Communication method and apparatus in advanced driver assistance system

Abstract

A communication method and device in an advanced driver assistance system, the method comprising: obtaining a plurality of to-be-modulated data, the plurality of to-be-modulated data being from a plurality of data sources; grouping the plurality of to-be-modulated data into a physical medium (PMD) frame; performing single-carrier modulation or multi-carrier modulation on the PMD frame to obtain a modulation signal; and transmitting the modulation signal. The combination of data from different sources screens the difference in modulation modes, so that the communication between a serializer and a deserializer can be compatible with both single-carrier modulation and multi-carrier modulation modes.

Description

Technical Field

[0001] This application relates to advanced driver assistance technology, and more particularly to a communication method and apparatus in an advanced driver assistance system. Background Technology

[0002] Advanced driver assistance systems (ADAS) utilize various sensors installed on the vehicle, such as millimeter-wave radar, lidar, monocular / dual-lens cameras, and satellite navigation, to collect data in real time during vehicle operation. This allows them to sense the surrounding environment and effectively increase driving comfort and safety. For example, ADAS uses sensor data to identify, detect, and track static and dynamic objects, and combines this data with navigation map data for computation and analysis, thereby allowing the driver to anticipate potential hazards. Therefore, environmental information acquisition has become a key technology for ADAS development, especially as the types and precision of sensors increase, consequently raising the requirements for data transmission between sensors and mobile data centers (MDCs).

[0003] The communication modes between sensors and MDCs are mainly divided into two categories: single-carrier modulation mode and multi-carrier modulation mode. Single-carrier modulation mode is suitable for lower data rate scenarios and has lower power consumption, while multi-carrier modulation mode is suitable for high-speed scenarios and has higher power consumption. How to combine the advantages of both has become a problem to be solved. Summary of the Invention

[0004] This application provides a communication method and apparatus for an advanced driver assistance system, which combines data from different sources, shields the differences in modulation methods, and enables communication between the serializer and the deserializer to be compatible with both single-carrier modulation and multi-carrier modulation modulation modes.

[0005] In a first aspect, this application provides a communication technology in an advanced driver assistance system, comprising: acquiring multiple modulated data, the multiple modulated data coming from multiple data sources; assembling the multiple modulated data into a physical medium (PMD) frame; performing single-carrier modulation or multi-carrier modulation on the PMD frame to obtain a modulated signal; and transmitting the modulated signal.

[0006] The initial sources of the multiple modulated data are multiple data sources, which can be various sensors. The multiple modulated data acquired by the PHY layer have already been processed by the MAC layer and encoded in the PHY layer. This application does not limit the processing procedures of the MAC layer and the encoding procedures of the PHY layer.

[0007] This application can integrate encapsulated and encoded modulated data from multiple data sources into a single physical media dependent (PMD) frame.

[0008] Optionally, the PHY layer can sequentially fill in multiple modulated data in a set order to obtain a PMD frame. Each of the multiple modulated data occupies N bits, where N is a pre-set positive integer, and N > 1.

[0009] The length of a PMD frame can be N×n, where n represents the total number of data sources. In this embodiment, the number of bits occupied by the data from each data source in the PMD frame is fixed. If the data length is less than N, the extra bits can be filled with default values, such as 0. If the data length is greater than N, the data exceeding N bits will be encapsulated into the next PMD frame.

[0010] The pre-defined order refers to the pre-setting of the bits occupied by n data sources in the PMD frame. For example, if the data sources include both a camera and a radar, the camera data is assigned before the radar data. Therefore, in the PMD frame, the first N bits are filled with camera data, and the last N bits are filled with radar data, such as... Figure 5a As shown.

[0011] Optionally, the PHY layer can first fill in length indication information, which is used to indicate the length of each of the multiple data to be modulated, and then fill in the multiple data to be modulated in sequence according to a set order to obtain a PMD frame.

[0012] In this embodiment, information indicating the length of each of the multiple modulated data sets is filled into the header of the PMD frame. This allows multiple modulated data sets to be filled in a predetermined order in the bits following this information, without needing to reserve empty bits as in the previous embodiment, thus reducing PMD bit consumption. For example, the data sources include both a camera and a radar, with the camera data preceding the radar data. The camera data is N1 bits long, and the radar data is also N1 bits long. Therefore, in the PMD frame, the first field is the length indication information, filled with N1 and N2 bits; the second field, with a length of N1 bits, is filled with the camera data; and the third field, with a length of N2 bits, is filled with the radar data, as shown below. Figure 5b As shown.

[0013] Optionally, the PHY layer can fill in the current data corresponding to the current sequence, and fill in the end identifier after the current data ends to obtain a PMD frame. The current data is one of multiple data to be modulated, and the multiple data to be modulated are preset in sequence.

[0014] In this embodiment, the PMD frame includes an end identifier, which indicates the end of a data segment. For example, the data source includes both a camera and a radar, with the camera data occurring before the radar data. The camera data is N1 bits long, and the radar data is also N1 bits long. Therefore, in the PMD frame, the first field is N1 bits long and contains the camera data; the second field contains m bits and contains an end identifier, such as 001, 1010, etc.; the third field is N2 bits long and contains the radar data; the fourth field contains m bits and contains an end identifier, such as 001, 1010, etc. Figure 5c As shown. It should be noted that in this embodiment, the end identifier filled in after each modulated data segment can be exactly the same, completely different, or not exactly the same, as long as the deserializer can recognize the end identifier. In addition, this embodiment does not impose a specific limitation on the length of the end identifier.

[0015] Optionally, the PHY layer may fill in a start identifier before filling in the current data corresponding to the current sequence, and fill in the current data after the start identifier to obtain a PMD frame. The current data is one of multiple data to be modulated, and the multiple data to be modulated are preset in order.

[0016] In this embodiment, the PMD frame contains a start identifier, which indicates the beginning of a data stream. For example, the data source includes both a camera and a radar, with the camera data appearing before the radar data. The camera data is N1 bits long, and the radar data is also N1 bits long. Therefore, in the PMD frame, the first field (m bits long) contains a start identifier, such as 001 or 1010; the second field (N1 bits long) contains the camera data; the third field (m bits long) contains another start identifier, such as 001 or 1010; and the fourth field (N2 bits long) contains the radar data, such as... Figure 5d As shown. It should be noted that in this embodiment, the start identifiers filled in before the start of each piece of data to be modulated can be completely identical, completely different, or not completely identical, as long as the deserializer can recognize the start identifier. In addition, this embodiment does not impose a specific limitation on the length of the start identifier.

[0017] It should be noted that, in addition to the above-mentioned implementation methods, this application may also set other formats for PMD frames, without making specific limitations on them.

[0018] In single-carrier modulation, the PHY layer can map each bit of the PMD frame to its corresponding amplitude according to the bit order of the PMD frame to obtain the modulated signal. This process can refer to the relevant techniques of single-carrier modulation, and will not be elaborated here. In multi-carrier modulation, the PHY layer can multiplex the multiple bits contained in the PMD frame onto each subcarrier in the multi-carrier system, and perform mapping and inverse Fast Fourier Transform transformation on the bits carried by each subcarrier to obtain the modulated signal. This process can refer to the relevant techniques of multi-carrier modulation, and will not be elaborated here.

[0019] It is evident that after forming a PMD frame, this application uses the PMD frame as the modulation target, and both single-carrier modulation and multi-carrier modulation can be performed based on the PMD frame.

[0020] The PHY layer of the serializer in this application encodes data from multiple data sources separately and integrates them into a single PMD frame. Subsequent modulation processes can combine data from different sources in units of PMD frames, masking the differences in modulation methods. This allows the communication between the serializer and the deserializer to be compatible with both single-carrier modulation and multi-carrier modulation debugging modes.

[0021] Secondly, this application provides a communication technology in an advanced driver assistance system, comprising: receiving a modulated signal; performing single-carrier demodulation or multi-carrier demodulation on the modulated signal to obtain a physical medium (PMD) frame; and obtaining multiple data to be decoded based on the PMD frame, wherein the multiple data to be decoded correspond to multiple data sources.

[0022] The deserializer receives the modulated signal via cable. The PHY layer performs single-carrier or multi-carrier demodulation on the modulated signal based on the communication method to obtain a PMD frame. The PHY layer obtains the data to be decoded based on the format of the PMD frame. The deserializer and the serializer pre-agree on the format of the PMD frame, so the serializer does not need to transmit the format information of the PMD frame to the deserializer.

[0023] After receiving the modulated signal, the PHY layer of the deserializer in this application obtains a unified PMD frame through demodulation. Therefore, whether it is single-carrier modulation or multi-carrier modulation, it does not affect the acquisition of the PMD frame. This allows data from different sources to be combined, masking the differences in demodulation methods, and enabling the communication between the serializer and the deserializer to be compatible with both single-carrier modulation and multi-carrier modulation debugging modes.

[0024] Thirdly, this application provides a communication device, comprising: an acquisition module for acquiring multiple modulated data, the multiple modulated data being derived from multiple data sources; a framing module for assembling the multiple modulated data into a physical medium (PMD) frame; a modulation module for performing single-carrier modulation or multi-carrier modulation on the PMD frame to obtain a modulation signal; and transmitting the modulation signal.

[0025] In one possible implementation, the framing module is specifically used to sequentially fill in the plurality of modulated data in a set order to obtain the PMD frame, wherein the plurality of modulated data each occupy N bits, where N is a pre-set positive integer, and N > 1.

[0026] In one possible implementation, the framing module is specifically used to fill in length indication information, which indicates the length of each of the plurality of modulated data; the plurality of modulated data are filled in sequentially according to a set order to obtain the PMD frame.

[0027] In one possible implementation, the framing module is specifically used to fill in the current data corresponding to the current sequence, and to fill in an end identifier after the current data ends, so as to obtain the PMD frame. The current data is one of the plurality of modulated data, and the plurality of modulated data are preset in a specific order.

[0028] In one possible implementation, the framing module is specifically used to fill in a start identifier before filling in the current data corresponding to the current order, and to fill in the current data after the start identifier to obtain the PMD frame, wherein the current data is one of the plurality of modulated data, and the plurality of modulated data are preset in a specific order.

[0029] In one possible implementation, the modulation module is specifically configured to map each bit of the PMD frame to a corresponding amplitude according to the bit order of the PMD frame to obtain the modulation signal.

[0030] In one possible implementation, the modulation module is specifically used to multiplex the multiple bits contained in the PMD frame onto each subcarrier in the multicarrier; and to map and transform the bits carried by each subcarrier into the modulation signal by performing a fast Fourier transform on each bit.

[0031] Fourthly, this application provides a communication device, comprising: a receiving module for receiving a modulated signal; a demodulation module for performing single-carrier demodulation or multi-carrier demodulation on the modulated signal to obtain a physical medium (PMD) frame; and obtaining a plurality of data to be decoded based on the PMD frame, wherein the plurality of data to be decoded corresponds to a plurality of data sources.

[0032] In one possible implementation, the demodulation module is specifically used to extract N bits in the order of the bits in the PMD frame to obtain a piece of data to be decoded, where N is a pre-set positive integer, N>1.

[0033] In one possible implementation, the demodulation module is specifically used to obtain length indication information based on the PMD frame, the length indication information being used to indicate the length of each of the multiple data to be decoded; and to extract bits of the corresponding length from the PMD frame sequentially based on the length indication information to obtain the corresponding data to be decoded.

[0034] In one possible implementation, the demodulation module is specifically used to extract bits one by one from the PMD frame until the end identifier is extracted; the multiple bits extracted before the end identifier are used to form current data, and the current data is one of the multiple data to be decoded.

[0035] In one possible implementation, the demodulation module is specifically used to extract bits one by one from the PMD frame after the start identifier is extracted, until the next start identifier is extracted; and to form the current data from the multiple bits extracted between the two start identifiers, wherein the current data is one of the multiple data to be decoded.

[0036] Fifthly, this application provides a communication device, comprising: one or more processors; a memory for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the method as described in any one of the first aspects above.

[0037] In a sixth aspect, this application provides a communication device, comprising: one or more processors; a memory for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the method as described in any one of the second aspects above.

[0038] In a seventh aspect, this application provides a computer-readable storage medium including a computer program that, when executed on a computer, causes the computer to perform the method described in any one of the first to second aspects above.

[0039] Eighthly, this application provides a computer program that, when executed by a computer, performs the method described in any one of the first or second aspects above. Attached Figure Description

[0040] Figure 1 This is an exemplary functional block diagram of the vehicle in this application;

[0041] Figure 2 This is a schematic diagram illustrating an exemplary application scenario of an ADAS system.

[0042] Figure 3a An exemplary flowchart for single-carrier modulation;

[0043] Figure 3b An exemplary flowchart for multicarrier modulation;

[0044] Figure 4 A flowchart illustrating an exemplary communication method in the advanced driver assistance system of this application;

[0045] Figures 5a-5d Here are some exemplary format diagrams of the PMD of this application;

[0046] Figure 6 A flowchart illustrating an exemplary communication method in the advanced driver assistance system of this application;

[0047] Figure 7 This is an exemplary structural diagram of the communication device of this application;

[0048] Figure 8 This is an exemplary structural diagram of the communication device of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] The terms "first," "second," etc., used in the specification, embodiments, claims, and drawings of this application are for distinguishing purposes only and should not be construed as indicating or implying relative importance or order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as including a series of steps or units. A method, system, product, or apparatus is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0051] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0052] Figure 1 This is an exemplary functional block diagram of the vehicle described in this application. Figure 1 As shown, components coupled to or included in vehicle 100 may include a propulsion system 110, a sensor system 120, a control system 130, peripheral devices 140, a power supply 150, a computing device 160, and a user interface 170. Components of vehicle 100 may be configured to operate in a manner interconnected with each other and / or with other components coupled to the respective systems. For example, power supply 150 may provide power to all components of vehicle 100. Computing device 160 may be configured to receive data from and control the propulsion system 110, sensor system 120, control system 130, and peripheral devices 140. Computing device 160 may also be configured to generate an image display on user interface 170 and receive input from user interface 170.

[0053] It should be noted that in other examples, vehicle 100 may include more, fewer, or different systems, and each system may include more, fewer, or different components. Furthermore, the systems and components shown can be combined or divided in any manner, and this application does not impose any specific limitations on this.

[0054] The computing device 160 may include a processor 161, a transceiver 162, and a memory 163. The computing device 160 may be a controller of the vehicle 100 or part of a controller. The memory 163 may store instructions 1631 executed by the processor 161, and may also store map data 1632. The processor 161 included in the computing device 160 may include one or more general-purpose processors and / or one or more special-purpose processors (e.g., image processors, digital signal processors, etc.). Where the processor 161 includes more than one processor, such processors may operate individually or in combination. The computing device 160 can implement functions that control the vehicle 100 based on input received through the user interface 170. The transceiver 162 is used for communication between the computing device 160 and various systems. The memory 163 may further include one or more volatile storage components and / or one or more non-volatile storage components, such as optical, magnetic, and / or organic storage devices, and the memory 163 may be wholly or partially integrated with the processor 161. Memory 163 may contain instructions 1631 (e.g., program logic) that can be executed by processor 161 to perform various vehicle functions, including any of the functions or methods described herein.

[0055] The propulsion system 110 can provide power for the movement of the vehicle 100. For example... Figure 1 As shown, the propulsion system 110 may include an engine / motor 114, an energy source 113, a transmission 112, and wheels / tires 111. Additionally, the propulsion system 110 may additionally or alternatively include components other than those shown. Figure 1 Other components besides those shown. This application does not specifically limit this.

[0056] The sensor system 120 may include several sensors for sensing information about the environment in which the vehicle 100 is located. For example... Figure 1As shown, the sensors in sensor system 120 include a Global Positioning System (GPS) 126, an Inertial Measurement Unit (IMU) 125, a lidar sensor 124, a camera sensor 123, a millimeter-wave radar sensor 122, and a brake 121 for modifying the position and / or orientation of the sensors. GPS 126 can be any sensor used to estimate the geographic location of vehicle 100. For this purpose, GPS 126 may include a transceiver to estimate the position of vehicle 100 relative to the Earth based on satellite positioning data. In this example, computing device 160 may be used to combine map data 1632 with GPS 126 to estimate the road traveled by vehicle 100. IMU 125 can be used to sense changes in the position and orientation of vehicle 100 based on inertial acceleration and any combination thereof. In some examples, the combination of sensors in IMU 125 may include, for example, an accelerometer and a gyroscope. Other combinations of sensors in IMU 125 are also possible. The lidar sensor 124 can be viewed as an object detection system that uses light sensing to detect objects in the environment in which the vehicle 100 is located. Typically, the lidar sensor 124 can utilize optical remote sensing techniques to measure the distance to a target or other properties of the target by illuminating it with light. As an example, the lidar sensor 124 may include a laser source and / or laser scanner configured to emit laser pulses, and a detector for receiving reflections of the laser pulses. For example, the lidar sensor 124 may include a laser rangefinder reflected by a rotating mirror and scans the laser around a digitized scene in one or two dimensions to acquire distance measurements at specified angular intervals. In this example, the lidar sensor 124 may include components such as a light (e.g., laser) source, scanner and optical system, light detector and receiver electronics, and a positioning and navigation system. By scanning the laser reflected back from an object, the lidar sensor 124 can determine the distance to the object, forming a 3D environmental map with accuracy up to the centimeter level. The camera sensor 123 may include any camera (e.g., a still camera, video camera, etc.) for acquiring images of the environment in which the vehicle 100 is located. For this purpose, camera sensor 123 can be configured to detect visible light, or it can be configured to detect light from other parts of the spectrum, such as infrared or ultraviolet light. Other types of camera sensors 123 are also possible. Camera sensor 123 can be a two-dimensional detector, or it can have three-dimensional spatial range detection capabilities. In some examples, camera sensor 123 can be, for example, a distance detector configured to generate a two-dimensional image indicating the distance from camera sensor 123 to several points in the environment. For this purpose, camera sensor 123 can use one or more distance detection techniques.For example, camera sensor 123 can be configured to use structured light technology, in which vehicle 100 illuminates objects in the environment using a predetermined light pattern, such as a grid or checkerboard pattern, and uses camera sensor 123 to detect reflections from the predetermined light pattern on the objects. Based on the distortion in the reflected light pattern, vehicle 100 can be configured to detect the distance to points on the object. The predetermined light pattern may include infrared light or light of other wavelengths. Millimeter-wave radar sensor 122 typically refers to an object detection sensor with a wavelength of 1–10 mm and a frequency range of approximately 10 GHz–200 GHz. The measurements of millimeter-wave radar sensor 122 contain depth information, which can provide the distance to the target; secondly, because millimeter-wave radar sensor 122 has a significant Doppler effect, it is very sensitive to velocity and can directly obtain the velocity of the target. The velocity of the target can be extracted by detecting its Doppler frequency shift. Currently, the two mainstream automotive millimeter-wave radar application frequency bands are 24GHz and 77GHz, respectively. The former has a wavelength of about 1.25cm and is mainly used for short-range perception, such as the vehicle's surrounding environment, blind spots, parking assistance, lane change assistance, etc.; the latter has a wavelength of about 4mm and is used for medium and long-range measurement, such as automatic following, adaptive cruise control (ACC), emergency braking (AEB), etc.

[0057] Sensor system 120 may also include additional sensors, including, for example, sensors that monitor the internal systems of vehicle 100 (e.g., O2 monitor, fuel gauge, oil temperature, etc.). Sensor system 120 may also include other sensors. This application does not specifically limit this.

[0058] The control system 130 can be configured to control the operation of the vehicle 100 and its components. For this purpose, the control system 130 may include a steering unit 136, a throttle 135, a braking unit 134, a sensor fusion algorithm 133, a computer vision system 132, and a navigation / route control system 131. The control system 130 may additionally or alternatively include, in addition to... Figure 1 Other components besides those shown. This application does not specifically limit this.

[0059] Peripheral device 140 can be configured to allow vehicle 100 to interact with external sensors, other vehicles, and / or users. For this purpose, peripheral device 140 may include, for example, a wireless communication system 144, a touchscreen 143, a microphone 142, and / or a speaker 141. Peripheral device 140 may additionally or alternatively include, in addition to... Figure 1 Other components besides those shown. This application does not specifically limit this.

[0060] Power source 150 can be configured to provide power to some or all of the components of vehicle 100. For this purpose, power source 150 may include, for example, rechargeable lithium-ion or lead-acid batteries. In some examples, one or more battery packs may be configured to provide power. Other power materials and configurations are also possible. In some examples, power source 150 and energy source 113 may be implemented together, as in some fully electric vehicles.

[0061] The components of vehicle 100 can be configured to operate in a manner that interconnects with other components within and / or outside their respective systems. For this purpose, the components and systems of vehicle 100 can be communicatively linked together via system buses, networks, and / or other connection mechanisms.

[0062] Figure 2 This is a schematic diagram illustrating an exemplary application scenario of an ADAS system, such as... Figure 2 As shown, this scenario illustrates communication between a camera and an MDC (Multi-Data Center). The camera captures image data, which is transmitted to the MDC via a serializer and a deserializer. The MDC can also transmit control commands to control or monitor the camera's operation. Typically, cameras are positioned around the vehicle body, resulting in a distance between each camera and the MDC, necessitating a cable connection between the serializer and deserializer. The serializer modulates the camera's image data and sends it over the cable for transmission. The deserializer receives signals from the cable, demodulates them to recover the image data transmitted from the camera, and then transmits it back to the MDC. It should be noted that this embodiment only exemplifies the communication method between the camera and the MDC. In actual ADAS systems, in addition to cameras, there are other devices such as LiDAR and millimeter-wave radar. Figure 1 The sensors included in the sensor system 120 shown communicate with the MDC in a similar manner, and will not be described in detail here.

[0063] Figure 3a An exemplary flowchart for single-carrier modulation is as follows: Figure 3a As shown, the data to be transmitted comes from data source 1 and data source 2. Data source 1 and data source 2 can be any two sensors in the ADAS system, for example, Figure 1 The sensor included in the sensor system 120 shown.

[0064] At the transmitter's serializer, the Medium Access Control (MAC) layer encapsulates the data from data source 1 and data source 2 using MAC, and then performs packet-based scheduling on these MAC packets. The Physical Layer (PHY), based on the MAC layer's scheduling, performs encoding (here, encoding refers to generalized forward error correction (FEC) encoding, including possible 64 / 66-bit encapsulation, interleaving, scrambling, precoding, etc.), and then maps the encoded bits sequentially to corresponding symbols. For example, non-return-to-zero code (NRZ) maps one bit to one symbol, 4-pulse amplitude modulation (PAM4) maps two bits to one symbol, 8-pulse amplitude modulation (PAM8) maps three bits to one symbol, and so on. The mapping result is the corresponding amplitude, which is then transmitted to the cable via the analog front-end.

[0065] At the receiver's deserializer, by simulating the signal on the front-end receiving cable, the PHY layer first equalizes the received signal during demodulation, i.e., compensates for channel attenuation, then demaps it to obtain the bit stream, and then decodes it to recover the bit string. The MAC layer distributes the bit string based on packets to obtain data packets corresponding to data source 1 and data source 2, and then performs MAC decapsulation on the data packets to obtain the data corresponding to data source 1 and data source 2 respectively.

[0066] The single-carrier modulation process described above has a high symbol rate, with fewer bits corresponding to each symbol. All communication systems based on single-carrier modulation do not distinguish between services at the PHY layer; that is, the service layer above the PHY (usually the MAC layer) identifies services and completes data multiplexing before entering the PHY layer. Furthermore, the concept of frames does not exist at the PHY layer. Therefore, information that needs to be terminated at the PHY layer, such as acknowledgments (ACKs) for data symbols or frames, is often transmitted at the MAC layer or higher, resulting in retransmissions only possible at the MAC layer or above.

[0067] Figure 3b An exemplary flowchart for multicarrier modulation, such as Figure 3b As shown, the data to be transmitted comes from data source 1, data source 2, ..., data n. Data source 1, data source 2, ..., data n can be any two sensors in the ADAS system, for example, Figure 1 The sensor included in the sensor system 120 shown.

[0068] At the transmitter's serializer, the MAC layer performs MAC encapsulation on the data from data source 1, data source 2, ..., data n respectively. The PHY layer encodes the encapsulated packets from data source 1, data source 2, ..., data n respectively, then multiplexes the encoded n bit streams onto different subcarriers, and then performs mapping and inverse fast fourier transform (IFFT) to obtain the time-domain signal.

[0069] At the receiver's deserializer, the PHY layer performs a Fast Fourier Transform (FFT) and frequency equalization on the received time-domain signal, followed by subcarrier data distribution and individual decoding. The MAC layer performs MAC decapsulation to obtain data corresponding to data source 1, data source 2, ..., data n, respectively.

[0070] Therefore, it is evident that single-carrier modulation and multi-carrier modulation differ in data multiplexing. Single-carrier modulation multiplexes data at the MAC layer, with the PHY layer acting as a conduit for the multiplexed transmission of multi-source data. In contrast, multi-carrier modulation multiplexes multi-source data at the PHY layer using frequency division multiplexing.

[0071] In ADAS systems, the MDC (Multi-Channel Controller) may need to receive signals from multiple sensors to collect comprehensive information on road conditions and the environment. Therefore, the deserializer on the MDC side can include multiple ports to support different sensors. Sensors with different bandwidths may coexist, resulting in multiple modulation modes potentially existing in an ADAS system containing multiple serializers and one deserializer. Furthermore, the communication method between the serializer and deserializer needs to accommodate as many application scenarios as possible; the wider the coverage of these scenarios, the better the system's compatibility.

[0072] This application provides a communication method in an advanced driver assistance system that is compatible with both single-carrier modulation and multi-carrier modulation, thereby improving the compatibility of ADAS systems.

[0073] Figure 4 An exemplary flowchart of a communication method in the advanced driver assistance system of this application is shown below. Figure 4 As shown, process 400 can be executed by a serializer, specifically the PHY layer within the serializer. Process 400 is described as a series of steps or operations; it should be understood that process 400 can be executed in various orders and / or occur simultaneously, and is not limited to... Figure 4 The execution order is shown.

[0074] Step 401: Obtain multiple modulated data, which come from multiple data sources.

[0075] The initial sources of multiple data to be modulated are multiple data sources, which can be referenced... Figure 1 The sensor system 120 shown will not be described in detail here. The multiple modulated data obtained by the PHY layer have been processed by the MAC layer and have been encoded in the PHY layer. This application does not limit the processing of the MAC layer and the encoding of the PHY layer.

[0076] Step 402: Combine multiple modulated data into a PMD frame.

[0077] This application can integrate encapsulated and encoded modulated data from multiple data sources into a single physical media dependent (PMD) frame.

[0078] Optionally, the PHY layer can sequentially fill in multiple modulated data in a set order to obtain a PMD frame. Each of the multiple modulated data occupies N bits, where N is a pre-set positive integer, and N > 1.

[0079] The length of a PMD frame can be N×n, where n represents the total number of data sources. In this embodiment, the number of bits occupied by the data from each data source in the PMD frame is fixed. If the data length is less than N, the extra bits can be filled with default values, such as 0. If the data length is greater than N, the data exceeding N bits will be encapsulated into the next PMD frame.

[0080] The pre-defined order refers to the pre-setting of the bits occupied by n data sources in the PMD frame. For example, if the data sources include both a camera and a radar, the camera data is assigned before the radar data. Therefore, in the PMD frame, the first N bits are filled with camera data, and the last N bits are filled with radar data, such as... Figure 5a As shown.

[0081] Optionally, the PHY layer can first fill in length indication information, which is used to indicate the length of each of the multiple data to be modulated, and then fill in the multiple data to be modulated in sequence according to a set order to obtain a PMD frame.

[0082] In this embodiment, information indicating the length of each of the multiple modulated data sets is filled into the header of the PMD frame. This allows multiple modulated data sets to be filled in a predetermined order in the bits following this information, without needing to reserve empty bits as in the previous embodiment, thus reducing PMD bit consumption. For example, the data sources include both a camera and a radar, with the camera data preceding the radar data. The camera data is N1 bits long, and the radar data is also N1 bits long. Therefore, in the PMD frame, the first field is the length indication information, filled with N1 and N2 bits; the second field, with a length of N1 bits, is filled with the camera data; and the third field, with a length of N2 bits, is filled with the radar data, as shown below. Figure 5b As shown.

[0083] Optionally, the PHY layer can fill in the current data corresponding to the current sequence, and fill in the end identifier after the current data ends to obtain a PMD frame. The current data is one of multiple data to be modulated, and the multiple data to be modulated are preset in sequence.

[0084] In this embodiment, the PMD frame includes an end identifier, which indicates the end of a data segment. For example, the data source includes both a camera and a radar, with the camera data occurring before the radar data. The camera data is N1 bits long, and the radar data is also N1 bits long. Therefore, in the PMD frame, the first field is N1 bits long and contains the camera data; the second field contains m bits and contains an end identifier, such as 001, 1010, etc.; the third field is N2 bits long and contains the radar data; the fourth field contains m bits and contains an end identifier, such as 001, 1010, etc. Figure 5c As shown. It should be noted that in this embodiment, the end identifier filled in after each modulated data segment can be exactly the same, completely different, or not exactly the same, as long as the deserializer can recognize the end identifier. In addition, this embodiment does not impose a specific limitation on the length of the end identifier.

[0085] Optionally, the PHY layer may fill in a start identifier before filling in the current data corresponding to the current sequence, and fill in the current data after the start identifier to obtain a PMD frame. The current data is one of multiple data to be modulated, and the multiple data to be modulated are preset in order.

[0086] In this embodiment, the PMD frame contains a start identifier, which indicates the beginning of a data stream. For example, the data source includes both a camera and a radar, with the camera data appearing before the radar data. The camera data is N1 bits long, and the radar data is also N1 bits long. Therefore, in the PMD frame, the first field (m bits long) contains a start identifier, such as 001 or 1010; the second field (N1 bits long) contains the camera data; the third field (m bits long) contains another start identifier, such as 001 or 1010; and the fourth field (N2 bits long) contains the radar data, such as... Figure 5d As shown. It should be noted that in this embodiment, the start identifiers filled in before the start of each piece of data to be modulated can be completely identical, completely different, or not completely identical, as long as the deserializer can recognize the start identifier. In addition, this embodiment does not impose a specific limitation on the length of the start identifier.

[0087] It should be noted that, in addition to the above-mentioned implementation methods, this application may also set other formats for PMD frames, without making specific limitations on them.

[0088] Step 403: Modulate the PMD frame with a single carrier or multiple carriers to obtain a modulated signal.

[0089] In single-carrier modulation, the PHY layer can map each bit of the PMD frame to its corresponding amplitude according to the bit order of the PMD frame to obtain the modulated signal. This process can be referred to in the relevant techniques of single-carrier modulation, and will not be elaborated here.

[0090] In multicarrier modulation, the PHY layer can multiplex the multiple bits contained in the PMD frame onto various subcarriers in the multicarrier system. The bits carried by each subcarrier are then mapped and subjected to inverse Fast Fourier Transform (IFFT) to obtain the modulated signal. This process can be referenced from related multicarrier modulation techniques and will not be elaborated upon here.

[0091] Step 404: Send the modulated signal.

[0092] The serializer sends the modulated signal onto the cable for transmission to the deserializer.

[0093] The PHY layer of the serializer in this application encodes data from multiple data sources separately and integrates them into a single PMD frame. Subsequent modulation processes can combine data from different sources in units of PMD frames, masking the differences in modulation methods. This allows the communication between the serializer and the deserializer to be compatible with both single-carrier modulation and multi-carrier modulation debugging modes.

[0094] Figure 6 An exemplary flowchart of a communication method in the advanced driver assistance system of this application is shown below. Figure 6 As shown, process 600 can be executed by a deserializer, specifically the PHY layer within the deserializer. Process 600 is described as a series of steps or operations; it should be understood that process 600 can be executed in various orders and / or occur simultaneously, and is not limited to... Figure 6 The execution order is shown.

[0095] Step 601: Receive the modulated signal.

[0096] The deserializer receives the modulated signal via a cable.

[0097] Step 602: Perform single-carrier demodulation or multi-carrier demodulation on the modulated signal to obtain a PMD frame.

[0098] The PHY layer performs single-carrier or multi-carrier demodulation on the modulated signal based on the communication method to obtain PMD frames. This process is similar to... Figure 4 Step 403 of the illustrated embodiment is the reverse.

[0099] Step 603: Obtain multiple data to be decoded based on the PMD frame. These multiple data to be decoded correspond to multiple data sources.

[0100] The process by which the PHY layer obtains the data to be decoded and Figure 4 Step 402 of the illustrated embodiment is the opposite, but the format of the PMD frame is the same as that described in step 402, and will not be repeated here.

[0101] After receiving the modulated signal, the PHY layer of the deserializer in this application obtains a unified PMD frame through demodulation. Therefore, whether it is single-carrier modulation or multi-carrier modulation, it does not affect the acquisition of the PMD frame. This allows data from different sources to be combined, masking the differences in demodulation methods, and enabling the communication between the serializer and the deserializer to be compatible with both single-carrier modulation and multi-carrier modulation debugging modes.

[0102] Figure 7 This is an exemplary structural diagram of the communication device of this application, such as... Figure 7 As shown, the device in this embodiment can be applied to the serializer in the above embodiments. The communication device includes: an acquisition module 701, a framing module 702, a modulation module 703, and a transmission module 704. Wherein,

[0103] The acquisition module 701 is used to acquire multiple modulated data, which are from multiple data sources; the framing module 702 is used to assemble the multiple modulated data into a physical medium (PMD) frame; the modulation module 703 is used to perform single-carrier modulation or multi-carrier modulation on the PMD frame to obtain a modulated signal; and the transmission module 704 is used to transmit the modulated signal.

[0104] In one possible implementation, the framing module 702 is specifically used to sequentially fill in the plurality of modulated data in a set order to obtain the PMD frame, wherein the plurality of modulated data each occupy N bits, where N is a pre-set positive integer, and N > 1.

[0105] In one possible implementation, the framing module 702 is specifically used to fill in length indication information, which indicates the length of each of the plurality of modulated data; the plurality of modulated data are filled in sequentially according to a set order to obtain the PMD frame.

[0106] In one possible implementation, the framing module 702 is specifically used to fill in the current data corresponding to the current sequence, and fill in an end identifier after the current data ends, so as to obtain the PMD frame. The current data is one of the plurality of modulated data, and the plurality of modulated data are preset in a certain order.

[0107] In one possible implementation, the framing module 702 is specifically used to fill in a start identifier before filling in the current data corresponding to the current order, and to fill in the current data after the start identifier to obtain the PMD frame, wherein the current data is one of the plurality of modulated data, and the plurality of modulated data are preset in a specific order.

[0108] In one possible implementation, the modulation module 703 is specifically configured to map each bit of the PMD frame to a corresponding amplitude according to the bit order of the PMD frame to obtain the modulation signal.

[0109] In one possible implementation, the modulation module 703 is specifically used to multiplex the multiple bits contained in the PMD frame onto each subcarrier in the multicarrier; and to map and perform inverse fast Fourier transform on the bits carried by each subcarrier to obtain the modulation signal.

[0110] The apparatus of this embodiment can be used to perform Figure 4 The technical solutions of the method embodiments shown are similar in principle and in effect, and will not be described again here.

[0111] Figure 8 This is an exemplary structural diagram of the communication device of this application, such as... Figure 8 As shown, the device in this embodiment can be applied to the deserializer in the above embodiments. The communication device includes: a receiving module 801 and a demodulation module 802. Wherein,

[0112] The receiving module 801 is used to receive the modulated signal; the demodulation module 802 is used to perform single-carrier demodulation or multi-carrier demodulation on the modulated signal to obtain a physical medium PMD frame; and to obtain multiple data to be decoded based on the PMD frame, wherein the multiple data to be decoded correspond to multiple data sources.

[0113] In one possible implementation, the demodulation module 802 is specifically used to extract N bits in the order of the bits in the PMD frame to obtain a piece of data to be decoded, where N is a pre-set positive integer and N>1.

[0114] In one possible implementation, the demodulation module 802 is specifically used to obtain length indication information based on the PMD frame, the length indication information being used to indicate the length of each of the multiple data to be decoded; and to extract bits of the corresponding length from the PMD frame sequentially based on the length indication information to obtain the corresponding data to be decoded.

[0115] In one possible implementation, the demodulation module 802 is specifically used to extract bits one by one from the PMD frame until the end identifier is extracted; the multiple bits extracted before the end identifier are used to form current data, and the current data is one of the multiple data to be decoded.

[0116] In one possible implementation, the demodulation module 802 is specifically used to extract bits one by one from the PMD frame after the start identifier is extracted, until the next start identifier is extracted; and to form the current data by combining the multiple bits extracted between the two start identifiers, wherein the current data is one of the multiple data to be decoded.

[0117] The apparatus of this embodiment can be used to perform Figure 6 The technical solutions of the method embodiments shown are similar in principle and in effect, and will not be described again here.

[0118] In implementation, each step of the above method embodiments can be completed by integrated logic circuits in the processor hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly implemented by a hardware encoding processor, or implemented by a combination of hardware and software modules in the encoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0119] The memory mentioned in the above embodiments can be volatile memory or non-volatile memory, or may include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0120] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0121] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0123] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0124] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0125] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0126] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method in an advanced driver assistance system, compatible with both single-carrier modulation and multi-carrier modulation, characterized in that, include: Acquire multiple data to be modulated, the multiple data to be modulated coming from multiple data sources; The multiple modulated data are encoded to form a physical medium PMD frame, which belongs to the physical layer PHY. The PMD frame is subjected to single-carrier modulation or multi-carrier modulation to obtain a modulated signal; The modulated signal is transmitted.

2. The method according to claim 1, characterized in that, The step of encoding the plurality of modulated data into a physical medium PMD frame includes: The multiple modulated data are sequentially filled in according to a set order to obtain the PMD frame. Each of the multiple modulated data occupies N bits, where N is a pre-set positive integer, and N > 1.

3. The method according to claim 1, characterized in that, The step of encoding the plurality of modulated data into a physical medium PMD frame includes: Enter length indication information, which is used to indicate the length of each of the plurality of modulated data; The multiple modulated data are filled in sequentially according to a set order to obtain the PMD frame.

4. The method according to claim 1, characterized in that, The step of encoding the plurality of modulated data into a physical medium PMD frame includes: The current data corresponding to the current sequence is filled in, and an end identifier is filled in after the current data ends, so as to obtain the PMD frame. The current data is one of the plurality of modulated data, and the plurality of modulated data are preset in sequence.

5. The method according to claim 1, characterized in that, The step of encoding the plurality of modulated data into a physical medium PMD frame includes: A start identifier is entered before the current data corresponding to the current sequence, and the current data is entered after the start identifier to obtain the PMD frame. The current data is one of the plurality of modulated data, and the plurality of modulated data are preset in order.

6. The method according to any one of claims 1-5, characterized in that, The step of performing single-carrier modulation on the PMD frame to obtain a modulated signal includes: According to the bit order of the PMD frame, each bit of the PMD frame is mapped to the corresponding amplitude to obtain the modulation signal.

7. The method according to any one of claims 1-5, characterized in that, The step of performing multi-carrier modulation on the PMD frame to obtain a modulated signal includes: The multiple bits contained in the PMD frame are multiplexed onto each subcarrier in the multicarrier; The bits carried by each subcarrier are mapped and transformed by inverse fast Fourier transform to obtain the modulation signal.

8. A communication method in an advanced driver assistance system, compatible with both single-carrier modulation and multi-carrier modulation, characterized in that, include: Receive modulated signals; The modulation signal is subjected to single-carrier demodulation or multi-carrier demodulation to obtain a physical medium PMD frame, which belongs to the physical layer PHY. Multiple data to be decoded are obtained from the PMD frame, and the multiple data to be decoded correspond to multiple data sources.

9. The method according to claim 8, characterized in that, The process of obtaining multiple data to be decoded based on the PMD frame includes: According to the bit order in the PMD frame, every N bits are extracted to obtain one piece of data to be decoded, where N is a pre-set positive integer, N>1.

10. The method according to claim 8, characterized in that, The process of obtaining multiple data to be decoded based on the PMD frame includes: Length indication information is obtained from the PMD frame, and the length indication information is used to indicate the length of each of the multiple data to be decoded. According to the length indication information, bits of the corresponding length are extracted sequentially from the PMD frame to obtain the corresponding data to be decoded.

11. The method according to claim 8, characterized in that, The process of obtaining multiple data to be decoded based on the PMD frame includes: Extract bits one by one from the PMD frame until the end identifier is extracted; The current data is composed of multiple bits extracted before the end identifier, and the current data is one of the multiple data to be decoded.

12. The method according to claim 8, characterized in that, The process of obtaining multiple data to be decoded based on the PMD frame includes: After the start identifier is extracted, bits are extracted one by one from the PMD frame until the next start identifier is extracted; The current data is composed of multiple bits extracted between two start identifiers, and the current data is one of the multiple data to be decoded.

13. A communication device for being compatible with single-carrier modulation and multi-carrier modulation, characterized in that, include: The acquisition module is used to acquire multiple data to be modulated, which are from multiple data sources; A framing module is used to encode the multiple modulated data into a physical medium PMD frame, wherein the PMD frame belongs to the physical layer PHY. A modulation module is used to perform single-carrier modulation or multi-carrier modulation on the PMD frame to obtain a modulated signal; The modulated signal is transmitted.

14. The apparatus according to claim 13, characterized in that, The framing module is specifically used to fill in the plurality of modulated data in a set order to obtain the PMD frame. The plurality of modulated data each occupy N bits, where N is a pre-set positive integer, and N>1.

15. The apparatus according to claim 13, characterized in that, The framing module is specifically used to fill in length indication information, which indicates the length of each of the plurality of modulated data; the plurality of modulated data are filled in sequentially according to a set order to obtain the PMD frame.

16. The apparatus according to claim 13, characterized in that, The framing module is specifically used to fill in the current data corresponding to the current sequence, and to fill in an end identifier after the current data ends, so as to obtain the PMD frame. The current data is one of the plurality of modulated data, and the plurality of modulated data are preset in sequence.

17. The apparatus according to claim 13, characterized in that, The framing module is specifically used to fill in a start identifier before filling in the current data corresponding to the current order, and to fill in the current data after the start identifier to obtain the PMD frame. The current data is one of the plurality of modulated data, and the plurality of modulated data are preset in order.

18. The apparatus according to any one of claims 13-17, characterized in that, The modulation module is specifically used to map each bit of the PMD frame to a corresponding amplitude according to the bit order of the PMD frame to obtain the modulation signal.

19. The apparatus according to any one of claims 13-17, characterized in that, The modulation module is specifically used to multiplex the multiple bits contained in the PMD frame onto each subcarrier in the multicarrier; and to perform mapping and inverse fast Fourier transform on the bits carried by each subcarrier to obtain the modulation signal.

20. A communication device for being compatible with single-carrier modulation and multi-carrier modulation, characterized in that, include: The receiving module is used to receive modulated signals; The demodulation module is used to perform single-carrier demodulation or multi-carrier demodulation on the modulated signal to obtain a physical medium PMD frame, wherein the PMD frame belongs to the physical layer PHY. Multiple data to be decoded are obtained from the PMD frame, and the multiple data to be decoded correspond to multiple data sources.

21. The apparatus according to claim 20, characterized in that, The demodulation module is specifically used to extract N bits in the order of the bits in the PMD frame to obtain a piece of data to be decoded, where N is a pre-set positive integer, N>1.

22. The apparatus according to claim 20, characterized in that, The demodulation module is specifically used to obtain length indication information based on the PMD frame, the length indication information being used to indicate the length of each of the multiple data to be decoded; and to extract bits of the corresponding length from the PMD frame sequentially based on the length indication information to obtain the corresponding data to be decoded.

23. The apparatus according to claim 20, characterized in that, The demodulation module is specifically used to extract bits one by one from the PMD frame until the end identifier is extracted; the multiple bits extracted before the end identifier are combined to form the current data, and the current data is one of the multiple data to be decoded.

24. The apparatus according to claim 20, characterized in that, The demodulation module is specifically used to extract bits one by one from the PMD frame after the start identifier is extracted, until the next start identifier is extracted; and to form the current data by combining the multiple bits extracted between the two start identifiers, wherein the current data is one of the multiple data to be decoded.

25. A communication device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-7.

26. A communication device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 8-12.

27. A computer-readable storage medium, characterized in that, It includes a computer program that, when executed on a computer, causes the computer to perform the method of any one of claims 1-12.

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