Intelligent driving crossing control method and system and readable storage medium

Abstract

The present application relates to the technical field of automatic driving, in particular to a control method and system for intelligent driving through a crossroad and a readable storage medium, and solves the problem of how to change speed and overtake in the case of ensuring safety when intelligent driving through a crossroad. To solve the above problem, the present application provides a control method for intelligent driving through a crossroad, which comprises: identifying fixed-line vehicles around an automatic driving vehicle; obtaining line information of the identified fixed-line vehicles from a map module and predicting driving trajectories of the fixed-line vehicles; judging whether the automatic driving vehicle changes lane according to the driving trajectories; obtaining a distance between the fixed-line vehicles and an end point of the crossroad after changing lane to obtain a first distance result; and controlling a driving speed of the automatic driving vehicle according to the first distance result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a control method and system for intelligent driving through a road intersection, and a readable storage medium. BACKGROUND

[0002] The intersection scene in the city is very common in the field of intelligent driving at present, and it is difficult to achieve technology. Most of the cases are that the ego vehicle is a non-first vehicle, that is, it follows the preceding vehicle through the intersection. At present, in the process of following the vehicle, lane changing and overtaking has safety hazards, but the speed of following driving is too slow, causing the driving efficiency to be reduced. SUMMARY

[0003] The problem solved by the present application: how to change speed and overtake when intelligent driving through a road intersection while ensuring safety.

[0004] To solve the above problems, the embodiment of the present application provides a control method for intelligent driving through a road intersection, which comprises: identifying fixed route vehicles around an automatic driving vehicle; obtaining route information of the identified fixed route vehicles from a map module, and predicting the driving trajectory of the fixed route vehicles; determining whether the automatic driving vehicle changes lanes according to the driving trajectory; obtaining the distance between the fixed route vehicle and the end of the intersection after changing lanes to obtain a first distance result; and controlling the driving speed of the automatic driving vehicle according to the first distance result.

[0005] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the distance of the fixed route vehicle from the intersection is detected to determine whether there is a vehicle on the right side of the fixed route vehicle, so as to determine the driving speed of the fixed route vehicle, thereby increasing the safety of the automatic driving vehicle after changing lanes.

[0006] In an embodiment of the present application, the route information of the identified fixed route vehicle is obtained from the map module, and the driving trajectory of the fixed route vehicle is predicted, which comprises: obtaining the information of the next stop site of the fixed route vehicle from the map module in combination with the position of the automatic driving vehicle; and determining whether the fixed route vehicle passes through the intersection according to the position of the fixed route vehicle and the information of the next stop site.

[0007] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the driving route of the fixed route vehicle is detected, so that the detection of the intersection position is more accurate.

[0008] In an embodiment of the present application, the driving trajectory is used to determine whether the automatic driving vehicle changes lanes, which comprises: detecting the length of the intersection to obtain a second distance result when the fixed route vehicle passes through the intersection; detecting whether there is a driving vehicle on the left side of the automatic driving vehicle; and determining whether the automatic driving vehicle changes lanes according to the second distance result and the detection result.

[0009] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: through detection of the length of the intersection, the lane changing determination becomes more accurate, and through detection of the vehicle on the left side of the autonomous vehicle, the safety during lane changing is ensured, and the occurrence of traffic accidents during lane changing is avoided.

[0010] In an embodiment of the present application, whether the autonomous vehicle changes lanes is determined according to the second distance result and the detection result, including: when the fixed route vehicle passes through the intersection, the second distance result is greater than the first threshold value, and there is no vehicle on the left side of the autonomous vehicle, controlling the autonomous vehicle to change lanes; and when the fixed route vehicle passes through the intersection, and the second distance result is less than or equal to the first threshold value, controlling the autonomous vehicle to follow the fixed route vehicle.

[0011] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the second distance result is used to obtain the prerequisite for controlling lane changing, and the detection result is used to ensure the safety during lane changing, and the second distance result and the detection result are combined to ensure the safety of lane changing of the autonomous vehicle.

[0012] In an embodiment of the present application, the distance between the fixed route vehicle and the end of the intersection after lane changing is obtained to obtain a first distance result, including: detecting the specific position of the fixed route vehicle at the intersection; and according to the specific position, detecting the distance between the front of the fixed route vehicle and the end of the intersection to obtain the first distance result.

[0013] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the first distance result is used to determine whether there is a vehicle merging into the same lane on the right side of the fixed vehicle, the influence of the right side of the autonomous vehicle becoming a blind area after lane changing is reduced, and the safety of the autonomous vehicle passing through the intersection is ensured.

[0014] In an embodiment of the present application, the driving speed of the autonomous vehicle is controlled according to the first distance result, including: when the first distance result is greater than one lane width, controlling the autonomous vehicle to maintain the same speed as the fixed route vehicle, and the autonomous vehicle does not exceed the front of the fixed route vehicle; and when the first distance result is less than one lane width, controlling the speed of the autonomous vehicle according to the current road conditions.

[0015] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: through the setting of one lane width, the influence of the blind area after lane changing on the autonomous vehicle is reduced, and the speed of the autonomous vehicle can also be changed according to different road conditions, so as to avoid collision between the autonomous vehicle and the fixed route vehicle, and the safety of the autonomous vehicle driving is improved.

[0016] In an embodiment of the present application, the controlling the driving speed of the automatic driving vehicle according to the first distance result comprises: obtaining a road speed limit value of the current road section; and controlling the driving speed of the automatic driving vehicle to be lower than the road speed limit value.

[0017] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the highest speed of the automatic driving vehicle is obtained by obtaining the road speed limit value, and the automatic driving vehicle is controlled to drive at a specified speed, so as to avoid violating traffic regulations and accidents caused by too high speed, and improve the legality of the intelligent driving control method.

[0018] In an embodiment of the present application, when the first distance result is less than one lane width, the speed of the automatic driving vehicle is controlled according to the current road condition, comprising: one of controlling the automatic driving vehicle to accelerate, controlling the automatic driving vehicle to decelerate, and controlling the automatic driving vehicle to maintain the original speed.

[0019] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the speed is adjusted according to different environments, which improves the compatibility and practicality of the intelligent driving control method, is more accurate in speed control, and further reduces the probability of accidents.

[0020] In an embodiment of the present application, a control system of the control method of the intelligent driving through the intersection is also provided, the control system comprising a processor, a memory, and a program or instruction stored on the memory and executable on the processor, and the program or instruction is executed by the processor to realize the steps of the control method.

[0021] In an embodiment of the present application, a readable storage medium is also provided, and the program or instruction is stored on the readable storage medium and is executed by the processor to realize the steps of the switching method in the above embodiment. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 The switching method flowchart of the present application.

[0023] Figure 2 The system diagram of the switching system of the present application.

[0024] REFERENCE SIGNS:

[0025] 100 - control system; 120 - memory; 130 - processor. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0027]

FIRST EMBODIMENT

[0028] Referring to Figure 1 In one specific embodiment, a control method for intelligent driving, the control method comprising:

[0029] S100, identifying fixed-route vehicles around the autonomous driving vehicle;

[0030] S200, obtaining route information of the identified fixed-route vehicles from a map module, and predicting a driving trajectory of the fixed-route vehicles;

[0031] S300, determining whether the autonomous driving vehicle changes lanes according to the driving trajectory;

[0032] S400, obtaining a distance between the fixed-route vehicle and a terminal point of the intersection after changing lanes, to obtain a first distance result;

[0033] S500, controlling a driving speed of the autonomous driving vehicle according to the first distance result.

[0034] Further, in step S100, the autonomous driving vehicle takes pictures of the surrounding vehicles through a camera, and then identifies the pictures to determine whether there is a fixed-route vehicle among the surrounding vehicles. The fixed-route vehicle may include, for example, a bus, a passenger vehicle, a school bus, or a supermarket shuttle, etc. These types of vehicles have the common feature of having a fixed driving route and fixed stops on the route.

[0035] Further, in step S200, when it is identified that there is a fixed-route vehicle around the autonomous driving vehicle, the driving route of the corresponding fixed-route vehicle section is queried in the system.

[0036] Further, in step S300, the driving route obtained by querying is compared with the current driving route of the fixed-route vehicle, and finally the specific driving trajectory of the fixed-route vehicle on the road is predicted to determine whether the fixed-route vehicle slows down, speeds up, changes lanes, or continues to drive on the original road.

[0037] Further, in step S400, when it is determined that the autonomous driving vehicle needs to change lanes, the distance of the fixed-route vehicle from the terminal point of the intersection is detected. It should be noted that the driving route of the fixed-route vehicle is obtained in the map module, and the distance of passing through the intersection along the current lane is calculated to avoid distance calculation errors in the process of left and right turns, which may lead to errors in controlling the driving mode of the autonomous driving vehicle.

[0038] Further, in step S500, whether the automatic driving vehicle can overtake is determined by the result calculated in step S400. It should be noted that in the process of determining whether to overtake, any vehicle located on the right side of the intersection can be determined. For example, when the automatic driving vehicle passes through the intersection and there is a vehicle on the right side, the position between the distance from the intersection end point is detected, and then whether there is a vehicle on the right side of the fixed route vehicle is determined according to the first distance result. At this time, the vehicle is not necessarily a fixed route vehicle, but can be a vehicle driving on the right lane.

[0039] The distance between the fixed route vehicle and the intersection is detected to determine whether there is a vehicle on the right side of the fixed route vehicle, so as to determine the driving speed of the fixed route vehicle, thereby increasing the safety of the automatic driving vehicle after changing lanes.

[0040]

Second embodiment

[0041] In a specific embodiment, the line information of the recognized fixed route vehicle is obtained from the map module, and the driving trajectory of the fixed route vehicle is predicted, including:

[0042] S210, in combination with the position of the automatic driving vehicle, information of the next station to be stopped of the fixed route vehicle is obtained from the map module;

[0043] S220, whether the fixed route vehicle passes through the intersection is determined according to the position of the fixed route vehicle and the information of the next station to be stopped.

[0044] Further, in step S210, the form information of the fixed route vehicle is accurately obtained from the map module. For example, when the fixed route vehicle is a bus, the next station to be stopped of the bus is obtained to determine the specific driving route of the bus. When the fixed route vehicle is a school bus, the school to be reached by the school bus is determined to determine the specific driving route of the school bus.

[0045] Further, in step S220, whether there is an intersection between the current position and the next station to be stopped is determined. When the intersection is passed, the lane changing, overtaking and other operations are performed at the intersection. When the intersection is not passed, the vehicle speed of the front following vehicle and the driving situation of the left road are detected, and the intelligent driving is comprehensively performed according to the road conditions.

[0046] The driving route of the fixed route vehicle is detected to make the detection of the intersection position more accurate.

[0047]

Third embodiment

[0048] In a specific embodiment, whether the automatic driving vehicle changes lanes is determined according to the driving trajectory, including:

[0049] S310, detecting the length of the intersection when the fixed-line vehicle passes through the intersection, obtaining a second distance result;

[0050] S320, detecting whether the left side of the autonomous vehicle has a running vehicle;

[0051] S330, judging whether the autonomous vehicle changes lanes according to the second distance result and the detection result.

[0052] Further, in step S310, when step S220 determines that the fixed line will pass through the intersection, the length of the intersection is detected. The judgment of the length of the intersection is based on the route of the vehicle, not the straight-line distance. When the lane setting needs to be inclined or turned, the distance is calculated according to the driving path of the vehicle.

[0053] Further, in step S320, during the process of the autonomous vehicle passing through the intersection, it is detected in real time whether the left side of the autonomous vehicle has other running vehicles.

[0054] Further, in step S330, when the length of the intersection meets the lane-changing condition and there is no vehicle on the left side, the autonomous vehicle is controlled to change lanes to the left. When the length of the intersection is too short or the intersection narrows in parallel, the autonomous vehicle is controlled to follow the running. For example, there are two lanes when entering the intersection, and it becomes a single lane when exiting the intersection. At this time, traffic converges at the intersection, so no lane-changing operation is performed, and the vehicle continues to move forward following the vehicle in front.

[0055] It should be noted that if the intersection is a single lane in the driving direction, there is no need to detect the vehicle on the left side. When the second distance result meets the lane-changing condition, the autonomous vehicle directly changes lanes after completely entering the intersection.

[0056] By detecting the length of the intersection, the lane-changing judgment becomes more accurate. By detecting the vehicle on the left side of the autonomous vehicle, the safety of lane-changing is ensured, and traffic accidents during lane-changing are avoided.

[0057]

Fourth embodiment

[0058] In one specific embodiment, judging whether the autonomous vehicle changes lanes according to the second distance result and the detection result comprises:

[0059] S331, when the fixed-line vehicle passes through the intersection, the second distance result is greater than the first threshold value, and there is no vehicle on the left side of the autonomous vehicle, the autonomous vehicle is controlled to change lanes;

[0060] S332, when the fixed-line vehicle passes through the intersection, and the second distance result is less than or equal to the first threshold value, the autonomous vehicle is controlled to follow the fixed-line vehicle.

[0061] Further, in step S331, the first threshold is usually 10 lane lengths, when it is determined that the fixed route vehicle in front does not change lanes, and the fixed route vehicle needs to stop immediately after the intersection, the length of the intersection in front is detected immediately, when the length meets the lane change condition, the left side of the vehicle is detected in real time during driving, and the lane change is performed immediately after the lane change condition is met.

[0062] For example, the autonomous vehicle follows a bus through an intersection, and there is a bus stop 100 meters away from the intersection. If the autonomous vehicle follows the bus, it needs to wait behind the bus after the bus enters the stop to continue driving after the bus finishes picking up and dropping off passengers, which greatly reduces the driving efficiency of the autonomous vehicle. Therefore, when the length of the intersection is greater than 10 lane lengths, the autonomous vehicle is controlled to change lanes, and the distance between the left and right sides of the intersection is large, which provides sufficient conditions for lane changing to avoid the situation of following the bus to stop and start again.

[0063] Further, in step S332, when the system detects that the length of the intersection is not sufficient for lane changing, the autonomous vehicle is controlled to follow the fixed route vehicle to avoid safety hazards caused by forced lane changing.

[0064] The second distance result is used to obtain the prerequisite condition for controlling lane changing, and the detection result is used to ensure the safety of the lane changing process. The second distance result and the detection result are combined to ensure the safety of the lane changing of the autonomous vehicle.

[0065]

Fifth Embodiment

[0066] In a specific embodiment, the distance between the fixed route vehicle and the end of the intersection after lane changing is obtained to obtain a first distance result, including:

[0067] S410, detecting the specific position of the fixed route vehicle at the intersection;

[0068] S420, detecting the distance between the front of the fixed route vehicle and the end of the intersection according to the specific position to obtain the first distance result.

[0069] Further, in step S410, after the vehicle changes lanes, the vehicle will continue to drive at the intersection during the lane changing time, and the specific position of the fixed route vehicle is detected at this time.

[0070] Further, in step S420, after detecting the specific position of the fixed-line vehicle, the distance between the fixed-line vehicle's head and the end of the intersection is calculated, and the speed of the automatic driving vehicle after changing lanes is determined by the distance. When the first distance result is small, the automatic driving vehicle is controlled to travel according to the actual road conditions and the set cruise speed, that is, the traditional adaptive cruise strategy is used for driving; when the first distance result is large, the automatic driving vehicle does not overtake after changing lanes to avoid safety accidents.

[0071] Preferably, the distance of the fixed-line vehicle's advance can be calculated by detecting the speed of the fixed vehicle and the time spent in changing lanes, and the distance between the fixed-line vehicle and the end of the intersection is calculated by the second distance result.

[0072] The first distance result is used to determine whether there is a vehicle merging into the same lane on the right side of the fixed vehicle, which reduces the impact of the automatic driving vehicle's right side becoming a blind area after changing lanes, and ensures the safety of the automatic driving vehicle passing through the intersection.

[0073]

Sixth embodiment

[0074] In a specific embodiment, the driving speed of the automatic driving vehicle is controlled according to the first distance result, including:

[0075] S510, when the first distance result is greater than one lane width, the automatic driving vehicle is controlled to maintain the same speed as the fixed-line vehicle, and the automatic driving vehicle does not exceed the head of the fixed-line vehicle;

[0076] S520, when the first distance result is less than one lane width, the speed of the automatic driving vehicle is controlled according to the current road conditions.

[0077] Further, in step S510, when the first distance result is greater than one lane width, it indicates that the front of the fixed route vehicle can pass through a vehicle driving, at this time, the right side of the autonomous vehicle is a visual blind area, and blind overtaking is easy to cause accidents. In order to avoid the above phenomenon, when the first distance result is greater than one lane width, the autonomous vehicle is controlled to keep the same speed as the fixed route vehicle. For example, when the fixed route vehicle accelerates through the intersection, the autonomous vehicle also performs acceleration operation, and when the fixed route vehicle decelerates, the autonomous vehicle also decelerates. In the process of driving, the speed of the fixed route vehicle is detected in real time to ensure that the front of the autonomous vehicle does not exceed the front of the fixed route vehicle. In the case of an indicator, the vehicle on the right side of the lane where the autonomous vehicle travels does not exist at the same time. Therefore, it is only necessary to prevent the vehicle on the right side from colliding with the autonomous vehicle when turning. In this case, the deceleration buffer distance is large, and the autonomous vehicle can be appropriately accelerated to approach the front of the fixed route vehicle first, and then travel at the same speed. In the case of no indicator, it is also necessary to prevent the straight vehicle on the right side. At this time, the preparation for the sudden brake of the fixed route vehicle on the right side is made, so a distance far away from the front of the fixed route vehicle is needed to avoid accidents due to untimely braking.

[0078] Further, in step S520, when the fixed route vehicle travels to the first distance result less than one lane width, it indicates that the vehicle on the right side cannot jump over the fixed route vehicle into the intersection at this time. At this time, the autonomous vehicle can be controlled according to different road conditions.

[0079] By setting one lane width, the influence of the visual blind area caused by lane changing on the autonomous vehicle is reduced, and the speed of the autonomous vehicle can be changed according to different road conditions to avoid collision between the autonomous vehicle and the fixed route vehicle, thereby improving the safety of the autonomous vehicle driving.

[0080]

Seventh Embodiment

[0081] In a specific embodiment, controlling the driving speed of the autonomous vehicle according to the first distance result comprises:

[0082] S530, obtaining a road speed limit value of the current section;

[0083] S540, controlling the driving speed of the autonomous vehicle to be lower than the road speed limit value.

[0084] It should be noted that steps S530 and S540 are priority execution steps, and during the execution of steps S510 and S520, the speed of the autonomous vehicle is always ensured to be lower than the road speed limit value. If the driving speed of the fixed route vehicle is too fast after changing lanes, the autonomous route vehicle is controlled to drive at a speed closest to the road speed limit value.

[0085] By obtaining the road speed limit value to obtain the maximum speed of the autonomous driving vehicle, and controlling the autonomous driving vehicle to drive within the specified speed, the speed is prevented from being too fast to violate traffic regulations and accidents are avoided, thereby improving the legality of the intelligent driving control method.

[0086]

Eighth Embodiment

[0087] In a specific embodiment, when the first distance result is less than one lane width, the speed of the autonomous driving vehicle is controlled according to the current road conditions, including:

[0088] S521, one of controlling the autonomous driving vehicle to accelerate, controlling the autonomous driving vehicle to decelerate, and controlling the autonomous driving vehicle to maintain the original speed.

[0089] For example, in step S521, when the straight line between the entrance of the intersection and the next section of the road is straight, the autonomous driving vehicle is controlled to accelerate to overtake the fixed driving vehicle. When there is a small turning between the entrance of the intersection and the next section of the road, the autonomous driving vehicle is controlled to accelerate slowly and then accelerate to overtake after entering the next section of the road. When the situation at the intersection is left turn, the lane is changed to the inside lane of the fixed route vehicle to avoid the autonomous driving vehicle entering the turning blind area of the fixed route vehicle, the autonomous driving vehicle is controlled to decelerate, and then accelerated after the fixed route vehicle turns. When the situation at the intersection is right turn, the lane is changed to the outside lane of the fixed route vehicle, the vehicle condition of the straight lane in the same direction is observed, and the acceleration overtaking or deceleration waiting is determined according to the vehicle condition to avoid collision with the straight vehicle. If the straight lane on the left side is red at this time, the autonomous driving vehicle is controlled to accelerate.

[0090] According to different environments, the speed is adjusted differently, which improves the compatibility and practicality of the intelligent driving control method, and is more accurate in speed control, further reducing the probability of accidents.

[0091]

Ninth Embodiment

[0092] Referring to Figure 2 In a specific embodiment, a control system 100 for the control method of intelligent driving through an intersection is also provided, which includes a processor 130, a memory 120, and a program or instruction stored on the memory 120 and executable on the processor 130. The program or instruction is executed by the processor 130 to implement the steps of the control method described above.

[0093] [Eleventh Embodiment]

[0094] In one specific embodiment, a readable storage medium is also provided, on which a program or instruction is stored, and the program or instruction is executed by the processor 130 to realize the steps of the switching method in the above embodiments.

[0095] Although the present application has been disclosed with reference to the above embodiments, the present application is not limited to the above embodiments. Any person skilled in the art, without departing from the spirit and scope of the present application, can make various changes and modifications, and the protection scope of the present application should be defined by the scope of the claims.

Claims

1. A control method of intelligent driving through a crossing, characterized by, The control method comprises: identifying a fixed-route vehicle around the autonomous vehicle; obtaining route information of the identified fixed-route vehicle from a map module, and predicting a driving track of the fixed-route vehicle; judging whether the autonomous vehicle changes lane according to the driving track; obtaining a distance between the fixed-route vehicle and a terminal point of the intersection after the autonomous vehicle changes lane, and detecting a specific position of the fixed-route vehicle at the intersection; obtaining a first distance result between a vehicle head of the fixed-route vehicle and the terminal point of the intersection according to the specific position; controlling a driving speed of the autonomous vehicle according to the first distance result; when the first distance result is greater than one lane width, controlling the autonomous vehicle to keep the same speed as the fixed-route vehicle, and the autonomous vehicle does not exceed the vehicle head of the fixed-route vehicle; when the first distance result is less than one lane width, controlling the speed of the autonomous vehicle according to a current road condition.

2. The control method according to claim 1, characterized by, The obtaining of the route information of the identified fixed-route vehicle from the map module, and the prediction of the driving track of the fixed-route vehicle, comprises: obtaining information of a next stop site of the fixed-route vehicle from the map module in combination with a position of the autonomous vehicle; judging whether the fixed-route vehicle passes through an intersection according to the position of the fixed-route vehicle and the information of the next stop site.

3. The control method according to claim 2, characterized by, The judging of whether the autonomous vehicle changes lane according to the driving track, comprises: when the fixed-route vehicle passes through the intersection, detecting a length of the intersection to obtain a second distance result; detecting whether there is a driving vehicle on the left side of the autonomous vehicle; judging whether the autonomous vehicle changes lane according to the second distance result and the driving vehicle.

4. The control method according to claim 3, characterized by The judging of whether the autonomous vehicle changes lane according to the second distance result and the detection result, comprises: when the fixed-route vehicle passes through the intersection, the second distance result is greater than a first threshold value, and there is no vehicle on the left side of the autonomous vehicle, controlling the autonomous vehicle to change lane; when the fixed-route vehicle passes through the intersection, and the second distance result is less than or equal to the first threshold value, controlling the autonomous vehicle to follow the fixed-route vehicle.

5. The control method according to claim 1, characterized by, The controlling of the driving speed of the autonomous vehicle according to the first distance result, comprises: obtaining a road speed limit value of a current section; controlling the driving speed of the autonomous vehicle to be lower than the road speed limit value.

6. The control method according to claim 5, characterized by The controlling of the speed of the autonomous vehicle according to the current road condition when the first distance result is less than one lane width, comprises: controlling the autonomous vehicle to accelerate, decelerate or maintain the original speed.

7. A control system of a control method of intelligent driving through an intersection, characterized by, The control system comprises a processor, a memory, and a program or instruction stored on the memory and executable on the processor, and the program or instruction is executed by the processor to implement the steps of the control method according to any one of claims 1 to 6.

8. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, which, when executed by the processor, implement the steps of the control method according to any one of claims 1 to 6.

Images