Green wave vehicle speed recommendation method and device, electronic equipment and readable storage medium

Abstract

The present disclosure provides a green wave vehicle speed recommendation method and device, electronic equipment and readable storage medium, relates to the field of artificial intelligence, in particular to the technical field of intelligent transportation, automatic driving and the like, and the implementation scheme comprises the following steps: determining a next intersection to be driven through by a vehicle based on a navigation path of the vehicle; determining whether there are at least two continuous green wave bands when the vehicle drives towards the next intersection, wherein the at least two continuous green wave bands span at least three continuous intersections from the next intersection; and in response to determining that there are at least two continuous green wave bands, determining a green wave vehicle speed for the vehicle to drive through the at least two continuous green wave bands to pass through the at least three continuous intersections; and recommending the green wave vehicle speed to a user.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of artificial intelligence, in particular to the technical field of intelligent transportation, automatic driving and the like, and more particularly to a green wave vehicle speed recommendation method and device, electronic equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] Vehicle speed recommendation is an important means of active traffic control, which can reduce vehicle parking and delay in driving process, and improve traffic efficiency and travel experience of travelers. In recent years, green wave speed recommendation has gradually emerged. The green wave band can refer to a time-space interval through which the vehicle passes without stopping. Correspondingly, the green wave speed can refer to the driving speed of the vehicle through the time-space interval. With the development of technology, green wave speed recommendation has gradually become an important vehicle speed recommendation method, so how to more accurately determine the green wave speed and make green wave speed recommendation is still one of the hotspots in the industry.

[0003] The methods described in this section can not have been previously conceived or made. Unless otherwise indicated herein, the methods described in this section are not to be assumed to have been previously conceived or made, merely because they are described in this section. Similarly, any problems mentioned in this section should not be assumed to have been recognized in the art. SUMMARY

[0004] The present disclosure provides a green wave vehicle speed recommendation method, device, electronic equipment, computer readable storage medium and computer program product.

[0005] According to an aspect of the present disclosure, a green wave vehicle speed recommendation method is provided, comprising: determining a next intersection to be driven through by a vehicle based on a navigation path of the vehicle; determining whether there are at least two consecutive green wave bands when the vehicle drives towards the next intersection, wherein the at least two consecutive green wave bands form across at least three consecutive intersections from the next intersection; and in response to determining that there are at least two consecutive green wave bands, determining a green wave speed for the vehicle to drive through the at least two consecutive green wave bands to pass through the at least three consecutive intersections; and recommending the green wave speed to a user.

[0006] According to another aspect of the present disclosure, there is provided a green wave vehicle speed recommendation device, comprising: a junction determination module configured to determine, based on a navigation path of a vehicle, a next junction through which the vehicle is to travel; a green wave band determination module configured to determine, while the vehicle is traveling towards the next junction, whether there are at least two consecutive green wave bands, wherein the at least two consecutive green wave bands span at least three consecutive junctions from the next junction; a green wave vehicle speed determination module configured to determine, in response to a determination that there are the at least two consecutive green wave bands, a green wave vehicle speed for the vehicle to travel through the at least two consecutive green wave bands to pass through the at least three consecutive junctions; and a recommendation module configured to recommend the green wave vehicle speed to a user.

[0007] According to another aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described above.

[0008] According to another aspect of the present disclosure, there is provided a computer readable storage medium storing computer instructions for causing a computer to perform the method as described above.

[0009] According to another aspect of the present disclosure, there is provided a computer program product, the computer program being implemented to perform the method as described above when executed by a processor.

[0010] According to one or more embodiments of the present disclosure, a green wave vehicle speed suitable for passing through as many consecutive junctions as possible can be recommended for a vehicle.

[0011] It is to be understood that the details set forth herein are not intended to limit the scope of embodiments of the present disclosure, and are merely intended to describe exemplary embodiments of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings illustrate exemplary embodiments and together with the description of the specification serve to explain exemplary embodiments of the present disclosure. The illustrated embodiments are not intended to limit the scope of the claims. In all the drawings, like reference numerals refer to like elements, but not necessarily on the same scale.

[0013] Figure 1 A schematic diagram of an exemplary system in which the various methods described herein can be implemented according to embodiments of the present disclosure is shown;

[0014] Figure 2 A flowchart of a green wave vehicle speed recommendation method according to embodiments of the present disclosure is shown;

[0015] Figure 3 A schematic diagram of a green wave vehicle speed recommendation method is shown according to an embodiment of the present disclosure;

[0016] Figure 4 A flow chart of road congestion judgment is shown according to an embodiment of the present disclosure;

[0017] Figure 5 A structural block diagram of a green wave vehicle speed recommendation device is shown according to an embodiment of the present disclosure; and

[0018] Figure 6 A structural block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0019] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are included to provide a thorough understanding of embodiments of the present disclosure by a person of ordinary skill in the art, and they should be considered in conjunction only to illustrate various details of embodiments of the present disclosure and, therefore, should not be considered limiting. It will be readily apparent to a person of ordinary skill in the art that the embodiments described herein can be varied, and that various changes and modifications can be made thereto without departing from the scope of the present disclosure. Also, in the interest of clarity, not all of the routine features of the implementations described herein are shown or described.

[0020] In the present disclosure, the terms "first", "second", and the like are used to describe various elements only and do not intend to limit the positional relationship, the time sequence relationship, or the importance relationship of the elements, and such terms are only used to distinguish one element from another. In some examples, the first element and the second element can refer to the same instance of the element, and in some cases, based on the context of the description, they can also refer to different instances.

[0021] The terms used in the description of various described examples in the present disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the number of elements is specifically limited, the element can be one or more than one, if not specifically limited. In addition, the term "and / or" used in the present disclosure encompasses any one of the listed items and all possible combinations thereof.

[0022] In the related art, the traditional vehicle speed recommendation is completed by setting traffic guide signs at fixed positions on road sections, but such a traditional recommendation method cannot customize different speeds for different vehicles. In recent years, with the development of Internet of Vehicles and navigation technology, green wave vehicle speed recommendation has gradually emerged, which can help vehicles pass a space-time interval, i.e., a green wave band, at a certain vehicle speed without stopping. At present, the industry is still looking for a more accurate method for determining green wave vehicle speed to optimize the green wave vehicle speed recommendation method.

[0023] At least for the above technical problems, embodiments of the present disclosure provide a green wave vehicle speed recommendation method.

[0024] Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0025] Figure 1 A schematic diagram of an example system 100 in which various methods and apparatus described herein can be implemented in accordance with embodiments of the present disclosure is shown. With reference to Figure 1 The system 100 includes one or more client devices 101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120. The client devices 101, 102, 103, 104, 105, and 106 can be configured to execute one or more application programs.

[0026] In embodiments of the present disclosure, the server 120 can run one or more services or software applications that enable the execution of the methods of green wave vehicle speed recommendation.

[0027] In certain embodiments, the server 120 can also provide other services or software applications, which can include non-virtual and virtual environments. In certain embodiments, these services can be provided as web-based services or cloud services, for example, to users of the client devices 101, 102, 103, 104, 105, and / or 106 under a software as a service (SaaS) model.

[0028] In Figure 1 In the illustrated configuration, the server 120 can include one or more components that implement the functionality performed by the server 120. These components can include software components that are executable by one or more processors, hardware components, or combinations thereof. Users operating the client devices 101, 102, 103, 104, 105, and / or 106 can in turn utilize one or more client applications to interact with the server 120 to utilize the services provided by the components. It should be understood that various different system configurations are possible, which can differ from the system 100. Thus, Figure 1 The system 100 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

[0029] A user can use the client devices 101, 102, 103, 104, 105, and / or 106 to receive and display recommended green wave vehicle speeds. The client devices can provide an interface that enables a user of the client device to interact with the client device. The client devices can also output information to the user via the interface. Although Figure 1Only six client devices are depicted, but those skilled in the art will understand that the present disclosure can support any number of client devices.

[0030] Client devices 101, 102, 103, 104, 105, and / or 106 can include various types of computer devices, such as portable handheld devices, general purpose computers (such as personal computers and laptop computers), workstation computers, wearable devices, smart screen devices, self-service kiosk devices, service robots, gaming systems, thin clients, various messaging devices, sensors or other sensing devices, and the like. These computer devices can run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux or Linux-like operating systems (such as GOOGLE Chrome OS); or include various mobile operating systems, such as MICROSOFT Windows Mobile OS, iOS, Windows Phone, Android. Portable handheld devices can include cellular telephones, smartphones, tablet computers, personal digital assistants (PDAs), and the like. Wearable devices can include head-mounted displays (such as smart glasses) and other devices. Gaming systems can include various handheld gaming devices, Internet-enabled gaming devices, and the like. Client devices are capable of executing a variety of different applications, such as various Internet-related applications, communication applications (such as email applications), short message service (SMS) applications, and can use various communication protocols.

[0031] Network 110 can be any type of network familiar to those skilled in the art that can support data communications using any of a variety of available protocols, including without limitation TCP / IP, SNA, IPX, etc. For example, one or more of networks 110 can be a LAN, an Ethernet-based network, Token Ring, a WAN, the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a blockchain network, a public switched telephone network (PSTN), an infrared network, a wireless network (e.g., a Bluetooth, WIFI, etc.), and / or any combination of these and / or other networks.

[0032] The server 120 can include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-range servers), blade servers, mainframe computers, server clusters, or any other appropriate arrangement and / or combination. The server 120 can include one or more virtual machines running virtual operating systems, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that can be virtualized to maintain virtual storage devices for the servers). In various embodiments, the server 120 can run one or more services or software applications that provide the functionality described below.

[0033] The computing units in the server 120 can run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 can also run any of a variety of additional server applications and / or mid-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0034] In some embodiments, the server 120 can include one or more applications to analyze and consolidate data feeds and / or event updates from users of the client devices 101, 102, 103, 104, 105, and / or 106. The server 120 can also include one or more applications to display the data feeds and / or real-time events via one or more display devices of the client devices 101, 102, 103, 104, 105, and / or 106.

[0035] In some embodiments, the server 120 can be a server of a distributed system, or a server combined with a blockchain. The server 120 can also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology. The cloud server is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and virtual private server (VPS, Virtual Private Server) services.

[0036] System 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as audio files and video files. Databases 130 may reside in various locations. For example, a database used by server 120 may be local to server 120, or it may be located away from server 120 and may communicate with server 120 via a network-based or dedicated connection. Databases 130 may be of different types. In some embodiments, the database used by server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve data from and from the databases in response to commands.

[0037] In some embodiments, one or more of the databases 130 may also be used by an application to store application data. The databases used by the application may be of different types, such as key-value stores, object stores, or regular stores supported by a file system.

[0038] Figure 1 The system 100 can be configured and operated in various ways to enable the application of the various methods and apparatus described in this disclosure.

[0039] Figure 2 A flowchart of a green wave vehicle speed recommendation method 200 according to an embodiment of this disclosure is shown. Figure 2 As shown, method 200 includes steps S201, S202, S203 and S204.

[0040] In step S201, based on the vehicle's navigation path, the next intersection the vehicle will pass through is determined.

[0041] In the example, the vehicle's navigation route could be set by the driver before starting a trip in a navigation application or the vehicle's navigation system. Based on the vehicle's navigation route, the driving trajectory the vehicle will take can be determined, thereby identifying the next intersection the vehicle will pass through. An intersection could be, for example, a crossroads located on a main road.

[0042] In the embodiments of this disclosure, a judgment is made for each next intersection to be traversed. That is, before reaching the next intersection, it is determined whether the condition described in step S202 is met, namely, whether there are at least two consecutive green wave bands. If the condition is met, a corresponding green wave speed recommendation is made. In this way, it can be ensured that a green wave speed suitable for passing through as many consecutive intersections as possible is recommended for the vehicle.

[0043] At step S202, while the vehicle is driving towards the next intersection, it is determined whether there is a continuous at least two green wave bands, which are formed across at least three consecutive intersections from the next intersection.

[0044] In an example, a green wave band can refer to a time-space interval through which a vehicle can pass without stopping when driving at a certain vehicle speed, which can correspond to a green wave speed. Thus, to determine whether there is a green wave band, a preset reference green wave speed can be used, which can be from experience, for example, can be a commonly recommended speed such as 60 km / h, 80 km / h, etc. The reference green wave speed can be selected differently in actual application to cope with the actual situation of different road sections, for example, a relatively large reference green wave speed can be selected on the trunk road, while a relatively small reference green wave speed can be selected on the general urban road, to calculate the green wave band for the actual road section.

[0045] In an embodiment of the present disclosure, it is determined whether there is a continuous at least two green wave bands to maximize the possibility of the vehicle passing through as many consecutive intersections as possible without stopping. The continuous at least two green wave bands are formed across at least three consecutive intersections from the next intersection. In this way, it is convenient to recommend a green wave speed for the vehicle that is suitable for passing through as many consecutive intersections as possible.

[0046] At step S203, in response to determining that there is the continuous at least two green wave bands, a green wave speed for making the vehicle drive through the continuous at least two green wave bands to pass through the at least three consecutive intersections is determined.

[0047] In an example, taking three consecutive intersections as an example, the light state information (such as the time difference of the start and end of the forward coordinated phase green light relative to the start of the signal light period, the phase difference between the signal light periods of different intersections) of the three consecutive intersections and the distance between the three consecutive intersections can be obtained to determine whether there is a first green wave band formed from the first intersection to the second intersection and a second green wave band formed from the second intersection to the third intersection based on the reference green wave speed. Here, if the start time and end time of the first green wave band at the second intersection at least partially coincide with the start time and end time of the second green wave band at the second intersection, it means that the two green wave bands are continuous. Accordingly, the start time and end time of the two green wave bands at the three intersections can be obtained. Similarly, in the case of more intersections, similar calculations and judgments can be made. For example, in the case of three green wave bands, the start time and end time of the three green wave bands at four intersections can be obtained.

[0048] In an example, still taking the three continuous intersections as an example, in order to calculate the green wave speed for making the vehicle travel through the two continuous green wave bands, the first intersection and the third intersection can be taken as a reference to calculate the green wave speed in a manner of regarding the two continuous green wave bands as one green wave band. To this end, the minimum green wave speed and the maximum green wave speed for making the vehicle travel through the two continuous green wave bands can be obtained based on the start time and the end time of the first green wave band at the first intersection, the start time and the end time of the second green wave band at the third intersection, the distance between the first intersection and the third intersection, in combination with the light state information of the first intersection and the third intersection, and according to the current time of the vehicle, taking the reference green wave speed as a calculation reference.

[0049] In an example, the signal optimization platform can be accessed on the side of the traffic police private network to access the trunk coordination scheme, and the real-time timing scheme and the real-time light state of each intersection of the trunk can be accessed to calculate the start and end time of each intersection green wave band.

[0050] In step S204, the green wave speed is recommended to the user.

[0051] In an example, after the minimum green wave speed and the maximum green wave speed are obtained, the green wave speed before the minimum green wave speed and the maximum green wave speed can be recommended to the user.

[0052] According to the green wave speed recommendation method of the embodiments of the present disclosure, by taking the continuous multiple green wave bands as a judgment target and performing the judgment once before each intersection to be reached, the number of target intersections that can be passed without stopping can be maximized, so as to recommend the green wave speed suitable for passing as many continuous intersections as possible to the vehicle.

[0053] It can be understood that, in this paper, the three continuous intersections are mainly taken as an example for illustration, which is intended to illustrate the principle of the present disclosure, rather than limiting. For more than three intersections, such as four, five intersections, etc., the principle is similar, and therefore each specific case will not be described in detail. In actual application, due to the inherent characteristics of roads and traffic lights, three to five continuous intersections may be a more common scenario. For trunk roads, such as expressways that allow faster speeds, there may also be continuous green wave bands that span more continuous intersections.

[0054] The aspects of the green wave speed recommendation method according to the embodiments of the present disclosure are further described below.

[0055] According to some embodiments, the above-mentioned at least three continuous intersections can include one intersection as the first intersection and the second intersection and the third intersection located after the first intersection, and the above-mentioned at least two continuous green wave bands include the first green wave band from the first intersection to the second intersection and the second green wave band from the second intersection to the third intersection.

[0056] Accordingly, determining whether there are at least two continuous green wave bands in step S202 can comprise:

[0057] determining that there is the first green wave band based on judging that there are the first start time and the first end time for the first green wave band at the first intersection, and that there are the second start time and the second end time for the first green wave band at the second intersection, and determining that there is the second green wave band based on judging that there are the second start time and the second end time for the second green wave band at the second intersection, and that there are the third start time and the third end time for the second green wave band at the third intersection.

[0058] Here, the start time and the end time of the first green wave band at the second intersection and the start time and the end time of the second green wave band at the second intersection can be consistent, whereby the two green wave bands are continuous.

[0059] In this way, it can be determined whether there are at least two continuous green wave bands simply and conveniently, thereby facilitating the recommendation of a green wave speed for the vehicle to travel through the at least two continuous green wave bands to the user.

[0060] According to some embodiments, the method 200 can further comprise: determining whether the vehicle satisfies a condition of traveling into the first green wave band at a predetermined time when the vehicle is traveling towards the first intersection; and in response to determining that the vehicle satisfies the condition of traveling into the first green wave band, performing the recommendation of the green wave speed to the user.

[0061] In an example, the predetermined time can be, for example, the current time of the vehicle. The condition of the vehicle in time of traveling into the first green wave band can be determined by means of the reference green wave speed with the current time of the vehicle as a reference based on the start time and the end time of the first green wave band at the first intersection and the second intersection. That is, the reference green wave speed can be used to deduce whether the vehicle can travel into the green wave band if the vehicle travels at the reference green wave speed since the current time. If the vehicle can travel into the green wave band, it is determined that the vehicle satisfies the condition of traveling into the green wave band in time; otherwise, it is determined that the vehicle does not satisfy the condition of traveling into the green wave band in time.

[0062] In this way, the application scenario in which the green wave speed is not needed to be recommended can be excluded, thereby saving the computing resources for calculating the green wave speed.

[0063] According to some embodiments, determining whether the vehicle satisfies the condition of traveling into the first green wave band can comprise: obtaining a first upper limit value and a first lower limit value within which the vehicle can be in the first green wave band in time; and in response to the vehicle being between the first upper limit value and the first lower limit value at the predetermined time when the vehicle is traveling towards the first intersection, determining that the vehicle satisfies the condition of traveling into the first green wave band.

[0064] In an example, the vehicle can be determined to satisfy the lower limit value in time for driving into the first green wave band based on the first end time of the first green wave band at the first intersection, the reference green wave speed, a predetermined reference distance from the first intersection after the vehicle drives through the first intersection at the reference green wave speed, a time when the vehicle drives through the first intersection at the reference green wave speed to reach the predetermined reference distance, and a time difference for the vehicle driving through the first intersection at the reference green wave speed relative to the start of the green light of the forward coordinated phase.

[0065] Similarly, the vehicle can be determined to satisfy the upper limit value in time for driving into the first green wave band based on the first start time of the first green wave band at the first intersection, the reference green wave speed, a predetermined reference distance from the first intersection after the vehicle drives through the first intersection at the reference green wave speed, a time when the vehicle drives through the first intersection at the reference green wave speed to reach the predetermined reference distance, and a time difference for the vehicle driving through the first intersection at the reference green wave speed relative to the start of the green light of the forward coordinated phase.

[0066] In this way, it can be determined in a simple manner whether the vehicle can drive into the first green wave band. Furthermore, by not making a green wave speed recommendation for the vehicle for a scenario that does not satisfy the time requirement, the application scenario for making a green wave speed recommendation can be optimized, and computing resources for calculating the green wave speed can be saved.

[0067] According to some embodiments, determining the green wave speed for causing the vehicle to drive through the continuous at least two green wave bands to pass through the continuous at least three intersections in step S203 can include: obtaining a minimum green wave speed and a maximum green wave speed for causing the vehicle to continuously drive through the first green wave band and the second green wave band; and recommending a green wave speed between the minimum green wave speed and the maximum green wave speed to the user.

[0068] As described previously, taking the continuous three intersections as an example, in order to calculate the green wave speed for causing the vehicle to drive through the continuous two green wave bands, the first intersection and the third intersection can be taken as a reference to calculate the green wave speed in a manner of regarding the continuous two green wave bands as one green wave band.

[0069] In an example, the maximum green wave speed for causing the vehicle to drive through the first green wave band and the second green wave band can be determined based on the first start time of the first green wave band at the first intersection, a reference green wave speed, a predetermined reference distance from the first intersection after the vehicle drives through the first intersection at the reference green wave speed, a distance between the first intersection and the third intersection, a time when the vehicle drives through the first intersection at the reference green wave speed to reach the predetermined reference distance, a time difference for the vehicle driving through the first intersection at the reference green wave speed relative to the start of the green light of the forward coordinated phase, and a current time of the vehicle.

[0070] Similarly, the minimum green wave speed for the vehicle to travel through the first green wave band and the second green wave band can be determined based on the first end time of the first green wave band at the first intersection, the reference green wave speed, a predetermined reference distance from the first intersection after the vehicle travels through the first intersection at the reference green wave speed, a distance between the first intersection and the third intersection, a time when the vehicle travels through the first intersection at the reference green wave speed to reach the predetermined reference distance, a time difference when the vehicle travels through the first intersection at the reference green wave speed relative to the start of the positive coordinated phase green light, and a current time of the vehicle.

[0071] In this way, the maximum and minimum values of the green wave speed to be recommended can be calculated for the vehicle in a simple manner, thereby providing more accurate customized green wave speed recommendation.

[0072] Figure 3 A schematic diagram of a green wave speed recommendation method according to an embodiment of the present disclosure is shown.

[0073] In an example, as shown in Figure 3 , i0, i, i+1, i+2 can represent four consecutive intersections respectively, where i0 can be the next intersection to be traveled through by the vehicle as described in Figure 2 . Accordingly, as shown in Figure 3 , three consecutive green wave bands spanning the four consecutive intersections i0, i, i+1, i+2 are shown.

[0074] In Figure 3 , the vertical coordinate S represents distance, and the horizontal coordinate T represents time. For each intersection i0, i, i+1, i+2, the dark bar region represents the span of the red light in time, and the shaded bar region represents the span of the green light in time. As an example, for each intersection i0, i, i+1, i+2, the positive coordinated phase green / red light corresponding to the same direction of travel of the vehicle is shown. The signal light cycle can start with the red light.

[0075] The specific calculation process is described below taking the intersections i0, i as an example.

[0076] As shown in Figure 3 , O i is the phase difference of the signal light cycle of the intersection i0, O i+1 is the phase difference of the signal light cycle of the intersection i. s i is the difference between the start time of the positive coordinated phase green light of the intersection i0 and the start time of the cycle, s i+1 is the difference between the start time of the positive coordinated phase green light of the intersection i and the start time of the cycle. e i is the difference between the end time of the positive coordinated phase green light of the intersection i0 and the end time of the cycle, e i+1d represents the difference between the green light end time and the cycle end time for the positive coordinated phase at intersection i. i v represents the distance between two intersections i0 and i. i This indicates the reference green wave speed.

[0077] In the example, the time difference between the start time of the green light in the positive coordinated phase at the first intersection and the start time of the traffic light cycle at the first intersection can be used as the first value (e.g., Figure 3 The s shown i It can be based on a reference green wave speed (e.g., Figure 3 The v shown i ), the distance between the first intersection and the second intersection (e.g. Figure 3 The d shown i The time difference between the start time of the green light in the positive coordinated phase at the second intersection and the start time of the traffic light cycle at the second intersection (e.g., Figure 3 The s shown i+1 ), and the phase difference between the traffic light cycles at the first intersection and the traffic light cycles at the second intersection (e.g. Figure 3 The O shown i+1 With O i The difference between the reference green wave speed and the start time of the green light at the second intersection (e.g., the time difference between the start time of the green light at the first intersection and the start time of the signal light cycle at the first intersection) is used to determine the start time of the green light at the second intersection. and The larger of the first and second values ​​can be determined as the first start time of the first green wave band at the first intersection. (Right now,

[0078] In addition, such as Figure 3 As shown, the time difference between the end time of the green light in the positive coordinated phase at the first intersection and the start time of the traffic light cycle at the first intersection can be used as the third value (e.g., Figure 3 The e shown i It can be based on a reference green wave speed (e.g., Figure 3 The v shown i The distance between the first and second intersections (e.g.) Figure 3 The d shown i The time difference between the end of the green light in the positive coordinated phase at the second intersection and the start of the traffic light cycle at the second intersection (e.g., Figure 3 The e shown i+1 ), and the phase difference between the traffic light cycles at the first intersection and the traffic light cycles at the second intersection (e.g. Figure 3 The O shown i+1 With O iThe difference between the reference green wave speed and the start time of the traffic light cycle at the first intersection is used to determine the end time of the green light in the positive coordinated phase at the second intersection. This difference is used as the fourth value (for example, it can be denoted as...). and The smaller of the third and fourth values ​​can be determined as the first end time of the first green wave band at the first intersection. (Right now, ).

[0079] In the example, such as Figure 3 The distance d between the first and second intersections is used in the calculation. i The first green wave at the first intersection, starting time Reference green wave vehicle speed v i And the phase difference between the traffic light cycles at the first intersection and the traffic light cycles at the second intersection. i+1 -o i The second start time of the first green wave band at the second intersection can be denoted as... And based on the distance d between the first and second intersections i ,like Figure 3 The first green wave in the first intersection at the first end time Reference green wave vehicle speed v i And the phase difference between the traffic light cycles at the first intersection and the traffic light cycles at the second intersection. i+1 -o i The second end time of the first green wave band at the second intersection can be denoted as...

[0080] In the example, the first start time and first end time of the first green wave band at the first intersection, and the second start time and second end time at the second intersection, can also be represented by relative values. That is, the first start time and first end time can be represented as follows: and The second start time and the second end time can be represented as follows: and

[0081] Understandably, the above process details the calculation of the start and end times of the first green wave at the two intersections. Similar to the above process, the following can be calculated: Figure 4 The other two green wave bands shown have their start and end times at the corresponding intersections.

[0082] In the example, it can be based on the first end time of the first green wave at the first intersection. Reference green wave vehicle speed v ithe distance of the vehicle from the first intersection after the vehicle has passed the first intersection at the reference green wave speed the time of the vehicle passing the first intersection at the reference green wave speed and the time difference of the vehicle passing the first intersection at the reference green wave speed with respect to the beginning of the green light of the forward coordinated phase which time difference may, for example, indicate at which second of the green light of the forward coordinated phase the vehicle passes the first intersection, a lower limit value is determined for the vehicle being able to be in the first green wave band in terms of time

[0083] In addition, a first start time of the first green wave band at the first intersection can be used to determine an upper limit value for the vehicle being able to be in the first green wave band in terms of time the reference green wave speed v i the distance of the vehicle from the first intersection after the vehicle has passed the first intersection at the reference green wave speed the time of the vehicle passing the first intersection at the reference green wave speed and the time difference of the vehicle passing the first intersection at the reference green wave speed with respect to the beginning of the green light of the forward coordinated phase which time difference may, for example, indicate at which second of the green light of the forward coordinated phase the vehicle passes the first intersection, an upper limit value is determined for the vehicle being able to be in the first green wave band in terms of time

[0084] Correspondingly, it can be determined that the vehicle will be in the first green wave band in terms of time in response to the current time t of the vehicle being between the upper limit value and the lower limit value, i.e.

[0085] the vehicle will be in the first green wave band in terms of time.

[0086] In an example, a first start time of the green wave band at the first intersection can be used to determine a lower limit value for the vehicle being able to be in the first green wave band in terms of time the reference green wave speed v i the distance of the vehicle from the first intersection after the vehicle has passed the first intersection at the reference green wave speed the distance d between the first intersection and the second intersection i the time of the vehicle passing the first intersection at the reference green wave speed and the time difference of the vehicle passing the first intersection at the reference green wave speed with respect to the beginning of the green light of the forward coordinated phase a maximum green wave speed for the vehicle to drive through the first green wave band is determined.

[0087] In addition, a first end time of the green wave band at the first intersection can be used to determine an upper limit value for the vehicle being able to be in the first green wave band in terms of time the reference green wave speed v i the distance d of the vehicle from the first intersection after the vehicle has passed the first intersection at the reference green wave speed i the distance between the first intersection and the second intersection Time for the vehicle to travel through the first intersection at the reference green wave speed and a time difference for the vehicle to travel through the first intersection at the reference green wave speed relative to the beginning of the positive coordinated phase green light determining a minimum green wave speed for the vehicle to travel through the first green wave zone.

[0088] It can be understood that, Figure 2 is an example of the first green wave zone to illustrate how to determine the green wave speed. In the case of including a second green wave zone or even more green wave zones, similar extensions can be made based on the above process.

[0089] In the example, the green wave speed v a The following conditions can be met:

[0090]

[0091] where f min (v i ) and f max (v i ) can come from the experience value of the green wave speed recommendation, which can be used to constrain the green wave speed v a to be recommended.

[0092] Figure 4 A flowchart of road congestion judgment according to an embodiment of the present disclosure is shown.

[0093] According to some embodiments, the method 200 in combination Figure 5 may further include steps as shown in Figure 5 .

[0094] In step S401, first traffic flow information of a first road segment between a first intersection and a second intersection, and second traffic flow information of a second road segment between the second intersection and a third intersection can be acquired.

[0095] In step S402, whether congestion occurs in the first road segment and the second road segment can be determined based on the first traffic flow information and the second traffic flow information.

[0096] In step S403, in response to determining that congestion occurs in any one of the first road segment and the second road segment, the green wave speed can be stopped from being recommended to the user.

[0097] According to an embodiment of the present disclosure, by judging whether to push the green wave speed based on the congestion degree, the road congestion situation can be judged in advance, and the user experience is further prompted.

[0098] According to another aspect of the present disclosure, a green wave speed recommendation device is provided.

[0099] Figure 2A structural block diagram of a green wave vehicle speed recommendation device 500 according to an embodiment of the present disclosure is shown.

[0100] As shown in Figure 6 , the green wave vehicle speed recommendation device 500 includes an intersection determination module 510, a green wave band determination module 520, a green wave vehicle speed determination module 530, and a recommendation module 540.

[0101] The intersection determination module 510 is configured to determine, based on a navigation path of a vehicle, a next intersection through which the vehicle is going to travel.

[0102] The green wave band determination module 520 is configured to determine, while the vehicle is traveling towards the next intersection, whether there are at least two consecutive green wave bands, wherein the at least two consecutive green wave bands form across at least three consecutive intersections from the next intersection.

[0103] The green wave vehicle speed determination module 530 is configured to determine, in response to a determination that there are at least two consecutive green wave bands, a green wave vehicle speed for causing the vehicle to travel through the at least two consecutive green wave bands to pass through the at least three consecutive intersections.

[0104] The recommendation module 540 is configured to recommend the green wave vehicle speed to a user.

[0105] Since the intersection determination module 510, the green wave band determination module 520, the green wave vehicle speed determination module 530, and the recommendation module 540 in the green wave vehicle speed recommendation device 500 can respectively correspond to steps S201 to S204 as Figure 6 described above, details of each aspect thereof will not be repeated here.

[0106] In addition, the green wave vehicle speed recommendation device 500 and the modules included therein can further include further sub-modules.

[0107] According to some embodiments, the at least three consecutive intersections can include one intersection as a first intersection and a second intersection and a third intersection located after the first intersection. The at least two consecutive green wave bands can include a first green wave band formed from the first intersection to the second intersection and a second green wave band formed from the second intersection to the third intersection.

[0108] The green wave band determination module 520 can include a first green wave band determination module configured to determine that there is a first green wave band based on a judgment that there are a first start time and a first end time for the first green wave band at the first intersection, and there are a second start time and a second end time for the first green wave band at the second intersection, and a second green wave band determination module configured to determine that there is a second green wave band based on a judgment that there are a second start time and a second end time for the second green wave band at the second intersection, and there are a third start time and a third end time for the second green wave band at the third intersection.

[0109] According to some embodiments, the device 500 can further include: a driving-in determining module configured to determine whether the vehicle meets a condition of driving into the first green wave band at a predetermined time when the vehicle is driving towards the first intersection; and a recommendation performing module configured to perform recommending the green wave speed to the user in response to determining that the vehicle meets the condition of driving into the first green wave band.

[0110] According to some embodiments, the driving-in determining module can include: a time range obtaining module configured to obtain a first upper limit value and a first lower limit value at which the vehicle can be in the first green wave band in time; and a driving-in result judging module configured to determine that the vehicle meets the condition of driving into the first green wave band in response to the vehicle being between the first upper limit value and the first lower limit value at a predetermined time when the vehicle is driving towards the first intersection.

[0111] According to some embodiments, the green wave speed determining module 530 can include: a speed range obtaining module configured to obtain a minimum green wave speed and a maximum green wave speed for the vehicle to continuously drive through the first green wave band and the second green wave band; and a speed result recommending module configured to recommend the speed between the minimum green wave speed and the maximum green wave speed to the user.

[0112] According to some embodiments, the device 500 can further include: a traffic volume obtaining module configured to obtain first traffic volume information of a first road segment between the first intersection and the second intersection, and second traffic volume information of a second road segment between the second intersection and the third intersection; a congestion determining module configured to determine whether the first road segment and the second road segment are congested based on the first traffic volume information and the second traffic volume information; and a congestion responding module configured to stop recommending the green wave speed to the user in response to determining that any one of the first road segment and the second road segment is congested.

[0113] According to embodiments of the present disclosure, an electronic device, a computer readable storage medium and a computer program product are also provided.

[0114] According to embodiments of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method as described above.

[0115] According to embodiments of the present disclosure, a computer readable storage medium storing computer instructions is provided, the computer instructions being used to enable a computer to perform the method as described above.

[0116] According to embodiments of the present disclosure, there is provided a computer program product, the computer program when executed by a processor implements a method according to the above.

[0117] Reference ​ A block diagram of the electronic device 600, which is an example of a hardware device that can be applied to aspects of the present disclosure, will now be described, which can be a server or a client of the present disclosure. The electronic device is intended to represent a wide variety of digital electronic computing devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computing devices. The electronic device can also represent a wide variety of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document.

[0118] As shown in FIG. 6, ​ The electronic device 600 includes a computing unit 601 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. Various programs and data required for the operation of the electronic device 600 can also be stored in the RAM 603. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0119] A plurality of components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 can be any type of device that can input information to the electronic device 600, and can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the electronic device, and can include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and / or a remote controller. The output unit 607 can be any type of device that can present information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 608 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0120] The computing unit 601 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 601 performs various methods and processes described above, such as the green wave speed recommendation method. For example, in some embodiments, the green wave speed recommendation method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded onto the RAM 603 and executed by the computing unit 601, one or more steps of the green wave speed recommendation method described above can be performed. Alternatively, in other embodiments, the computing unit 601 can be configured to perform the green wave speed recommendation method by any other appropriate means, such as by means of firmware.

[0121] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0122] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0123] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0124] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0125] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0126] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server is generally established by computer programs running on the respective computers and having a client-server relationship to each other. The servers can be cloud servers, servers of a distributed system, or servers combined with a blockchain.

[0127] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without departing from the desired results of the technical solutions disclosed in the present disclosure, and are not limited herein.

[0128] In the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solutions comply with relevant laws and regulations and do not violate public order and good customs.

[0129] While embodiments or examples of this disclosure have been described with reference to the figures, it will be understood that the methods, systems, and devices described above are merely exemplary embodiments or examples, and the scope of the application is not limited to these embodiments or examples. Various elements of the embodiments or examples can be omitted or substituted by equivalents thereof. Furthermore, the steps can be performed in a different order than described in the disclosure. Further, various elements of the embodiments or examples can be combined in various ways. It is important that as technology evolves, many of the elements described herein can be substituted by equivalents which serve the same function.

Claims

1. A green wave vehicle speed recommendation method, comprising: determining, based on a navigation path of a vehicle, a next intersection through which the vehicle is going to travel; determining, while the vehicle is traveling toward the next intersection, whether there are at least two consecutive green wave bands, wherein the at least two consecutive green wave bands are formed across at least three consecutive intersections from the next intersection, the at least three consecutive intersections including the next intersection as a first intersection and a second intersection and a third intersection located after the first intersection, and the at least two consecutive green wave bands including a first green wave band from the first intersection to the second intersection and a second green wave band from the second intersection to the third intersection, wherein a start time and an end time of the first green wave band at the second intersection are consistent with a start time and an end time of the second green wave band at the second intersection, the determining whether there are the at least two consecutive green wave bands comprising: determining that the first green wave band exists based on a determination that there are a first start time and a first end time for the first green wave band at the first intersection and a second start time and a second end time for the first green wave band at the second intersection; and determining that the second green wave band exists based on a determination that there are the second start time and the second end time for the second green wave band at the second intersection and a third start time and a third end time for the second green wave band at the third intersection; in response to a determination that the at least two consecutive green wave bands exist, determining a green wave vehicle speed for the vehicle to travel through the at least two consecutive green wave bands to pass through the at least three consecutive intersections, wherein the at least two consecutive green wave bands are regarded as one green wave band with reference to a first intersection and a last intersection of the at least three consecutive intersections, and the green wave vehicle speed is calculated; and recommending the green wave vehicle speed to a user. 2.The method of claim 1, further comprising: determining, at a predetermined time while the vehicle is traveling toward the first intersection, whether the vehicle meets a condition of traveling into the first green wave band; and in response to a determination that the vehicle meets the condition of traveling into the first green wave band, performing the recommending the green wave vehicle speed to the user. 3.The method of claim 2, the determining whether the vehicle meets the condition of traveling into the first green wave band comprising: obtaining a first upper limit value and a first lower limit value at which the vehicle can be in the first green wave band in time; and in response to the vehicle being between the first upper limit value and the first lower limit value at the predetermined time while traveling toward the first intersection, determining that the vehicle meets the condition of traveling into the first green wave band. the determining the green wave vehicle speed for the vehicle to travel through the at least two consecutive green wave bands to pass through the at least three consecutive intersections comprising: obtaining a minimum green wave vehicle speed and a maximum green wave vehicle speed for the vehicle to continuously travel through the first green wave band and the second green wave band; and 4. The method of any one of claims 1 to 3, wherein, ​ ​ recommending the green wave speed between the minimum green wave speed and the maximum green wave speed to the user.

5. The method of any one of claims 1 to 3, further comprising: obtaining first traffic volume information of a first road segment between the first intersection and the second intersection, and second traffic volume information of a second road segment between the second intersection and the third intersection; determining whether congestion occurs in the first road segment and the second road segment based on the first traffic volume information and the second traffic volume information; and in response to determining that congestion occurs in any one of the first road segment and the second road segment, stopping recommending the green wave speed to the user.

6. A green wave speed recommendation apparatus, comprising: an intersection determination module configured to determine a next intersection to be traveled through by a vehicle based on a navigation path of the vehicle; a green wave band determination module configured to determine whether there are at least two consecutive green wave bands when the vehicle travels toward the next intersection, wherein the at least two consecutive green wave bands are formed across at least three consecutive intersections from the next intersection, the at least three consecutive intersections including the next intersection as a first intersection and a second intersection and a third intersection located after the first intersection, and the at least two consecutive green wave bands including a first green wave band from the first intersection to the second intersection and a second green wave band from the second intersection to the third intersection, wherein a start time and an end time of the first green wave band at the second intersection are consistent with a start time and an end time of the second green wave band at the second intersection, the green wave band determination module comprising: a first green wave band determination module configured to determine that the first green wave band exists based on a judgment that there are a first start time and a first end time for the first green wave band at the first intersection, and there are a second start time and a second end time for the first green wave band at the second intersection; and a second green wave band determination module configured to determine that the second green wave band exists based on a judgment that there are the second start time and the second end time for the second green wave band at the second intersection, and there are a third start time and a third end time for the second green wave band at the third intersection; a green wave speed determination module configured to determine a green wave speed for the vehicle to travel through the at least two consecutive green wave bands to pass through the at least three consecutive intersections in response to determining that the at least two consecutive green wave bands exist, wherein the at least two consecutive green wave bands are regarded as one green wave band with reference to a first intersection and a last intersection in the at least three consecutive intersections, and the green wave speed is calculated; and a recommendation module configured to recommend the green wave speed to a user.

7. The apparatus of claim 6, further comprising: a drive-in determination module configured to determine whether the vehicle meets a condition of driving into the first green wave band at a predetermined time when the vehicle travels toward the first intersection; and ​ ​ The recommendation execution module is configured to execute the recommendation of the green wave speed to the user in response to determining that the vehicle meets the condition of driving into the first green wave band.

8. The apparatus of claim 7, wherein the drive-in determination module comprises: a time range acquisition module configured to acquire a first upper limit value and a first lower limit value at which the vehicle can be in the first green wave band in time; and a drive-in result determination module configured to determine that the vehicle meets the condition of driving into the first green wave band in response to the vehicle being between the first upper limit value and the first lower limit value at the predetermined time when driving toward the first intersection.

9. The apparatus of any one of claims 6 to 8, wherein, The green wave speed determination module comprises: a speed range acquisition module configured to acquire a minimum green wave speed and a maximum green wave speed for the vehicle to continuously drive through the first green wave band and the second green wave band; and a speed result recommendation module configured to recommend the green wave speed between the minimum green wave speed and the maximum green wave speed to the user.

10. The apparatus of any one of claims 6 to 8, further comprising: a traffic volume acquisition module configured to acquire first traffic volume information of a first road segment between the first intersection and the second intersection, and second traffic volume information of a second road segment between the second intersection and the third intersection; a congestion determination module configured to determine whether the first road segment and the second road segment are congested based on the first traffic volume information and the second traffic volume information; and a congestion response module configured to stop recommending the green wave speed to the user in response to determining that any one of the first road segment and the second road segment is congested.

11. An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5. The computer instructions are for causing a computer to perform the method of any one of claims 1-5.

12. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer program, when executed by a processor, implements the method of any one of claims 1-5.

13. A computer program product comprising a computer program, wherein, The computer program, when executed by a processor, implements the method of any one of claims 1-5.

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