the vehicle in the preset time period according to the wheel speed of each wheel, the starting time and the end time, comprising: ； wherein n wheel,FL , n wheel,FR , n wheel,RL and n wheel,RR represent wheel speeds of a left front wheel, a right front wheel, a left rear wheel and a right rear wheel of the vehicle, respectively, t0represents the start time, t1represents the end time, S cx represents the second longitudinal displacement, represents the average wheel angle of the vehicle. calculating the lateral displacement of the vehicle in the preset time period according to the wheel speed of each wheel, the starting time and the end time, comprising: ； where S cy represents the lateral displacement.

5. A vehicle positioning apparatus characterized by comprising: The device comprises: an acquisition module for acquiring wheel speed encoder resolution, first speed ratio, second speed ratio, wheel rolling radius of each wheel of a vehicle, and pulse signals detected by a wheel speed sensor in a preset time period, wherein the pulse signals comprise A-phase pulse signals and B-phase pulse signals; the first speed ratio refers to the speed ratio of a half axle gear and a wheel speed sensor meshing gear, and the second speed ratio refers to a wheel speed sensor coupling speed ratio; wherein the determination formula of the first speed ratio and the second speed ratio comprises: ； where T sensor is the torque assumed by the wheel speed sensor, T Axle is the torque of the half shaft gear, c wheel is the wheel speed, n Axle is the wheel speed of the half shaft gear, n sensor is the wheel speed sensor measured value; a determination module for determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius of each wheel, and the pulse signals; wherein the phase difference signal between the A-phase pulse signals and the B-phase pulse signals is determined; wherein, If the phase difference signal is a 0.25 cycle pulse signal, then according to the wheel speed encoder resolution of each wheel, the first speed ratio, the second speed ratio, the wheel rolling radius, and the A-phase pulse signal, the wheel speed of each wheel is determined; wherein, comprising: ； where n wheel represents the wheel speed, f sensor represents the A-phase pulse signal, s sensor represents the wheel speed encoder resolution, i0represents the first speed ratio, i1represents the second speed ratio, and R represents the wheel rolling radius. The calculation module is configured to calculate a displacement of the vehicle generated in the preset time period, and calculate a position of the vehicle at an end time corresponding to the preset time period according to the displacement.

6. The apparatus of claim 5, wherein, The calculation module comprises: The acquisition sub-module is configured to acquire a steering signal generated by the vehicle in the preset time period; The judgment sub-module is configured to judge whether there is a steering operation of the vehicle according to the steering signal, and if there is no steering operation, calculate a first longitudinal displacement of the vehicle in the preset time period; The calculation sub-module is configured to, if there is a steering operation, calculate a second longitudinal displacement and a lateral displacement of the vehicle in the preset time period.

7. The apparatus of claim 6, wherein, The judgment sub-module comprises: A first determination unit is configured to determine a start time corresponding to the preset time period; A second calculation unit is configured to calculate a first longitudinal displacement of the vehicle in the preset time period according to the wheel speed of each wheel, the start time, and the end time, comprising: ； wherein n wheel,FL , n wheel,FR , n wheel,RL , and n wheel,RR respectively represent wheel speeds of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel of the vehicle, t0represents the start time, t1represents the end time, S c represents the first longitudinal displacement.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to realize the steps of the method of any one of claims 1 to 4.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method of any one of claims 1 to 4.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method of any one of claims 1 to 4.

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