An automatic driving control method, device, equipment and storage medium

Abstract

This invention discloses an autonomous driving control method, device, equipment, and storage medium, belonging to the field of vehicle technology. The method includes: receiving autonomous driving data synchronized by a main controller and receiving heartbeat packets sent by the main controller based on a preset communication channel; taking over autonomous driving control authority if no heartbeat packet is received within a preset detection period; and generating autonomous driving control information based on the autonomous driving data synchronized by the main controller and real-time acquired autonomous driving data after taking over the autonomous driving control authority. This invention can ensure autonomous driving safety even if the autonomous driving controller malfunctions in an autonomous driving scenario.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to an autonomous driving control method, device, equipment, and storage medium. Background Technology

[0002] As the electronic technology in intelligent vehicles becomes increasingly complex, the risks of system failures and random hardware malfunctions are also growing. Therefore, comprehensively identifying these risks and taking corresponding measures to eliminate or control them within acceptable limits has become a new challenge for the automotive and IT industries. In driver assistance functions below Level 2, the driver needs to keep their hands on the steering wheel when the autonomous driving function is activated. However, once the system reaches Level 3, redundancy design is required because Level 3 autonomous driving systems allow the driver to take their hands off the steering wheel for extended periods without constantly observing road conditions. In autonomous driving scenarios, there is a certain time interval between the occurrence of a system failure and the driver's reaction to take over control, during which safety hazards exist. Summary of the Invention

[0003] To overcome the shortcomings and deficiencies of existing technologies, this invention discloses an autonomous driving control method, device, equipment, and storage medium that ensures autonomous driving safety even if the autonomous driving controller malfunctions in an autonomous driving scenario. The method includes:

[0004] Based on a preset communication channel, it receives autonomous driving data synchronized by the main controller, as well as heartbeat packets sent by the main controller;

[0005] If no heartbeat packet is received within the preset detection period, take over the autonomous driving control authority;

[0006] When taking over the autonomous driving control authority, data processing is performed based on the autonomous driving data synchronized by the main controller and the real-time acquired autonomous driving data to generate autonomous driving control information.

[0007] Furthermore, the preset communication channel includes a first channel and a second channel;

[0008] The process of receiving autonomous driving data synchronized by the main controller based on a preset communication channel, and receiving heartbeat packets sent by the main controller, includes:

[0009] Based on the first channel, the autonomous driving data synchronized by the main controller is received;

[0010] Based on the second channel, the heartbeat packet sent by the main controller is received.

[0011] Furthermore, before receiving the autonomous driving data synchronized by the main controller based on the first channel, the method further includes:

[0012] Based on the first channel, receive the simulated test data sent by the main controller;

[0013] If the simulated test data sent by the main controller is consistent with the received simulated test data, it is determined that the first channel has been successfully established.

[0014] Furthermore, the process of receiving autonomous driving data synchronized by the main controller based on a preset communication channel, and receiving heartbeats sent by the main controller, includes:

[0015] The autonomous driving data is received based on the first process;

[0016] The heartbeat packet is received based on the second process;

[0017] The first process is different from the second process.

[0018] Furthermore, after receiving the automated driving data synchronized by the main controller based on the preset communication channel, and receiving the heartbeat packet sent by the main controller, the method further includes:

[0019] The autonomous driving data is parsed to obtain the data header and data body corresponding to the autonomous driving data; the data header includes a data identifier and a data pointer corresponding to the data identifier.

[0020] Based on the data pointer corresponding to the data identifier, read the target data corresponding to the data identifier from the data body;

[0021] The target data is stored in the partition corresponding to the data identifier.

[0022] Furthermore, after receiving the automated driving data synchronized by the main controller based on the preset communication channel, and receiving the heartbeat packet sent by the main controller, the method further includes:

[0023] After each data synchronization cycle ends, a data synchronization completion message is sent to the message publishing module so that the message subscription module can obtain the data synchronization completion message from the message publishing module.

[0024] Furthermore, after taking over autonomous driving control when no heartbeat packet is received within a preset detection period, the method further includes:

[0025] After each time the autonomous driving control authority is taken over, a permission takeover completion message is sent to the message publishing module so that the message subscription module can obtain the permission takeover completion message from the message publishing module.

[0026] On the other hand, this application also provides an automatic driving control device, including:

[0027] The receiving module is used to receive autonomous driving data synchronized by the main controller based on a preset communication channel, and to receive heartbeat packets sent by the main controller.

[0028] The takeover module is used to take over the autonomous driving control authority if the heartbeat packet is not received within a preset detection period.

[0029] The generation module is used to process data based on the autonomous driving data synchronized by the main controller and the real-time acquired autonomous driving data when taking over the autonomous driving control authority, and generate autonomous driving control information.

[0030] Thirdly, this application also provides an electronic device, the device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the autonomous driving control method as described above.

[0031] Fourthly, this application also provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded by a processor and executed as described above for the autonomous driving control method.

[0032] Implementing this invention has the following beneficial effects:

[0033] This application configures a main controller and a backup controller. The backup controller receives autonomous driving data synchronized by the main controller through a preset communication channel, enabling synchronization of autonomous driving data between the backup and main controllers. When the main controller is operating normally, it continuously sends heartbeat packets to the backup controller through the preset communication channel. When the main controller malfunctions, it stops sending heartbeat packets. If the backup controller does not receive a heartbeat packet within a preset detection period, it determines that the main controller has failed and takes over the autonomous driving privileges. The backup controller receives real-time autonomous driving data in place of the main controller and processes this data, along with the synchronized autonomous driving data from the main controller, to generate autonomous driving control information. In the event of a main controller failure, the backup controller takes over the autonomous driving control privileges. In autonomous driving scenarios, even if the autonomous driving controller malfunctions, the safety of the vehicle's autonomous driving is guaranteed. Attached Figure Description

[0034] To more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A flowchart of an autonomous driving control method provided in an embodiment of the present invention;

[0036] Figure 2 This is a diagram illustrating the interaction between the primary and backup controllers provided in an embodiment of the present invention.

[0037] Figure 3 This is a flowchart of the heartbeat packet sending process provided in an embodiment of the present invention;

[0038] Figure 4 This is a flowchart of the autonomous driving data and heartbeat packet sending method provided in an embodiment of the present invention;

[0039] Figure 5 This is a structural block diagram of an automatic driving control device provided in an embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0041] In this embodiment, the technical problem to be solved by the present invention is to ensure the safety of autonomous driving even if the controller malfunctions when the driver's hands are off the steering wheel for an extended period of time. (Refer to...) Figure 1-2 The method includes:

[0042] S110: Based on a preset communication channel, it receives autonomous driving data synchronized by the main controller, as well as heartbeat packets sent by the main controller;

[0043] In this embodiment, multiple controllers are configured in the vehicle system, namely a main controller and at least one backup controller. The execution entity in this embodiment is the backup controller. A main virtual machine is loaded on the main controller, and a backup virtual machine is loaded on the backup controller. A preset communication channel is established between the main virtual machine and the backup virtual machine. The dynamic migration of autonomous driving data is realized through the preset communication channel. The main virtual machine of the main controller sends a heartbeat packet to the backup virtual machine of the backup controller through the preset communication channel to determine the operating status of the main controller.

[0044] S120: If no heartbeat packet is received within the preset detection period, take over the autonomous driving control authority;

[0045] like Figure 3 As shown, the number of heartbeat packets received by the backup controller is detected at a preset detection period. The main controller can send a heartbeat packet to the backup controller once at the preset detection period. If the number of heartbeat packets received by the backup controller is zero within the preset detection period, the main controller is confirmed to be faulty, and the backup controller takes over the autonomous driving control authority in place of the main controller. If the number of heartbeat packets received by the backup controller is 1 within the preset detection period, it indicates that the main controller is operating normally, the count is cleared, and the system waits for the next preset detection period.

[0046] S130: When taking over the autonomous driving control authority, it processes data based on the autonomous driving data synchronized by the main controller and the real-time acquired autonomous driving data to generate autonomous driving control information.

[0047] The autonomous driving data synchronized by the main controller includes data required for assisted autonomous driving, as well as autonomous driving data sent from external sensors and data that the main controller has received but not yet processed. In the event of a confirmed main controller failure, the backup controller takes over, receiving and processing the real-time autonomous driving data. It also processes data received but not yet processed after the main controller failure, generating autonomous driving control information. In autonomous driving scenarios, even if the controller fails, the vehicle's autonomous driving safety can be guaranteed. Dynamic migration of autonomous driving data is achieved through the main virtual machine and the backup virtual machine, allowing for seamless switching and improving the user experience.

[0048] Furthermore, the performance of the primary controller and the backup controller can be identical or inconsistent. When their performance is identical, there is no difference in data processing efficiency before and after the backup controller takes over autonomous driving control, and the user will not notice any difference. If the primary controller has been repaired but the backup controller fails, it sends synchronized autonomous driving data to the primary controller via a preset communication channel. After synchronization, the primary controller takes over autonomous driving control. If their performance is inconsistent, the primary controller outperforms the backup controller, reducing costs. After the backup controller takes over autonomous driving control, the primary controller repairs. The primary controller sends a heartbeat packet to the backup controller via a preset communication channel. If the backup controller receives only one heartbeat packet from the primary controller within several consecutive preset detection cycles, it determines that the primary controller has repaired successfully. The number of consecutive cycles can be set by the user. The backup controller then sends synchronized autonomous driving data to the primary controller via the preset communication channel. After synchronization, the primary controller takes over autonomous driving control. Under normal circumstances, the primary and backup controllers will not fail simultaneously. The use of two controllers improves the safety of autonomous driving.

[0049] In one implementation, the preset communication channel includes a first channel and a second channel;

[0050] Based on a preset communication channel, it receives autonomous driving data synchronized by the main controller, as well as heartbeat packets sent by the main controller, such as... Figure 4 As shown, it includes:

[0051] S410: Receives autonomous driving data synchronized by the main controller based on the first channel;

[0052] S420: Receives heartbeat packets sent by the main controller via the second channel.

[0053] The first channel and the second channel can be the same channel. In this embodiment, the first channel and the second channel are two independent channels. Setting up a first channel that is compatible with the autonomous driving data and a second channel that is compatible with the heartbeat packet format or model can improve the synchronization rate of the autonomous driving data. If the autonomous driving data and the heartbeat packet are transmitted through the same channel, it will cause congestion during the synchronization of the autonomous driving data and the heartbeat packet will not be sent to the backup controller in time, which will lead to a misjudgment of the main controller failure. Therefore, setting up the first channel and the second channel separately can improve the synchronization speed of the autonomous driving data and improve the accuracy of the main controller failure determination.

[0054] In one implementation, before receiving the automated driving data synchronized by the main controller based on the first channel, the method further includes:

[0055] Based on the first channel receiving the simulated test data sent by the main controller;

[0056] If the simulated test data sent by the main controller is consistent with the received simulated test data, the first channel is determined to have been successfully established.

[0057] Before autonomous driving synchronization, the availability of the first channel needs to be tested. Simulated test data is sent to the main controller. The simulated test data consists of a data header and a data body. The data header includes data category and function category, while the data body includes parameters required for specific functions. The simulated test data includes multiple test data. The main controller transmits the simulated test data to the backup controller through the first channel. The main controller detects the number and type of simulated test data received by the backup controller, as well as the corresponding data body. If the data type, number, and corresponding data body of the simulated test data sent by the main controller are consistent with those received by the backup controller, the first channel is considered to have been successfully established, thus ensuring the synchronization of autonomous driving data.

[0058] In one implementation, based on a preset communication channel, the system receives automated driving data synchronized by the main controller and heartbeats sent by the main controller, including:

[0059] Receive autonomous driving data based on the first process;

[0060] Heartbeat packets are received based on a second process;

[0061] The first process is different from the second process.

[0062] After the vehicle starts, a first process and a second process are created and run in parallel. Under normal circumstances, the first and second processes are shut down when the vehicle stops. The first and second processes are interconnected. If the first process malfunctions or cannot synchronize autonomous driving data normally, the second process shuts down, the main controller stops sending heartbeat packets to the backup controller, and the backup controller takes over the autonomous driving control authority. In the event of abnormal autonomous driving data synchronization, the backup controller receives autonomous driving data in real time to prevent driving safety hazards caused by missing autonomous driving data and improve the safety factor of autonomous driving.

[0063] In one implementation, based on a preset communication channel, after receiving the autonomous driving data synchronized by the main controller and the heartbeat packet sent by the main controller, as follows: Figure 5 As shown, the method also includes:

[0064] Parse the autonomous driving data to obtain the data header and data body corresponding to the autonomous driving data; the data header includes a data identifier and a data pointer corresponding to the data identifier.

[0065] Based on the data pointer corresponding to the data identifier, read the target data corresponding to the data identifier from the data body;

[0066] Store the target data in the partition corresponding to the data identifier.

[0067] Before the main controller sends the autonomous driving data to the backup controller, the corresponding data header and data body are assembled into complete autonomous driving data. After receiving the autonomous driving data, the backup controller parses the autonomous driving data into a data header and data body. According to the data pointer in the data header, it can read the target data corresponding to the data identifier and store the target data in the partition corresponding to the data identifier. Partitioning and saving can enable the backup processor to balance the load when reading data and improve the processing efficiency of the backup processor.

[0068] In one implementation, after receiving automated driving data synchronized by the main controller and receiving heartbeat packets sent by the main controller via a preset communication channel, the method further includes:

[0069] After each data synchronization cycle ends, a data synchronization completion message is sent to the message publishing module so that the message subscription module can obtain the data synchronization completion message from the message publishing module.

[0070] After each data synchronization cycle, a data synchronization completion message is sent to the message publishing module. This message can be a notification of the completion of an event or a notification of an event that is about to be completed, so that the message subscription module can subscribe. If data synchronization is abnormal, a data synchronization abnormal message is sent to the message publishing module. The message publishing module can be a CAN bus or a network that multiple message subscription modules can access together. Furthermore, it can be more specific that a completion message for each stage is sent to the message publishing module at the end of each event. For example, when the first channel is established, a channel establishment completion message is sent to the message publishing module after the first channel is established. If, during the first channel testing phase, the autonomous driving data received by the backup controller is found to be consistent with the autonomous driving data sent by the master controller, it indicates that the first channel has been established successfully, and a channel establishment success message is sent to the message publishing module. If the autonomous driving data received by the backup controller is found to be inconsistent with the autonomous driving data sent by the master controller, it indicates that the first channel has failed to be established, and a channel establishment failure message is sent to the message publishing module. The corresponding message subscription module subscribes to the channel establishment failure message from the message publishing module and formulates corresponding response strategies.

[0071] In one implementation, after taking over autonomous driving control if no heartbeat packet is received within a preset detection period, the method further includes:

[0072] After each takeover of autonomous driving control authority, a takeover completion message is sent to the message publishing module so that the message subscription module can obtain the takeover completion message from the message publishing module.

[0073] Each time the backup controller takes over the autonomous driving control authority, it sends a permission takeover completion message to the message publishing module. If the backup controller fails to take over the autonomous driving control authority, it sends a permission takeover failure message to the message publishing module so that the corresponding modules can subscribe and formulate a response strategy for the backup controller's failure to take over the autonomous driving control authority, so as to ensure that the backup controller can successfully take over the autonomous driving control authority after the main controller fails.

[0074] This embodiment also provides an automatic driving control device, which can implement all the above-described method steps, and the device includes:

[0075] The receiving module 510 is used to receive autonomous driving data synchronized by the main controller and heartbeat packets sent by the main controller based on a preset communication channel.

[0076] The takeover module 520 is used to take over the autonomous driving control authority if no heartbeat packet is received within a preset detection period.

[0077] The generation module 530 is used to generate autonomous driving control information by processing data based on the autonomous driving data synchronized by the main controller and the real-time acquired autonomous driving data when taking over the autonomous driving control authority.

[0078] The automatic driving control unit also includes:

[0079] The first receiving module is configured to receive the autonomous driving data synchronized by the main controller based on the first channel;

[0080] The second receiving module is used to receive the heartbeat packet sent by the main controller based on the second channel.

[0081] The third receiving module is used to receive simulated test data sent by the main controller based on the first channel;

[0082] The determination module is used to determine that the first channel has been successfully established if the simulated test data sent by the main controller is consistent with the received simulated test data.

[0083] The fourth receiving module is used to receive the autonomous driving data based on the first process;

[0084] The fifth receiving module is used to receive the heartbeat packet based on the second process.

[0085] The parsing module is used to parse the autonomous driving data to obtain the data header and data body corresponding to the autonomous driving data; the data header includes a data identifier and a data pointer corresponding to the data identifier.

[0086] The reading module is used to read the target data corresponding to the data identifier from the data body based on the data pointer corresponding to the data identifier;

[0087] A storage module is used to store the target data into a partition corresponding to the data identifier.

[0088] The first sending module is used to send a data synchronization completion message to the message publishing module after each data synchronization cycle ends, so that the message subscription module can obtain the data synchronization completion message from the message publishing module.

[0089] The second sending module is used to send a permission takeover completion message to the message publishing module after each time the autonomous driving control permission is taken over, so that the message subscription module can obtain the permission takeover completion message from the message publishing module.

[0090] Implementing this embodiment has the following effects:

[0091] 1. This application configures two controllers: a primary controller and a backup controller. The backup controller receives autonomous driving data synchronized from the primary controller via a preset communication channel, enabling data synchronization between the backup and primary controllers. When the primary controller is operating normally, it continuously sends heartbeat packets to the backup controller via the preset communication channel. If the primary controller malfunctions, it stops sending heartbeat packets. If the backup controller does not receive a heartbeat packet within a preset detection period, it determines that the primary controller has failed and takes over autonomous driving privileges. The backup controller receives real-time autonomous driving data on behalf of the primary controller and processes this data, along with the synchronized data from the primary controller, to generate autonomous driving control information. In the event of a primary controller failure, the backup controller takes over autonomous driving control privileges. Therefore, even if the autonomous driving controller malfunctions in an autonomous driving scenario, the safety of the vehicle's autonomous driving is guaranteed.

[0092] 2. Transmitting the autonomous driving data and heartbeat packets sent from the main controller to the backup controller through different processes and channels can improve the synchronization speed of autonomous driving data and the accuracy of fault determination of the main controller. The first process and the second process are associated. When the first process is abnormal, the second process stops running and stops sending heartbeat packets to the backup controller, allowing the backup controller to take over the autonomous driving control authority. In the event of abnormal autonomous driving data synchronization, the backup controller receives autonomous driving data in real time, preventing driving safety hazards caused by missing autonomous driving data and improving the safety factor of autonomous driving.

[0093] Embodiments of the present invention also provide an electronic device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, at least one program, code set, or instruction set is loaded and executed by the processor to implement an autonomous driving control method as described in the method embodiment.

[0094] Embodiments of the present invention also provide a storage medium, which can be disposed in a server to store at least one instruction, at least one program, code set, or instruction set for implementing an autonomous driving control method in the method embodiments. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement an autonomous driving control method provided in the above method embodiments.

[0095] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0096] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0097] The foregoing description has fully disclosed the specific embodiments of the present invention. It should be noted that any modifications made to the specific embodiments of the present invention by those skilled in the art do not depart from the scope of the claims. Accordingly, the scope of the claims is not limited to the foregoing specific embodiments.

Claims

1. An automatic driving control method, characterized in that, Applied to backup controllers, including: Based on a preset communication channel, the system receives autonomous driving data synchronized by the main controller and heartbeat packets sent by the main controller. The preset communication channel includes a first channel and a second channel. Receiving autonomous driving data synchronized by the main controller and heartbeat packets sent by the main controller based on the preset communication channel includes: receiving the autonomous driving data synchronized by the main controller based on the first channel; and receiving the heartbeat packets sent by the main controller based on the second channel. The first channel and the second channel are independent of each other. If no heartbeat packet is received within the preset detection period, take over the autonomous driving control authority; When taking over the autonomous driving control authority, data processing is performed based on the autonomous driving data synchronized by the main controller and the real-time acquired autonomous driving data to generate autonomous driving control information.

2. The automatic driving control method according to claim 1, characterized in that, Before receiving the autonomous driving data synchronized by the main controller based on the first channel, the method further includes: Based on the first channel, receive the simulated test data sent by the main controller; If the simulated test data sent by the main controller is consistent with the received simulated test data, it is determined that the first channel has been successfully established.

3. The automatic driving control method according to claim 1, characterized in that, The process of receiving autonomous driving data synchronized by the main controller and receiving heartbeats sent by the main controller based on a preset communication channel includes: The autonomous driving data is received based on the first process; The heartbeat packet is received based on the second process; The first process is different from the second process.

4. The automatic driving control method according to claim 1, characterized in that, After receiving the autonomous driving data synchronized by the main controller based on the preset communication channel, and receiving the heartbeat packet sent by the main controller, the method further includes: The autonomous driving data is parsed to obtain the data header and data body corresponding to the autonomous driving data; the data header includes a data identifier and a data pointer corresponding to the data identifier. Based on the data pointer corresponding to the data identifier, read the target data corresponding to the data identifier from the data body; The target data is stored in the partition corresponding to the data identifier.

5. The automatic driving control method according to claim 1, characterized in that, After receiving the autonomous driving data synchronized by the main controller based on the preset communication channel, and receiving the heartbeat packet sent by the main controller, the method further includes: After each data synchronization cycle ends, a data synchronization completion message is sent to the message publishing module so that the message subscription module can obtain the data synchronization completion message from the message publishing module.

6. The automatic driving control method according to claim 1, characterized in that, If no heartbeat packet is received within a preset detection period, after taking over the autonomous driving control authority, the method further includes: After each time the autonomous driving control authority is taken over, a permission takeover completion message is sent to the message publishing module so that the message subscription module can obtain the permission takeover completion message from the message publishing module.

7. An automatic driving control device, characterized in that, Applied to backup controllers, including: The receiving module is used to receive autonomous driving data synchronized by the main controller and to receive heartbeat packets sent by the main controller based on a preset communication channel; the preset communication channel includes a first channel and a second channel. The takeover module is used to take over the autonomous driving control authority if the heartbeat packet is not received within a preset detection period. The generation module is used to process data based on the autonomous driving data synchronized by the main controller and the real-time acquired autonomous driving data when taking over the autonomous driving control authority, and generate autonomous driving control information. The automatic driving control device also includes: The first receiving module is configured to receive the autonomous driving data synchronized by the main controller based on the first channel; The second receiving module is used to receive the heartbeat packet sent by the main controller based on the second channel; the first channel and the second channel are independent of each other.

8. An electronic device, characterized in that, The device includes a processor and a memory, the memory storing at least one instruction, at least one program, a code set, or an instruction set, the at least one instruction, the at least one program, the code set, or the instruction set being loaded and executed by the processor to implement the autonomous driving control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded by a processor and executed as described in any one of claims 1 to 6.

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