Control method and device of vehicle, vehicle and storage medium

Abstract

The application provides a control method and device of a vehicle, the vehicle and a storage medium. The method comprises the following steps: in response to a lane change cancellation instruction, determining a lateral intrusion distance of the vehicle from an original lane to an original target lane; determining a current target lane of the vehicle and a lateral motion parameter of the vehicle moving to the current target lane according to the lateral intrusion distance; the current target lane is the original lane or the original target lane; detecting whether there is a target obstacle in a preset safety area beside the vehicle and in the current target lane; the target obstacle is an obstacle that may collide with the vehicle during the movement of the vehicle to the current target lane; if there is no target obstacle in the preset safety area, controlling the vehicle to move to the current target lane according to the lateral motion parameter; and if there is a target obstacle in the preset safety area, controlling the vehicle to brake. The embodiment avoids the situation that the state of the vehicle changes dramatically after the lane change is cancelled.

Description

Technical Field

[0001] This application relates to the field of vehicle driving technology, and in particular to a vehicle control method, device, vehicle, and storage medium. Background Technology

[0002] In lane-changing scenarios, the initiated lane-changing action may fail to complete smoothly due to factors such as sudden changes in the behavior of adjacent vehicles (or other dynamic obstacles), inaccurate perception and prediction, and communication delays in the vehicle's infotainment system. In such cases, for safety, the vehicle must immediately cancel the lane change. In existing solutions, after canceling the lane change, the vehicle typically returns directly to the center line of the original lane, which can lead to control overshoot, resulting in poor passenger comfort and even potential danger. Summary of the Invention

[0003] In view of the above, this application provides a vehicle control method, apparatus, vehicle, and storage medium.

[0004] Specifically, this application is implemented through the following technical solution:

[0005] According to a first aspect of the embodiments of this application, a vehicle control method is provided, comprising:

[0006] In response to a lane change cancellation command, determine the lateral intrusion distance of the vehicle from its original lane to the original target lane;

[0007] Based on the lateral intrusion distance, the current target lane of the vehicle and the lateral movement parameters of the vehicle moving to the current target lane are determined; the current target lane is the original lane or the original target lane.

[0008] The system detects whether there are any target obstacles beside the vehicle and within a preset safe area in the current target lane; the target obstacles are obstacles that may collide with the vehicle as it moves into the current target lane.

[0009] If there are no target obstacles within the preset safe area, the vehicle is controlled to move to the current target lane according to the lateral motion parameters.

[0010] If a target obstacle exists within the preset safe area, control the vehicle to brake.

[0011] Optionally, it also includes:

[0012] In response to the lane change cancellation command, the vehicle's heading is adjusted to be substantially parallel to the direction of lane line extension during the vehicle's forward movement;

[0013] The step of controlling the vehicle to move to the current target lane based on the lateral motion parameters in response to the absence of target obstacles within the preset safety area includes:

[0014] In response to the fact that the direction of the vehicle's front is substantially parallel to the direction of the lane line extension and there are no target obstacles within the preset safe area, the vehicle is controlled to move to the current target lane during its forward movement based on the lateral motion parameters.

[0015] Optionally, adjusting the vehicle's heading to be substantially parallel to the direction of lane line extension during the vehicle's forward movement includes:

[0016] If the speed of the vehicle at the moment the lane change is cancelled is greater than the preset speed, the direction of the vehicle's front end will be adjusted to be basically parallel to the direction of the lane line extension during the vehicle's forward movement.

[0017] If a target obstacle exists within the preset safe area, controlling the vehicle to brake includes:

[0018] If a target obstacle exists within the preset safe area for a preset time period after the lane change cancellation time, the vehicle will be braked.

[0019] Optionally, it also includes:

[0020] In response to the lane change cancellation command, if the vehicle's speed at the moment of lane change cancellation is less than or equal to a preset speed, the vehicle is controlled to brake until there are no target obstacles within the preset safe area.

[0021] Optionally, determining the vehicle's current target lane based on the lateral intrusion distance includes:

[0022] If the lateral intrusion distance is greater than a preset threshold, the vehicle's current target lane is determined to be the original target lane;

[0023] If the lateral intrusion distance is less than or equal to the preset threshold, the vehicle's current target lane is determined to be the original lane; wherein the preset threshold is determined based on the width of the original lane and is positively correlated with the width of the original lane.

[0024] Optionally, if the current target lane is the original target lane, the lateral movement parameters of the vehicle moving to the original target lane are determined based on the relative relationship between the lateral intrusion distance, the width of the original target lane, and the width of the vehicle;

[0025] If the current target lane is the original lane, the lateral movement parameters of the vehicle moving to the original lane are determined based on the relative relationship between the lateral intrusion distance, the width of the original lane, and the width of the vehicle.

[0026] Optionally, determining the lateral intrusion distance of the vehicle from its original lane into the original target lane includes:

[0027] Based on the vehicle's position, the vehicle's heading at the moment the lane change was cancelled, the boundary between the original lane and the original target lane, and the vehicle's inertia coefficient, the lateral intrusion distance of the vehicle from the original lane into the original target lane is determined; wherein, the vehicle's inertia coefficient is determined based on the vehicle's speed and heading at the moment the lane change was cancelled.

[0028] Optionally, the width of the preset safety zone is greater than 0.5 meters;

[0029] The length of the preset safety zone is determined based on the length of the vehicle and the buffer distance in front of and behind the vehicle; the buffer distance in front of and behind the vehicle is a preset distance, and / or, the buffer distance in front of and behind the vehicle is determined based on the speed of the vehicle in front, the speed of the vehicle behind, and the speed of the vehicle itself.

[0030] Optionally, the lateral motion parameters include lateral offset;

[0031] The step of controlling the vehicle to move to the current target lane based on the lateral motion parameters includes:

[0032] During the lateral planning process using the lateral offset, the following steps are repeated until the lateral offset is less than a preset offset:

[0033] Trajectory planning is performed according to the lateral offset, and lateral control commands are generated based on the planning results;

[0034] The vehicle is controlled to move laterally according to the lateral control command; wherein, the lateral offset after each trajectory planning is the result of the lateral offset before the trajectory planning minus the preset offset.

[0035] According to a second aspect of the embodiments of this application, a vehicle control device is provided, comprising:

[0036] The lateral intrusion distance determination unit is used to determine the lateral intrusion distance of the vehicle from the original lane to the original target lane in response to the lane change cancellation command;

[0037] The current target lane determination unit is further configured to determine the current target lane of the vehicle and the lateral movement parameters of the vehicle moving to the current target lane based on the lateral intrusion distance; the current target lane is the original lane or the original target lane;

[0038] An obstacle detection unit is used to detect whether there are target obstacles beside the vehicle and within a preset safe area in the current target lane; the target obstacle is an obstacle that may collide with the vehicle during the process of the vehicle moving to the current target lane;

[0039] The control unit is used to control the vehicle to move to the current target lane according to the lateral motion parameters if there are no target obstacles in the preset safe area.

[0040] The control unit is also used to control the vehicle to brake if there is a target obstacle within the preset safe area.

[0041] According to a third aspect of the embodiments of this application, a vehicle is provided, including a processor, a memory, and executable instructions stored in the memory and executable on the processor;

[0042] When the processor executes the executable instructions, it implements the steps in any of the methods of the first aspect.

[0043] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which computer instructions are stored, wherein when executed by a processor, the computer instructions implement the steps of the method described in any one of the first aspects.

[0044] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0045] In this embodiment, after a lane change is cancelled, the vehicle does not immediately return to its original lane. Instead, it determines the current target lane and the lateral movement parameters of the vehicle moving to the current target lane based on the lateral intrusion distance from the original lane to the target lane. This determines whether the vehicle should return to its original lane or continue into the target lane. If there are no obstacles beside the vehicle or within a preset safety area in the current target lane, the vehicle is controlled to move safely and smoothly to the current target lane based on the lateral movement parameters, avoiding drastic changes in vehicle status. If there are obstacles within the preset safety area, the vehicle is braked, ensuring driving safety. It should be understood that the above general description and the following detailed description are exemplary and explanatory only and do not limit this application. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] Figure 1 This is a schematic diagram of the structure of an autonomous driving system shown in an exemplary embodiment of this application.

[0048] Figure 2 This is a schematic flowchart illustrating a vehicle control method according to an exemplary embodiment of this application.

[0049] Figure 3 and Figure 4 This is a schematic diagram illustrating the vehicle's motion state at the moment of lane change cancellation, as shown in an exemplary embodiment of this application.

[0050] Figure 5 This is an exemplary embodiment of the present application illustrating a preset safety zone determined in a scenario where the current target lane is the original target lane after the vehicle cancels its right lane change.

[0051] Figure 6 This is a schematic flowchart illustrating another vehicle control method according to an exemplary embodiment of this application.

[0052] Figure 7 This is a schematic diagram illustrating the vehicle's motion state after lane change cancellation, as shown in an exemplary embodiment of this application.

[0053] Figure 8 This is a schematic diagram of the structure of a vehicle control device according to an exemplary embodiment of this application.

[0054] Figure 9 This is a schematic diagram of the structure of a vehicle shown in an exemplary embodiment of this application. Detailed Implementation

[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0056] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0057] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0058] In lane-changing scenarios, factors such as sudden changes in the behavior of adjacent vehicles (or other dynamic obstacles), inaccurate perception and prediction, and communication delays in the vehicle's infotainment system may prevent the initiated lane-changing maneuver from being completed smoothly. In such cases, for safety, the vehicle may initiate a lane-change cancellation command under manual intervention, or the vehicle's driving system may automatically determine that the current situation is unsuitable for lane changing and initiate a cancellation command. In existing solutions, after lane-change cancellation, the vehicle typically returns directly to the center line of its original lane. However, if most of the vehicle's body has already entered the target lane at the moment of lane-change cancellation, the return maneuver will inevitably cause a drastic change in the vehicle's state, requiring rapid and significant steering wheel adjustments. This can easily lead to control overshoot, resulting in poor occupant comfort, anxiety, and even potential danger.

[0059] To address the problems in related technologies, this application provides a vehicle control method. After a lane change is cancelled, the vehicle does not immediately return to its original lane. Instead, it determines whether to return to the original lane or continue into the target lane based on the lateral intrusion distance from the original lane to the target lane. After determining the vehicle's current target lane and lateral movement parameters based on the lateral intrusion distance, it detects whether there are any target obstacles beside the vehicle and within a preset safety area in the current target lane. These target obstacles are those that may collide with the vehicle during its movement to the current target lane. If there are no target obstacles within the preset safety area, the vehicle is controlled to move safely and smoothly into the current target lane based on the lateral movement parameters, avoiding drastic changes in vehicle status. If there are target obstacles within the preset safety area, the vehicle is braked to ensure driving safety.

[0060] It is understood that the vehicle control method provided in this application embodiment can be applied to vehicles with an autonomous driving system or vehicles with an intelligent assisted driving system, and this embodiment does not impose any limitations on this.

[0061] Intelligent driver assistance systems utilize various sensors installed in the vehicle (such as cameras, radar, positioning modules, infrared sensors, or ultrasonic sensors) to collect environmental data inside and outside the vehicle. This data is processed technically, including the identification, detection, and tracking of static and / or dynamic objects, enabling the system to detect potential hazards as quickly as possible, thereby raising awareness and improving safety. Examples of intelligent driver assistance systems include, but are not limited to, lane keeping assist, automatic parking assist, brake assist, reversing assist, driving assist, and lane change assist.

[0062] Autonomous driving systems have broad prospects and high practical value in fields such as public safety, urban transportation, and automobile manufacturing. Autonomous driving systems rely on the collaborative efforts of artificial intelligence, computer vision, radar, monitoring devices, and global positioning systems to enable the control system to operate motor vehicles automatically and safely without active human intervention. Autonomous driving systems possess functions such as automatic vehicle wake-up and hibernation, automatic parking and entry / exit, automatic washing, automatic driving, automatic parking, automatic door opening and closing, and automatic fault recovery. They also have multiple operating modes, including normal operation, degraded operation, and operation interruption.

[0063] In one exemplary embodiment, please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of an autonomous driving system provided in an embodiment of this application. The autonomous driving system includes an environmental perception input module 10, a driver input module 20, a planning module 30, a control module 40, a lateral actuator 50, and a longitudinal actuator 60.

[0064] The environmental perception input module 10 is used to receive perception information about the vehicle's surrounding environment. For example, the environmental perception input module includes at least one sensor for perceiving the surrounding environment, such as a camera, lidar, millimeter-wave radar, ultrasonic sensor, or infrared sensor, etc. For example, the perception information includes, but is not limited to, traffic sign information, lane line information, obstacle attribute information (such as the distinction between static and dynamic obstacles, the location of obstacles, or the speed of dynamic obstacles, etc.) or the distance between the vehicle and obstacles, etc.

[0065] The driver input module 20 is used to receive action information from the driver to control the vehicle. This action information includes, but is not limited to, input information related to the accelerator pedal, brake pedal, steering wheel, seatbelt, gear position, and other controls. For example, the driver input module is connected to an accelerator pedal sensor to receive accelerator pedal opening information collected by the sensor. For example, the driver input module is also connected to a steering wheel sensor to receive steering wheel rotation signals collected by the steering wheel sensor.

[0066] The planning module 30 is used to plan based on the perception information from the environmental perception input module 10 and / or the action information from the driver input module 20, and output the planning result to the control module 40. For example, the driving trajectory planning includes path planning, behavior planning, driving trajectory planning, and / or speed planning. Path planning is a generalized route planning, that is, planning the route from the current location to the destination. Behavior planning involves planning and calculating the vehicle's behavior over a short period of time, such as lane changing, overtaking, and entering a curve. Driving trajectory planning is a local route planning, that is, planning the vehicle's forward driving trajectory. Speed ​​planning involves planning the target speed for each trajectory point on the vehicle's driving trajectory. Of course, in addition to receiving perception information from the environmental perception input module 10 and / or action information from the driver input module 20, the planning module 30 can also receive other information from other components in the vehicle, such as vehicle weight, yaw rate, and / or gear position, etc. This embodiment does not impose any limitations on this.

[0067] The control module 40 is used to generate lateral control commands and / or longitudinal control commands based on the planning results, control the vehicle's lateral actuator 50 to execute the lateral control commands, and control the vehicle's longitudinal actuator 60 to execute the longitudinal control commands, thereby achieving autonomous driving of the vehicle. For example, the lateral actuator 50 includes the vehicle's steering mechanism, which controls the vehicle's lateral movement according to the lateral control commands, such as controlling the rotation angle of the vehicle's steering wheel. For example, the longitudinal actuator 60 includes the vehicle's power mechanism and braking mechanism, whereby the power mechanism executes the vehicle's driving functions according to the longitudinal control commands, and the braking mechanism executes the vehicle's deceleration functions according to the longitudinal control commands.

[0068] It is understood that the various modules included in the autonomous driving system can be software modules, hardware modules, or modules combining software and hardware. This embodiment does not impose any restrictions on this.

[0069] To address the lane change cancellation problem in related technologies, this application provides a vehicle control method. Please refer to [link to relevant documentation]. Figure 2 The illustrated method flowchart shows a method that can be executed by the vehicle. The method will now be described by way of example, comprising:

[0070] In step S101, in response to the lane change cancellation command, the lateral intrusion distance of the vehicle from the original lane to the original target lane is determined.

[0071] In step S102, the current target lane of the vehicle and the lateral movement parameters of the vehicle moving to the current target lane are determined based on the lateral intrusion distance; the current target lane is the original lane or the original target lane.

[0072] In step S103, it is detected whether there is a target obstacle in a preset safe area next to the vehicle and located in the current target lane; the target obstacle is an obstacle that may collide with the vehicle during the process of the vehicle moving to the current target lane.

[0073] In step S104, if there are no target obstacles within the preset safe area, the vehicle is controlled to move to the current target lane according to the lateral motion parameters.

[0074] In step S105, if there is a target obstacle within the preset safe area, the vehicle is controlled to brake.

[0075] This embodiment does not directly return to the original lane after a lane change is canceled. Instead, it determines whether the vehicle should return to the original lane or continue into the target lane based on the lateral intrusion distance from the original lane to the target lane. Then, if there are no target obstacles within the preset safe area, the vehicle is controlled to move safely and smoothly to the current target lane according to the determined lateral movement parameters, avoiding drastic changes in vehicle status and control overshoot. If there are target obstacles within the preset safe area, the vehicle is braked to ensure driving safety.

[0076] For step S101, the vehicle can determine the lateral intrusion distance from its original lane to the original target lane based on its position, the vehicle's heading at the time of lane change cancellation, the boundary between the original lane and the original target lane, and the vehicle's inertia coefficient. The vehicle's inertia coefficient is determined based on its speed and heading at the time of lane change cancellation. The inertia coefficient is positively correlated with the vehicle's speed at the time of lane change cancellation and also positively correlated with the vehicle's heading angle (the angle between the vehicle's heading and the lane line extension direction) at the time of lane change cancellation. In this embodiment, considering the vehicle's dynamic properties, the inertia coefficient is incorporated into the determination of the lateral intrusion distance, thereby improving the accuracy of the determination result.

[0077] In one example, please refer to Figure 3 , Figure 3 A schematic diagram of the vehicle's motion at the moment the lane change is cancelled is shown. Assume l max l represents the maximum lateral distance of the vehicle relative to the center line of the original lane when the lane change was initiated, at the moment the lane change is cancelled. el is the lateral offset of the vehicle's kinematic center relative to the original lane centerline at the moment the lane change is cancelled. f l is the distance from the vehicle's kinematic center point (rear axle center) to the front edge of the vehicle. t Let w be the lateral intrusion distance of the vehicle from its original lane into the original target lane, w be the vehicle width, and θ be the vehicle heading angle (i.e., the angle between the vehicle's front direction and the direction of lane extension). e For the original lane width, w t This refers to the original target lane width. Both the original lane width and the original target lane width can be obtained from the vehicle navigation information. Taking a right lane change as an example, then... Where, k i The inertia coefficient is determined based on the vehicle's speed and heading at the moment the lane change is cancelled. The greater the speed and the greater the heading angle (the angle between the vehicle's heading and the direction of the lane line), the greater the inertia coefficient. For example, the inertia coefficient can be set within a preset range based on the vehicle's speed and heading at the moment the lane change is cancelled, such as between 1.0 and 1.2.

[0078] In another example, see Figure 4 Assume the length of the vehicle is l, l t Let θ be the lateral intrusion distance of the vehicle from its original lane into the target lane, and θ be the vehicle's heading angle (i.e., the angle between the vehicle's front direction and the lane line extension direction). The vehicle first enters the target lane from its original lane at point A. The distance from point B of the vehicle to the boundary between the original lane and the target lane is d, where d can be determined based on the position information of point B and the position information of the boundary between the original lane and the target lane. The position information of the boundary between the original lane and the target lane can be obtained from the vehicle navigation information. Therefore, l t =k i ×l×sinθ-d; where k i The inertia coefficient is determined based on the vehicle's speed at the moment the lane change is cancelled and the vehicle's heading at the moment the lane change is cancelled.

[0079] In step S102, after determining the lateral intrusion distance of the vehicle from its original lane to the original target lane, the vehicle can determine its current target lane based on the magnitude of the lateral intrusion distance. The current target lane can be either the original lane or the original target lane. For example, if the lateral intrusion distance is greater than a preset threshold, it indicates that most of the vehicle's body has entered the original target lane, and a backtracking action would cause a drastic change in the vehicle's state; therefore, the current target lane is determined to be the original target lane. If the lateral intrusion distance is less than or equal to the preset threshold, it indicates that only a small portion of the vehicle's body has entered the original target lane, and a backtracking action would not cause a drastic change in the vehicle's state; therefore, the current target lane is determined to be the original lane. In this embodiment, determining the vehicle's current target lane based on the specific circumstances of the vehicle's body entering the original target lane after the lane change is canceled helps avoid drastic changes in the vehicle's state and control overshoot, thereby improving the driving experience.

[0080] The preset threshold can be a constant set according to the actual application scenario; or the preset threshold can be determined based on the width of the original lane, and the preset threshold is positively correlated with the width of the original lane. For example, assuming the preset threshold is l0, then l0 = k l ×w e k l The threshold value is the vehicle width coefficient; the wider the original lane, the higher the preset threshold. This embodiment does not impose any restrictions on this.

[0081] Furthermore, after determining the vehicle's current target lane, the lateral movement parameters for the vehicle to move to the current target lane can be further determined based on the lateral intrusion distance. For example, if the current target lane is the original target lane, the vehicle can determine the lateral movement parameters for moving to the original target lane based on the relative relationship between the lateral intrusion distance, the width of the original target lane, and the width of the vehicle. Similarly, if the current target lane is the original lane, the vehicle can determine the lateral movement parameters for moving to the original lane based on the relative relationship between the lateral intrusion distance, the width of the original lane, and the width of the vehicle.

[0082] In one example, the lateral motion parameters include lateral offset. Of course, other parameters may also be included, such as lateral velocity, lateral acceleration, etc., and this embodiment does not impose any limitations on this.

[0083] In one example, the lateral motion parameter includes a lateral offset, denoted as l′. e ,by Figure 3 Continuing with the example, if the vehicle's current target lane is the original lane, then If the vehicle's current target lane is the original target lane, then

[0084] In step S103, after determining the vehicle's current target lane and the lateral movement parameters of the vehicle moving to the current target lane, to ensure driving safety, the vehicle can use its sensors (such as cameras, radar, ultrasonic sensors, or infrared sensors) to detect a preset safety area beside the vehicle and located in the current target lane to determine whether there are any target obstacles within the preset safety area. The preset safety area indicates the range of movement that ensures the vehicle can safely move to the current target lane. The target obstacle indicates an obstacle that affects the vehicle's movement to the current target lane, or an obstacle that may collide with the vehicle during its movement to the current target lane.

[0085] For example, the width of the preset safety zone can be set to be greater than 0.5 meters, and the width of the preset safety zone can be negatively correlated with the control accuracy of the vehicle. The higher the control accuracy, the smaller the width of the preset safety zone, and vice versa. In order to further ensure safety, the width of the preset safety zone can be set to be larger.

[0086] For example, the length of the preset safety zone is determined based on the length of the vehicle and the buffer distance in front of and behind the vehicle; the buffer distance in front of and behind the vehicle is a preset distance, and / or, the buffer distance in front of and behind the vehicle is determined based on the speed of the vehicle in front, the speed of the vehicle behind, and the speed of the vehicle itself.

[0087] In one example, please refer to Figure 5 , Figure 5 This illustrates the preset safe zone determined when the vehicle's current target lane remains the original target lane after the right lane change is cancelled. Where w s l is the width of the preset safety zone s To determine the length of the preset safety zone, we have l s =l f +l r +l; where l f l is the distance from the front boundary of the safe zone to the front boundary of the vehicle. r Let l be the distance from the rear boundary of the safety zone to the rear boundary of the vehicle, and l be the length of the vehicle. f =max(k v ×(v e -v f ), k f );l r =max(k v ×(v r-v e ), k r v e v is the speed of this vehicle. f v is the speed of the vehicle ahead. r The speed of the vehicle behind is given; where, if there are no vehicles within a certain range ahead of the preset safe zone, then v is set. f =v e Similarly, if there are no vehicles within a certain range behind the preset safety zone, then v is set. r =v e ;k v k is the preset time coefficient. f k is the preset buffer distance in front of the vehicle. r This is a preset buffer distance behind the vehicle, and its specific value can be set according to the actual application scenario. Considering the possibility of the vehicle moving forward, to improve driving safety, k is typically set to... f >k r .

[0088] For example, to detect whether there is a target obstacle within the safe area, taking a vehicle equipped with a LiDAR as an example, the LiDAR can detect the preset safe area to obtain a point cloud. The vehicle can then input the point cloud into a preset obstacle recognition model. The obstacle recognition model extracts features from the point cloud and performs obstacle recognition based on the extracted features, obtaining an obstacle recognition result. The model recognition result includes the obstacle and its attribute information (such as the obstacle's speed, position, or trajectory). Then, an intersection test is performed based on the obstacle's attribute information and the vehicle's attribute information (such as speed, position, and trajectory towards the current target lane) to determine whether there is a target obstacle within the preset safe area. For example, if the predicted trajectory of the obstacle and the planned trajectory of the vehicle towards the current target lane have a possibility of intersecting at some future point in time, then it is determined that there is a target obstacle within the preset safe area; otherwise, it is determined that there is no target obstacle within the preset safe area.

[0089] Of course, obstacle recognition is not limited to point cloud recognition. It can also be achieved through image recognition, or by combining image recognition and point cloud recognition technologies. This embodiment does not impose any restrictions on this.

[0090] In step S104, in response to the absence of target obstacles within the preset safety area, the vehicle can be controlled to move to the current target lane based on the lateral movement parameters. This embodiment provides a control measure after lane change cancellation. Instead of directly returning to the original lane after lane change cancellation, the vehicle determines whether to return to the original lane or continue into the original target lane based on the lateral intrusion distance from the original lane to the target lane. Then, if it is confirmed that there are no target obstacles within the preset safety area of ​​the current target lane, the vehicle is controlled to move safely and smoothly to the current target lane based on the determined lateral movement parameters. This avoids drastic changes in vehicle status and control overshoot, while also ensuring driving safety.

[0091] In one possible implementation, the lateral motion parameter includes a lateral offset; during the lateral planning process using the lateral offset, the vehicle may repeatedly perform the following steps until the lateral offset is less than a preset offset, the preset offset indicating the lateral planning amount (i.e., single-frame step size) for each trajectory planning: performing trajectory planning according to the lateral offset and generating lateral control commands based on the planning results; controlling the lateral movement of the vehicle according to the lateral control commands; wherein, the lateral offset after each trajectory planning is the result of subtracting the preset offset from the lateral offset before that trajectory planning.

[0092] In one example, let l′ e Let l' be the lateral offset. Then, after each trajectory planning, we have l′ e =l′ e -ΔL, where ΔL is the preset offset, i.e., the lateral planning amount (i.e., the single-frame step size) for each trajectory planning, in l′ e If the value is less than ΔL, it is determined that the vehicle has moved to the current target lane. It is understood that this embodiment does not impose any restrictions on the value of the preset offset, and it can be set according to the actual application scenario, such as setting the preset offset to 0.3 meters or 0.4 meters, etc.

[0093] For step S105, to ensure vehicle safety, if a target obstacle is determined to exist within the preset safety area, the vehicle can be braked. For example, if obstacles exist within the preset area for a preset time period after the lane change cancellation time, preventing the vehicle from moving to the current target lane, the vehicle can be braked to ensure safety. The preset time period can be specifically set according to the actual application scenario; this embodiment does not impose any restrictions. For instance, the preset time period may be negatively correlated with the vehicle speed—the faster the speed, the shorter the preset time period, and vice versa, thereby improving driving safety.

[0094] Please see Figure 6 The method flowchart in this application also provides another vehicle control method, which can be executed by a vehicle, and the method includes:

[0095] In step S201, in response to the lane change cancellation command, the lateral intrusion distance of the vehicle from the original lane to the original target lane is determined; based on the lateral intrusion distance, the current target lane of the vehicle and the lateral movement parameters of the vehicle moving to the current target lane are determined; the current target lane is either the original lane or the original target lane. Similar to steps S101 and S102 above, they will not be described again here.

[0096] In step S202, in response to the lane change cancellation command, the vehicle's heading is adjusted to be substantially parallel to the direction of lane line extension during the vehicle's forward movement.

[0097] In step S203, it is detected whether there are any target obstacles beside the vehicle and within a preset safe area in the current target lane; the target obstacle is an obstacle that may collide with the vehicle during its movement to the current target lane. Similar to step S103, it will not be described again here.

[0098] In step S204, if the direction of the vehicle's front is substantially parallel to the direction of the lane line extension and there are no target obstacles within the preset safe area, the vehicle is controlled to move to the current target lane during forward movement according to the lateral motion parameters; if there are target obstacles within the preset safe area, the vehicle is controlled to brake.

[0099] The statement that the direction of the vehicle's front is basically parallel to the direction of the lane line extension includes two cases: one is that the direction of the vehicle's front is completely parallel to the direction of the lane line extension; the other is that the angle between the direction of the vehicle's front and the direction of the lane line extension is small and can be ignored, for example, the angle is less than 5°.

[0100] In some embodiments, considering that the vehicle remains in motion after lane change cancellation, to avoid or reduce the risk of collision with obstacles that may occur if the vehicle continues to move in its current direction, in response to the lane change cancellation command, the vehicle can adjust its direction of travel to be substantially parallel to the direction of lane line extension during forward movement to improve driving safety. During this adjustment, the vehicle simultaneously detects whether there is a target obstacle within a preset safety area beside the vehicle and located in the current target lane. Furthermore, when the vehicle's direction of travel is substantially parallel to the direction of lane line extension and there are no obstacles within the preset safety area, the vehicle can be controlled to move to the current target lane based on the lateral movement parameters. If a target obstacle exists within the preset safety area, preventing the vehicle from moving to the current target lane, the vehicle is braked. This allows the vehicle to turn its direction of travel after lane change cancellation, improving driving safety. Lateral movement is achieved when the vehicle's direction of travel is substantially parallel to the direction of lane line extension and there are no obstacles within the preset safety area, facilitating safe and comfortable lateral behavior planning after lane change cancellation. Braking is controlled when a target obstacle exists within the preset safety area to ensure vehicle safety.

[0101] For example, please refer to Figure 7 Assuming the vehicle's current target lane is the original target lane, at time T1, the vehicle adjusts its heading to be substantially parallel to the direction of the lane line extension. During the adjustment, the vehicle simultaneously detects whether there is a target obstacle within a preset safety area beside the vehicle and located in the current target lane. If the condition of no target obstacle within the preset safety area is still not met even when the vehicle's heading is substantially parallel to the direction of the lane line extension, the vehicle continues to move forward in this state while simultaneously detecting whether there is a target obstacle within the preset safety area. For example, if it is determined at time T2 that there is no target obstacle within the preset safety area, the vehicle can control itself to move to the original target lane during the forward movement according to the lateral motion parameters.

[0102] In some embodiments, analysis of extensive road test results shows that adjusting the vehicle's heading requires a certain vehicle speed. At lower speeds, it is difficult to adjust the vehicle's heading to be substantially parallel to the lane line's extension direction; and at higher speeds, the risk of collision is greater. Therefore, step S202 includes: in response to the lane change cancellation command, if the vehicle's speed at the moment of lane change cancellation is greater than a preset speed, adjusting the vehicle's heading to be substantially parallel to the lane line's extension direction during the vehicle's forward movement. This embodiment, at higher speeds, achieves vehicle heading correction during forward movement after lane change cancellation, which helps improve driving safety.

[0103] It is understood that the preset vehicle speed can be set according to the actual application scenario, and this embodiment does not impose any restrictions on it. For example, the preset vehicle speed can be determined based on the vehicle speed in a congested scenario.

[0104] In some embodiments, if the vehicle's heading has been adjusted to be substantially parallel to the lane line's extension direction within a preset time period after the lane change cancellation time, but obstacles are detected within the preset area after the lane change cancellation time, and the vehicle continuing to move in this state might result in a traffic violation or collision with the obstacles, then the vehicle can be braked to ensure driving safety. The preset time period can be specifically set according to the actual application scenario; this embodiment does not impose any limitations on it.

[0105] In some embodiments, in response to the lane change cancellation command and provided that the vehicle's speed at the moment of lane change cancellation is less than or equal to a preset speed, since it is difficult to straighten the vehicle's direction in this situation, and continuing to move in the same direction as at the moment of lane change cancellation may pose a collision risk, the vehicle can be controlled to brake until there are no obstacles within the preset safe area. That is, after controlling the vehicle to brake, the vehicle simultaneously detects whether there is a target obstacle within the preset safe area beside the vehicle and located in the current target lane. If there is no target obstacle within the preset safe area, the vehicle is controlled to move to the current target lane according to the lateral motion parameters. In this embodiment, braking when the lane change is cancelled and the vehicle's speed at the moment of lane change cancellation is less than or equal to the preset speed helps improve driving safety.

[0106] It is easy to understand that the solutions described in the above embodiments can be combined when there is no conflict, and not all of them are listed in the embodiments of this application.

[0107] Accordingly, please refer to Figure 8 This application also provides a vehicle control device, including:

[0108] The lateral intrusion distance determination unit 301 is used to determine the lateral intrusion distance of the vehicle from the original lane to the original target lane in response to the lane change cancellation command.

[0109] The current target lane determination unit 302 is used to determine the current target lane of the vehicle and the lateral movement parameters of the vehicle moving to the current target lane based on the lateral intrusion distance; the current target lane is the original lane or the original target lane.

[0110] The obstacle detection unit 303 is used to detect whether there is a target obstacle beside the vehicle and within a preset safe area in the current target lane; the target obstacle is an obstacle that may collide with the vehicle during the process of the vehicle moving to the current target lane.

[0111] The control unit 304 is used to control the vehicle to move to the current target lane according to the lateral motion parameters if there is no target obstacle in the preset safe area.

[0112] The control unit 304 is also used to control the vehicle to brake if there is a target obstacle within the preset safe area.

[0113] In some embodiments, the device further includes a vehicle heading adjustment unit for adjusting the vehicle heading to be substantially parallel to the direction of lane line extension during the vehicle's movement in response to the lane change cancellation command.

[0114] The control unit 304 is specifically used to control the vehicle to move to the current target lane during forward movement in response to the fact that the vehicle's front direction is basically parallel to the lane line extension direction and there are no target obstacles in the preset safety area, based on the lateral movement parameters.

[0115] In some embodiments, the vehicle direction adjustment unit is specifically used to: if the vehicle's speed at the moment of lane change cancellation is greater than a preset speed, adjust the vehicle's direction to be substantially parallel to the direction of lane line extension during the vehicle's forward movement. The control unit 304 is specifically used to: if there are target obstacles within the preset safety area for a preset time period after the lane change cancellation moment, control the vehicle to brake.

[0116] In some embodiments, the control unit 304 is further configured to respond to the lane change cancellation command by controlling the vehicle to brake until there are no obstacles in the preset safe area if the vehicle's speed at the moment of lane change cancellation is less than or equal to a preset speed.

[0117] In some embodiments, the current target lane determination unit 302 is specifically used to: if the lateral intrusion distance is greater than a preset threshold, determine that the current target lane of the vehicle is the original target lane; if the lateral intrusion distance is less than or equal to the preset threshold, determine that the current target lane of the vehicle is the original lane; wherein, the preset threshold is determined based on the width of the original lane and is positively correlated with the width of the original lane.

[0118] In some embodiments, if the current target lane is the original target lane, the lateral movement parameters of the vehicle moving to the original target lane are determined based on the relative relationship between the lateral intrusion distance, the width of the original target lane, and the width of the vehicle; if the current target lane is the original lane, the lateral movement parameters of the vehicle moving to the original lane are determined based on the relative relationship between the lateral intrusion distance, the width of the original lane, and the width of the vehicle.

[0119] In some embodiments, the lateral intrusion distance determination unit 301 is specifically used to: determine the lateral intrusion distance of the vehicle from the original lane to the original target lane based on the vehicle's position, the vehicle's heading at the time of lane change cancellation, the boundary between the original lane and the original target lane, and the vehicle's inertia coefficient; wherein the vehicle's inertia coefficient is determined based on the vehicle's speed and heading at the time of lane change cancellation.

[0120] In some embodiments, the width of the preset safety zone is greater than 0.5 meters; the length of the preset safety zone is determined based on the length of the vehicle and the buffer distance in front of and behind the vehicle; the buffer distance in front of and behind the vehicle is a preset distance, and / or the buffer distance in front of and behind the vehicle is determined based on the speed of the vehicle in front, the speed of the vehicle behind, and the speed of the vehicle itself.

[0121] In some embodiments, the lateral motion parameter includes a lateral offset. Specifically, the control unit 304 is configured to repeatedly execute the following steps during lateral planning using the lateral offset until the lateral offset is less than a preset offset: performing trajectory planning according to the lateral offset and generating a lateral control command based on the planning result; controlling the lateral movement of the vehicle according to the lateral control command; wherein the lateral offset after each trajectory planning is the lateral offset before that trajectory planning minus the preset offset.

[0122] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0123] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0124] Accordingly, please refer to Figure 9 This application also provides a vehicle, including a processor 401, a memory 402, and executable instructions stored in the memory 402 and executable on the processor 401;

[0125] When the processor 401 executes the executable instructions, it implements the steps in the method as described in any of the above.

[0126] For example, the processor 401 includes, but is not limited to, a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0127] For example, the memory 402 may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc.

[0128] Of course, a vehicle also includes other components, such as a chassis, body, engine, and electrical equipment. The engine is the vehicle's power unit, used to generate power; the chassis supports the engine and body, and can drive the vehicle's movement based on the power generated by the engine; the body is mounted on the chassis frame and is used for the driver, passengers, or cargo; the electrical equipment includes power sources and electrical devices, such as batteries and generators, and starting systems for the engine or other electrical devices. Optionally, the vehicle also includes onboard sensors (such as cameras, lidar, millimeter-wave radar, RGBD cameras, etc.) to perceive environmental information about the vehicle's surroundings. Optionally, the vehicle also includes an autonomous driving system to assist the driver.

[0129] It is easy to understand that the solutions described in the above embodiments can be combined when there is no conflict, and not all of them are listed in the embodiments of this application.

[0130] Accordingly, this application also provides a computer program product, including a computer program that, when executed by a processor, is used to implement the above-described image processing method.

[0131] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a processor of the device to perform the described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0132] A non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a terminal's processor, enables the terminal to perform the methods described above.

[0133] The embodiments of the subject matter and functional operation described in this specification can be implemented in the following ways: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0134] The processing and logic flow described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output. The processing and logic flow can also be executed by dedicated logic circuitry—such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the device can also be implemented as dedicated logic circuitry.

[0135] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0136] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0137] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0138] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0139] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0140] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling a vehicle, characterized in that, include: In response to a lane change cancellation command, the lateral intrusion distance of the vehicle from its original lane to the original target lane is determined. The lateral intrusion distance is determined based on the vehicle's position, the vehicle's heading at the time of lane change cancellation, the boundary between the original lane and the original target lane, and the vehicle's inertia coefficient. The vehicle's inertia coefficient is determined based on the vehicle's speed and heading at the time of lane change cancellation. Based on the lateral intrusion distance, the current target lane of the vehicle and the lateral movement parameters of the vehicle moving to the current target lane are determined; wherein, if the lateral intrusion distance is greater than a preset threshold, the current target lane is the original target lane, and if the lateral intrusion distance is less than or equal to the preset threshold, the current target lane is the original lane; The system detects whether there is a target obstacle within a preset safe area next to the vehicle and located in the current target lane; the target obstacle is an obstacle that may collide with the vehicle during the vehicle's movement to the current target lane, and the preset safe area is the range of movement that can ensure the vehicle's safe movement to the current target lane; If there are no target obstacles within the preset safe area, the vehicle is controlled to move to the current target lane according to the lateral motion parameters. If a target obstacle exists within the preset safe area, control the vehicle to brake.

2. The method according to claim 1, characterized in that, Also includes: In response to the lane change cancellation command, the vehicle's heading is adjusted to be substantially parallel to the direction of lane line extension during the vehicle's forward movement; The step of controlling the vehicle to move to the current target lane based on the lateral motion parameters in response to the absence of target obstacles within the preset safety area includes: In response to the fact that the direction of the vehicle's front is substantially parallel to the direction of the lane line extension and there are no target obstacles within the preset safe area, the vehicle is controlled to move to the current target lane during its forward movement based on the lateral motion parameters.

3. The method according to claim 2, characterized in that, The step of adjusting the direction of the vehicle's front end to be substantially parallel to the direction of lane line extension during the vehicle's forward movement includes: If the speed of the vehicle at the moment the lane change is cancelled is greater than the preset speed, the direction of the vehicle's front end will be adjusted to be basically parallel to the direction of the lane line extension during the vehicle's forward movement. If a target obstacle exists within the preset safe area, controlling the vehicle to brake includes: If a target obstacle exists within the preset safe area for a preset time period after the lane change cancellation time, the vehicle will be braked.

4. The method according to any one of claims 1 to 3, characterized in that, Also includes: In response to the lane change cancellation command, if the vehicle's speed at the moment of lane change cancellation is less than or equal to a preset speed, the vehicle is controlled to brake until there are no target obstacles within the preset safe area.

5. The method according to claim 1, characterized in that, in, The preset threshold is determined based on the width of the original lane and is positively correlated with the width of the original lane.

6. The method according to claim 1 or 5, characterized in that, If the current target lane is the original target lane, the lateral movement parameters of the vehicle moving to the original target lane are determined based on the relative relationship between the lateral intrusion distance, the width of the original target lane, and the width of the vehicle; If the current target lane is the original lane, the lateral movement parameters of the vehicle moving to the original lane are determined based on the relative relationship between the lateral intrusion distance, the width of the original lane, and the width of the vehicle.

7. The method according to any one of claims 1 to 3 and 5, characterized in that, The width of the preset safety zone is greater than 0.5 meters; The length of the preset safety zone is determined based on the length of the vehicle and the buffer distance in front of and behind the vehicle; the buffer distance in front of and behind the vehicle is a preset distance, and / or, the buffer distance in front of and behind the vehicle is determined based on the speed of the vehicle in front, the speed of the vehicle behind, and the speed of the vehicle itself.

8. The method according to claim 1, characterized in that, The lateral motion parameters include lateral offset; The step of controlling the vehicle to move to the current target lane based on the lateral motion parameters includes: During the lateral planning process using the lateral offset, the following steps are repeated until the lateral offset is less than a preset offset: Trajectory planning is performed according to the lateral offset, and lateral control commands are generated based on the planning results; The vehicle is controlled to move laterally according to the lateral control command; wherein, the lateral offset after each trajectory planning is the result of the lateral offset before the trajectory planning minus the preset offset.

9. A vehicle control device, characterized in that, include: A lateral intrusion distance determination unit is used to determine the lateral intrusion distance of the vehicle from the original lane to the original target lane in response to a lane change cancellation command. The lateral intrusion distance is determined based on the vehicle's position, the vehicle's heading at the time of lane change cancellation, the boundary between the original lane and the original target lane, and the vehicle's inertia coefficient. The vehicle's inertia coefficient is determined based on the vehicle's speed and heading at the time of lane change cancellation. The current target lane determination unit is further configured to determine the current target lane of the vehicle and the lateral movement parameters of the vehicle moving to the current target lane based on the lateral intrusion distance; wherein, if the lateral intrusion distance is greater than a preset threshold, the current target lane is the original target lane, and if the lateral intrusion distance is less than or equal to the preset threshold, the current target lane is the original lane; An obstacle detection unit is used to detect whether there are target obstacles beside the vehicle and within a preset safe area in the current target lane; the target obstacle is an obstacle that may collide with the vehicle during the vehicle's movement to the current target lane, and the preset safe area is the range of movement that can ensure the vehicle's safe movement to the current target lane; The control unit is used to control the vehicle to move to the current target lane according to the lateral motion parameters if there are no target obstacles in the preset safe area. The control unit is also used to control the vehicle to brake if there is a target obstacle within the preset safe area.

10. A vehicle, characterized in that, This includes the processor, memory, and executable instructions stored in memory and capable of running on the processor; When the processor executes the executable instructions, it implements the steps of the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 8.

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