A method, device and equipment for determining intelligent network connected vehicle automatic driving guarantee responsibility, and a readable storage medium

Abstract

The application relates to a kind of intelligent network connection car automatic driving guarantee responsibility determination method, device, equipment and readable storage medium.The responsibility determination method includes steps: S1, obtaining accident data;S2, determining accident occurrence time;S3, judge driver state;S4-S10, judge whether the vehicle automatic driving function is normal;S11, judge whether automatic driving takeover prompt is timely;S12, judge whether driver takes over after automatic driving takeover prompt;S13, determine as automatic driving guarantee responsibility, enter step S15;S14, determine as non-automatic driving guarantee responsibility, enter step S15;S15, end.The application proposes a kind of intelligent network connection car automatic driving guarantee responsibility determination method, device, equipment and readable storage medium, can effectively determine intelligent network connection car automatic driving guarantee responsibility.

Description

Technical Field

[0001] This invention relates to the field of vehicle insurance, and more particularly to a method, apparatus, device, and readable storage medium for determining liability for autonomous driving insurance of intelligent connected vehicles. Background Technology

[0002] Intelligent connected vehicles, through the organic integration of vehicle-to-everything (V2X) technology and intelligent vehicles, are characterized by the presence of onboard sensors, controllers, actuators, and other devices, along with the integration of modern communication and network technologies to achieve intelligent information exchange and sharing between vehicles, people, roads, and back-end systems. The autonomous driving functions of intelligent connected vehicles can assist drivers or autonomously complete some driving tasks, greatly improving driving convenience and comfort, and have become a key direction for the transformation and upgrading of the global automotive industry.

[0003] With the rapid rise of intelligent driving vehicles and the popularization of L2+ level autonomous driving subscription services, autonomous driving accidents are inevitable. However, the lack of automated and standardized methods for determining liability in autonomous driving accidents makes post-accident handling difficult. Furthermore, due to the complexity of autonomous driving functions and the involvement of multiple stakeholders, including drivers, autonomous driving systems, and automakers, a standardized, automated, and reliable method for determining liability in autonomous driving accidents is needed to improve efficiency and protect the rights of drivers, automakers, and autonomous driving function suppliers.

[0004] Meanwhile, existing literature determines accident liability based on factors such as meeting autonomous driving setting conditions, whether the ADS (Autonomous Driving System) is malfunctioning, and whether there was human intervention in the vehicle. However, in practice, different automakers lack a unified field for autonomous driving setting conditions to determine liability, requiring a comprehensive assessment based on actual vehicle operating parameters. Furthermore, existing methods lack analysis of key parameters such as human-machine interaction, driver's pre-accident state, and consistency between user and system operations, leading to unclear liability determinations or even incorrect attribution in some scenarios. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention proposes a method, device, equipment, and readable storage medium for determining liability for autonomous driving in intelligent connected vehicles. It constructs a model for determining liability for autonomous driving, safeguarding the legitimate rights and interests of drivers, automakers, and autonomous driving function suppliers, thereby promoting the sustainable development of the intelligent connected vehicle industry.

[0006] Specifically, this invention proposes a method for determining liability for autonomous driving in intelligent connected vehicles, comprising the following steps:

[0007] S1, acquire accident data of autonomous driving accidents, the accident data including vehicle dynamic data, autonomous driving function data, driver operation data, driver status data, human-vehicle interaction data and other data;

[0008] S2, determine the time of the vehicle accident based on the vehicle dynamic data;

[0009] S3. Based on the driver status data, determine whether the driver status is normal. If normal, proceed to step S4; if abnormal, proceed to step S14.

[0010] S4. Based on the human-vehicle interaction data and other data, determine whether the autonomous driving function was normal before the accident. If it was normal, proceed to step S5; if it was abnormal, proceed to step S13.

[0011] S5. Based on the determined vehicle accident time, autonomous driving function data and human-vehicle interaction data, determine whether the autonomous driving function boundary has been exceeded. If it has not been exceeded, proceed to step S6. If it has been exceeded, proceed to step S14.

[0012] S6. Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether the autonomous driving function was running at the time of the accident. If yes, proceed to step S7; otherwise, proceed to step S8.

[0013] S7. Determine the consistency between the driver's and the system's operations. If they are consistent, proceed to step S13; otherwise, proceed to step S14.

[0014] S8. Determine if there is an emergency before the autonomous driving function exits. If not, proceed to step S14; if so, proceed to step S9.

[0015] S9. Determine the completeness of the automatic driving takeover reminder. If it is incomplete, proceed to step S10; if it is complete, proceed to step S11.

[0016] S10: Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether an accident occurred in a short period of time. If yes, proceed to step S13; otherwise, proceed to step S14.

[0017] S11. Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether the autonomous driving takeover reminder is timely. If not, proceed to step S13; if yes, proceed to step S12.

[0018] S12, determine whether the driver takes over after the automatic driving takeover reminder. If yes, proceed to step S13; otherwise, proceed to step S14.

[0019] S13, determined to be responsible for autonomous driving safety, proceed to step S15;

[0020] S14, determined to be non-autonomous driving safety responsibility, proceed to step S15;

[0021] S15, End.

[0022] According to an embodiment of the present invention, in step S2, the time point in the vehicle dynamic data where the absolute value of the longitudinal acceleration is the largest and negative is T1, and the time point where the vehicle's lateral acceleration first becomes 0 is T2. The earlier of the two times is selected as the accident occurrence time T.

[0023] According to an embodiment of the present invention, step S3 includes:

[0024] S31, determine whether fatigue has occurred and take over the information immediately. If not, proceed to step S32; if yes, proceed to step S14.

[0025] S32, determine whether there is an immediate takeover message. If not, proceed to step S33; if yes, proceed to step S14.

[0026] S33, determine whether a distraction-immediate-takeover message has appeared. If not, proceed to step S34; if yes, proceed to step S14.

[0027] S34, determine whether a call to immediately take over information has been received. If not, proceed to step S35; if yes, proceed to step S14.

[0028] S35, determine whether a seatbelt unfastening message has appeared. If not, proceed to step S36; if yes, proceed to step S14.

[0029] S36, determine whether there is a message indicating that all four doors and two covers are open. If not, proceed to step S4; if yes, proceed to step S14.

[0030] According to an embodiment of the present invention, step S4 includes the following steps:

[0031] S41, determine whether a safety alarm occurred before the accident. If yes, proceed to step S42; otherwise, proceed to step S13.

[0032] S42, determine whether a third-party signal appeared before the accident. If not, proceed to step S5; if yes, proceed to step S13.

[0033] According to one embodiment of the present invention, the safety alarm includes lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning.

[0034] According to an embodiment of the present invention, in step S5, the determination of whether the accident exceeds the boundary of the autonomous driving function is based on the determined vehicle accident occurrence time T, the first takeover request time T3 in the accident data, and the autonomous driving function exit time T4 in the accident data.

[0035] Specifically, when the autonomous driving function data shows a first set condition requiring immediate takeover, the system determines that it has issued a takeover request, obtains the time set {T request} corresponding to the takeover request in the accident data, and selects the first data in the accident data within {T request} as the first takeover request time T3; if the system does not issue a takeover request, the first takeover request time T3 is set to NA.

[0036] When the function status signal of the autonomous driving function data meets the second set condition, it is determined that the autonomous driving function has exited. The set of time corresponding to the exit of the autonomous driving function in the accident data {T exit} is obtained, and the last data before the accident occurrence time T in the accident data in {T exit} is selected as the exit time T4 of the autonomous driving function. If the autonomous driving function has not exited in the accident data, the exit time T4 of the autonomous driving function is NA.

[0037] If the initial takeover request time T3 or the automatic driving function exit time T4 occurs within s seconds before the accident occurrence time T, proceed to step S14; otherwise, proceed to step S6.

[0038] According to an embodiment of the present invention, in step S6, the autonomous driving function data at the time T of the vehicle accident is extracted. If the autonomous driving function status is running, it is considered that the autonomous driving function is running normally at the time of the accident; if the autonomous driving function status is suspended or closed, it is considered that the autonomous driving function is closed at the time of the accident.

[0039] According to an embodiment of the present invention, in step S7, determining the consistency between the driver's and the system's operations includes the following steps:

[0040] S71, based on the autonomous driving function data and driver operation data, determine whether the driver's operation is consistent with the system request. If yes, proceed to step S13; otherwise, proceed to step S72.

[0041] S72, determine whether an inconsistency warning occurred before the accident. If yes, proceed to step S14; otherwise, proceed to step S13.

[0042] According to one embodiment of the present invention, in step S8, if there are minor or serious alarm signals for lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning before the autonomous driving function is discontinued, it is determined that there is an emergency before the autonomous driving function is discontinued; if the lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning remain normal before the autonomous driving function is discontinued, it is determined that there is no emergency before the autonomous driving function is discontinued.

[0043] According to one embodiment of the present invention, in step S9, if there is a serious alarm or immediate takeover signal in the pre-accident autonomous driving function warning, it is determined that the autonomous driving takeover reminder is complete; if the pre-accident autonomous driving function warning remains normal or has a minor alarm signal, it is determined that the autonomous driving takeover reminder is incomplete.

[0044] According to one embodiment of the present invention, in step S10, if the difference between the accident occurrence time T and the automatic driving function exit time T4 is less than or equal to a given time, it is determined that an accident occurred shortly after the active takeover; if the difference between the accident occurrence time T and the automatic driving function exit time T4 is greater than a given time, it is determined that no accident occurred shortly after the active takeover.

[0045] According to one embodiment of the present invention, in step S11, if the autonomous driving function warning has a normal or minor alarm to a serious situation and an immediate takeover signal change before the given time period T of the accident, it is determined that the autonomous driving takeover reminder is timely and proceeds to step S12; if the autonomous driving function warning has no normal or minor alarm to a serious situation and an immediate takeover signal change before the given time period T of the accident, it is determined that the autonomous driving takeover reminder is not timely and proceeds to step S13.

[0046] According to an embodiment of the present invention, step S12 includes:

[0047] S121, Determine whether the gear was manually switched. If not, proceed to step S122; if yes, proceed to step S13.

[0048] S122, determine whether the brake was manually applied. If not, proceed to step S123; if yes, proceed to step S13.

[0049] S123, determine whether the accelerator pedal has been manually pressed. If not, proceed to step S124; if yes, proceed to step S13.

[0050] S124, determine whether the steering wheel was turned manually. If not, proceed to step S14; if so, proceed to step S13.

[0051] The present invention also provides a device for determining liability for autonomous driving in intelligent connected vehicles, applicable to the aforementioned determination method, the device comprising:

[0052] The acquisition module is used to acquire accident data of autonomous driving accidents. The accident data includes vehicle dynamic data, autonomous driving function data, driver operation data, driver status data, human-vehicle interaction data, and other data.

[0053] The first calculation module is used to determine the time of the vehicle accident based on the vehicle dynamic data;

[0054] The first judgment module is used to determine whether the driver's status is normal based on the driver status data;

[0055] The second judgment module is used to determine whether the autonomous driving function was normal before the accident based on the human-vehicle interaction data and other data.

[0056] The third judgment module is used to determine whether the autonomous driving function boundary has been exceeded based on the determined vehicle accident time, autonomous driving function data and human-vehicle interaction data.

[0057] The fourth judgment module is used to determine whether the autonomous driving function was activated at the time of the accident based on the determined time of the vehicle accident and the autonomous driving function data.

[0058] The fifth judgment module is used to determine the consistency between the driver's and the system's operations;

[0059] The sixth judgment module is used to determine whether there is an emergency before the autonomous driving function exits;

[0060] The seventh judgment module is used to determine the completeness of the autonomous driving takeover reminder;

[0061] The eighth judgment module is used to determine whether an accident occurred within a short period of time based on the determined time of the vehicle accident and the data from the autonomous driving function.

[0062] The ninth judgment module is used to determine whether the autonomous driving takeover reminder is timely based on the determined vehicle accident time and autonomous driving function data;

[0063] The tenth judgment module is used to determine whether the driver takes over after the autonomous driving takeover warning;

[0064] The determination module is used to determine whether the responsibility for autonomous driving or non-autonomous driving is attributable to the responsible party.

[0065] The present invention also provides a device for determining liability for autonomous driving in intelligent connected vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of any of the aforementioned determination methods.

[0066] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the preceding determination methods.

[0067] This invention provides a method, device, equipment, and readable storage medium for determining liability in autonomous driving accidents involving intelligent connected vehicles. It comprehensively applies data on vehicle operation, human-vehicle interaction, and driver status during accidents to construct an automated, standardized, and reliable method for determining liability within the scope of autonomous driving function protection. This solves the problem of difficulty in determining liability in autonomous vehicle accidents, protects the legitimate rights and interests of drivers, automakers, and autonomous driving function suppliers, and promotes the sustainable development of the intelligent connected vehicle industry.

[0068] It should be understood that the above general description and the following detailed description of the invention are exemplary and illustrative, and are intended to provide further explanation of the invention as described in the claims. Attached Figure Description

[0069] The accompanying drawings are included to provide further explanation of the invention. They are incorporated into and constitute a part of this application. The drawings illustrate embodiments of the invention and, together with this specification, serve to explain the principles of the invention.

[0070] In the attached image:

[0071] Figure 1 A flowchart illustrating a method for determining liability for autonomous driving in intelligent connected vehicles according to an embodiment of the present invention is shown.

[0072] Figure 2 A schematic diagram of the structure of a device for determining liability for autonomous driving in intelligent connected vehicles according to an embodiment of the present invention is shown. Detailed Implementation

[0073] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0074] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0075] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0076] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0077] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0078] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0079] Figure 1 A flowchart illustrating a method for determining liability for autonomous driving in intelligent connected vehicles according to an embodiment of the present invention is shown. As shown, a method for determining liability for autonomous driving in intelligent connected vehicles (ICVs) includes the following steps:

[0080] S1. Acquire accident data for autonomous driving accidents involving intelligent connected vehicles. The acquired accident data duration is approximately 15 seconds, and the autonomous driving function of the intelligent connected vehicle should have corresponding operational records within the accident data. Accident data (types) include vehicle dynamic data, autonomous driving function data, driver operation data, driver status data, human-vehicle interaction data, and other data. Vehicle dynamic data refers to the operational data of intelligent connected vehicles before and after an accident, including vehicle speed, lateral acceleration, and longitudinal acceleration; autonomous driving function data refers to the system request data for the vehicle's autonomous driving function, including the requested speed, requested longitudinal acceleration, requested lateral acceleration, and autonomous driving function status; driver operation data refers to the data on the driver's actual intervention in the vehicle, including steering wheel angle, accelerator pedal opening and closing, brake pedal opening and closing, and gear position; driver status data refers to data related to the driver monitoring system during driving, including data on fatigue, distraction, and hands-off driving; human-vehicle interaction data refers to the alerts / alarms issued to the driver by the autonomous driving system during driving, including lane departure warning, FCW (Forward Collision Warning) warning, and autonomous driving alarm data; other data includes in-vehicle and out-of-vehicle video and external third-party signals. Table 1 is an example of accident data, which includes, but is not limited to, the data listed in the table.

[0081] Table 1 Example of Accident Data

[0082]

[0083]

[0084] S2, determine the time of a vehicle accident based on vehicle dynamic data;

[0085] S3. Determine whether the driver's status is normal based on the driver's status data. If normal, proceed to step S4; if abnormal, proceed to step S14.

[0086] S4. Based on human-vehicle interaction data and other data, determine whether the autonomous driving function was normal before the accident. If it was normal, proceed to step S5; if it was abnormal, proceed to step S13.

[0087] S5. Based on the determined vehicle accident time, autonomous driving function data and human-vehicle interaction data, determine whether the autonomous driving function boundary has been exceeded. If it has not been exceeded, proceed to step S6. If it has been exceeded, proceed to step S14.

[0088] S6. Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether the autonomous driving function was running at the time of the accident. If yes, proceed to step S7; otherwise, proceed to step S8.

[0089] S7. Determine the consistency between the driver's and the system's operations. If they are consistent, proceed to step S13; otherwise, proceed to step S14.

[0090] S8. Determine if there is an emergency before the autonomous driving function exits. If not, proceed to step S14; if so, proceed to step S9.

[0091] S9. Determine the completeness of the automatic driving takeover reminder. If it is incomplete, proceed to step S10; if it is complete, proceed to step S11.

[0092] S10: Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether an accident occurred in a short period of time. If yes, proceed to step S13; otherwise, proceed to step S14.

[0093] S11. Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether the autonomous driving takeover reminder is timely. If not, proceed to step S13; if yes, proceed to step S12.

[0094] S12, determine whether the driver takes over after the automatic driving takeover reminder. If yes, proceed to step S13; otherwise, proceed to step S14.

[0095] S13, determined to be responsible for autonomous driving safety, proceed to step S15;

[0096] S14, determined to be non-autonomous driving safety responsibility, proceed to step S15;

[0097] S15, End.

[0098] Preferably, in step S2, referring to Table 2, the time point where the absolute value of the longitudinal acceleration is the largest and negative in the vehicle dynamic data is T1, and the time point where the vehicle's lateral acceleration first becomes 0 is T2. The earlier of the two times is selected as the accident occurrence time T. The accident occurrence time T is used as the standard for subsequent judgment.

[0099] Table 2 Example of Vehicle Dynamic Data

[0100]

[0101] Preferably, in step S3, if the driver's condition is abnormal, the accident liability is determined to be the responsibility of the non-automatic driving system; if the driver's condition is normal, proceed to the next step.

[0102] Step S3, based on the driver status data and referring to Table 3, specifically includes:

[0103] S31, determine whether the fatigue alarm information in the driver status data contains the 3-fatigue immediate takeover information. If not, the fatigue alarm information remains at 0-normal, 1-slight fatigue, 2-moderate fatigue. Then proceed to step S32. If yes, proceed to step S14.

[0104] S32, determine whether the hands-off alarm information in the driver status data contains the 3-hands-off immediate takeover information. If not, the hands-off alarm information remains at 0-normal, 1-slight hands-off, 2-moderate hands-off record, then proceed to step S33. If yes, proceed to step S14.

[0105] S33, determine whether the distraction alarm information in the driver status data shows 3-distraction immediate takeover information. If not, the distraction alarm information remains at 0-normal, 1-minor distraction, 2-moderate distraction record, then proceed to step S34. If yes, then proceed to step S14.

[0106] S34, determine whether the call alarm information in the driver status data shows 1 - call call immediately take over information. If not, the call alarm information remains 0 - normal, then proceed to step S35. If yes, then proceed to step S14.

[0107] S35, determine whether the seat belt alarm information in the driver status data shows seat belt unfastening information. If not, the seat belt alarm information remains at 0-normal, then proceed to step S36; if yes, then proceed to step S14.

[0108] S36, determine whether the alarm information for the four doors and two hoods in the driver status data shows that the four doors and two hoods are open. If not, proceed to step S4; if yes, proceed to step S14.

[0109] Specifically, if the judgment result in any of the above steps S31 to S36 is that the driver's condition is abnormal, the final accident liability will be determined as the responsibility for non-automatic driving protection (step S13). If the judgment result in any of the steps is that the driver's condition is normal, the next stage of judgment will proceed.

[0110] Table 3 Example of Driver Status Data

[0111]

[0112] Preferably, step S4 includes the following steps:

[0113] S41, determine whether a safety alarm occurred before the accident. If yes, proceed to step S42; otherwise, proceed to step S13.

[0114] S42, determine whether a third-party signal appeared before the accident. If not, proceed to step S5; if yes, proceed to step S13.

[0115] More preferably, referring to Table 4, the safety alarms (contents) include lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning.

[0116] Table 4: Examples of Human-Vehicle Interaction Data

[0117]

[0118]

[0119] If the lane departure warning, forward collision warning, steering wheel vibration reminder, and automatic driving function warning are 1-minor alarm, 2-serious alarm, or immediate takeover before an accident, the automatic driving function is considered to be normal. If the lane departure warning, forward collision warning, steering wheel vibration reminder, and automatic driving function warning remain at 0-normal before an accident, the automatic driving function is considered to be abnormal.

[0120] Table 5 Examples of Other Data

[0121] Classification content describe type Other data Third-party signal around the car 0 - Normal; 1 - Abnormal numerical values

[0122] Referring to Table 5, if the third-party signal remains at 0 (normal) before the accident, the autonomous driving function is considered to be normal; if the third-party signal is at 1 (abnormal) before the accident, the autonomous driving function is considered to be abnormal.

[0123] If either step S41 or S42 indicates that the autonomous driving function is malfunctioning, the final liability for the accident will be determined as the responsibility for ensuring the autonomous driving function (step 13). If either step indicates that the autonomous driving function is operating normally, proceed to the next stage of judgment.

[0124] Preferably, in step S5, the determination of whether the accident exceeds the boundary of the autonomous driving function is based on the determined vehicle accident occurrence time T, the first takeover request time T3 in the accident data, and the autonomous driving function exit time T4 in the accident data.

[0125] Specifically, when the autonomous driving function data shows a first pre-defined condition requiring immediate takeover, the system determines that it has issued a takeover request, obtains the time set {T request} corresponding to the takeover request within the accident data, and selects the first data within the accident data in {T request} as the first takeover request time T3; if the system does not issue a takeover request, the first takeover request time T3 is set to NA; referring to Table 4, the first pre-defined condition is when the autonomous driving function warning signal shows a 2-serious situation requiring immediate takeover, it is determined that the system has issued a takeover request.

[0126] When the function status signal of the autonomous driving function data meets the second set condition, it is determined that the autonomous driving function has exited. The set of times corresponding to the exit of the autonomous driving function in the accident data {T exit} is obtained, and the last data before the accident occurrence time T in the accident data within {T exit} is selected as the exit time T4 of the autonomous driving function. If the autonomous driving function has not exited in the accident data, the exit time T4 of the autonomous driving function is NA. Referring to Table 6, when the autonomous driving function status signal in the autonomous driving function data changes from 0-running to 1-suspended or 2-closed, it is determined that the autonomous driving function has exited.

[0127] If the initial takeover request time T3 or the autonomous driving function exit time T4 occurs within s seconds before the accident occurrence time T, it is determined that the autonomous driving function boundary has been exceeded, and the process proceeds to step S14 (determined as non-autonomous driving protection responsibility). If the initial takeover request time T3 or the autonomous driving function exit time T4 does not occur within s seconds before the accident occurrence time T, it is determined that the autonomous driving function boundary has not been exceeded, and the process proceeds to step S6. Based on the reaction time, the value of s is approximately within the range of 0.4 to 1 second. During the application phase, this value range can also be adjusted based on the experimental results of different automakers.

[0128] Table 6. Automated Driving Function Status Information

[0129]

[0130] Preferably, in step S6, the autonomous driving function data at the time T of the vehicle accident is extracted. Referring to Table 6, if the autonomous driving function status is 0 - running, it is considered that the autonomous driving function was running normally at the time of the accident; if the autonomous driving function status is 1 - suspended or 2 - off, it is considered that the autonomous driving function was off at the time of the accident.

[0131] Preferably, in step S7, determining the consistency between the driver's and the system's operations includes the following steps:

[0132] S71, based on the autonomous driving function data and driver operation data, determine whether the driver's operation is consistent with the system request. If yes, determine that the driver's operation is consistent with the system operation and proceed to step S13. If no, proceed to step S72.

[0133] S72, determine whether an inconsistency warning occurred before the accident. If yes, determine that the driver's operation is inconsistent with the system operation and proceed to step S14. If no, determine that the driver's operation is consistent with the system operation and proceed to step S13.

[0134] In step S71, according to Tables 7 to 11, if the difference between the acceleration corresponding to the brake pedal opening degree or accelerator pedal opening degree and the longitudinal acceleration requested by the autonomous driving system is less than or equal to a first given range, it is determined that the driver's operation is consistent with the system's operation; if the difference between the steering wheel angle and the steering wheel angle requested by the autonomous driving system is less than or equal to a second given range, it is determined that the driver's operation is consistent with the system's operation. Here, the first and second given ranges refer to percentage deviations, and the specific values ​​corresponding to the first and second given ranges can be determined experimentally for different automakers.

[0135] In step S72, when the driver-autonomous driving inconsistency operation reminder information in the human-vehicle interaction data before the accident shows a 1-inconsistency, please drive appropriately signal, it is determined that the driver and the system operation are inconsistent; when the driver-autonomous driving inconsistency operation reminder information before the accident maintains a 0-normal signal, it is determined that the driver and the system operation are consistent.

[0136] If either of the above steps S71 or S72 results in the driver's operation being consistent with the system's operation, the final accident liability will be determined as the responsibility for ensuring autonomous driving (step S13); otherwise, the final accident liability will be determined as the responsibility for ensuring non-autonomous driving (step S14).

[0137] Table 7 Brake Information Record

[0138]

[0139] Table 8 Throttle Information Record

[0140]

[0141] Table 9 Steering Wheel Information Record

[0142]

[0143] Table 10. Information on Autonomous Driving Functions

[0144]

[0145] Table 11 Human-vehicle Interaction Data Information

[0146]

[0147]

[0148] Preferably, in step S8, referring to Table 4, if there are 1-minor alarm signals or 2-serious alarm signals for lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning before the autonomous driving function is discontinued, it is determined that there is an emergency before the autonomous driving function is discontinued; if the lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning remain at 0-normal signals before the autonomous driving function is discontinued, it is determined that there is no emergency before the autonomous driving function is discontinued.

[0149] Preferably, in step S9, referring to Table 4, if the automatic driving function warning has a 2-serious alarm or immediate takeover signal before the accident, it is determined that the automatic driving takeover reminder is complete; if the automatic driving function warning remains at 0-normal or 1-minor alarm signal before the accident, it is determined that the automatic driving takeover reminder is incomplete.

[0150] Preferably, in step S10, if the difference between the accident occurrence time T and the autonomous driving function exit time T4 is less than or equal to a given time, it is determined that an accident occurred shortly after the active takeover, and the process proceeds to step S13, where the responsibility for autonomous driving protection is determined. If the difference between the accident occurrence time T and the autonomous driving function exit time T4 is greater than the given time, it is determined that no accident occurred shortly after the active takeover, and the process proceeds to step S14, where the responsibility for non-autonomous driving protection is determined. The given time can be set to 4 seconds, or adjusted according to the actual situation of the vehicle manufacturer.

[0151] Preferably, in step S11, if, before the given time period T of the accident, referring to Table 4, the autonomous driving function warning shows a transition from 0 (normal) or 1 (minor alarm) to 2 (serious situation) with an immediate takeover signal, then it is determined that the autonomous driving takeover reminder is timely, and the process proceeds to step S12; if, before the given time period T of the accident, the autonomous driving function warning does not show a transition from 0 (normal) or 1 (minor alarm) to 2 (serious situation) with an immediate takeover signal, then it is determined that the autonomous driving takeover reminder is untimely, and the process proceeds to step S13, whereby the responsibility for autonomous driving protection is determined. The given time period can be set to 0–4 seconds before the accident, or adjusted according to the actual situation of the vehicle manufacturer.

[0152] Preferably, in step S12, if the driver takes over after being alerted to take over, the liability for the accident is determined to be the responsibility for the autonomous driving guarantee; if the driver does not take over after being alerted to take over, the liability for the accident is determined to be the responsibility for the non-autonomous driving guarantee.

[0153] Step S12 specifically includes:

[0154] S121, determine whether the gear was manually switched. If not, proceed to step S122; if yes, proceed to step S13. Referring to Table 12, if the driver's operation data shows a gear shift to P, N, or R after the takeover reminder, it is determined that the driver took over after the takeover reminder, and proceed to step S13, determining the responsibility for autonomous driving protection. If the gear remains in D after the takeover reminder, it is determined that the driver did not take over after the takeover reminder.

[0155] Table 12 Gear Information Record

[0156]

[0157] S122, determine whether the brake pedal was manually pressed. If not, proceed to step S123; if so, proceed to step S13. Referring to Table 7, if the brake pedal opening degree is greater than the first threshold after the takeover warning, it is determined that the driver took over after the takeover warning, and proceed to step S13, determining the responsibility for autonomous driving protection. If the brake pedal opening degree remains 0 or less than the first threshold, it is determined that the driver did not take over after the takeover warning. The first threshold can be determined based on the specific value of the brake pedal opening degree through experiments conducted by different car manufacturers.

[0158] S123, determine whether the accelerator pedal was manually pressed. If not, proceed to step S124; if so, proceed to step S13. Referring to Table 8, if the accelerator pedal opening degree is greater than the second threshold after the takeover warning, it is determined that the driver took over after the takeover warning, and proceed to step S13, determining the responsibility for autonomous driving protection. If the accelerator pedal opening degree remains 0 or less than the second threshold, it is determined that the driver did not take over after the takeover warning. The second threshold can be determined based on experiments conducted by different car manufacturers to determine the specific value of the accelerator pedal opening degree.

[0159] S124, determine whether the steering wheel was manually turned. If not, proceed to step S14; if so, proceed to step S13. Referring to Table 9, if the steering wheel angle changes after the takeover warning, it is determined that the driver took over after the takeover warning, and proceed to step S13, determining the responsibility for automatic driving protection; if the steering wheel angle does not change, it is determined that the driver did not take over after the takeover warning, and proceed to step S14, determining the responsibility for non-automatic driving protection.

[0160] In other words, if the result of any step S121 to S124 indicates that the driver took over after receiving a take-off warning, the final accident liability will be determined as the responsibility for ensuring the autonomous driving system (step S13). If the result of any step S121 to S124 indicates that the driver did not take over after receiving a take-off warning, the final accident liability will be determined as the responsibility for ensuring the non-autonomous driving system (step S14).

[0161] Figure 2 A schematic diagram of a device for determining liability for autonomous driving in intelligent connected vehicles according to an embodiment of the present invention is shown. As shown, a device 200 for determining liability for autonomous driving in intelligent connected vehicles, applicable to the aforementioned determination method, is provided. The liability determination device 200 includes an acquisition module 201, a first calculation module 202, a first judgment module 203, a second judgment module 204, a third judgment module 205, a fourth judgment module 206, a fifth judgment module 207, a sixth judgment module 208, a seventh judgment module 209, an eighth judgment module 210, a ninth judgment module 211, a tenth judgment module 212, and a determination module 213.

[0162] The acquisition module 201 is used to acquire accident data of autonomous driving accidents. The accident data includes vehicle dynamic data, autonomous driving function data, driver operation data, driver status data, human-vehicle interaction data and other data.

[0163] The first calculation module 202 is used to determine the time of a vehicle accident based on vehicle dynamic data;

[0164] The first judgment module 203 is used to determine whether the driver's status is normal based on the driver's status data;

[0165] The second judgment module 204 is used to judge whether the autonomous driving function was normal before the accident based on human-vehicle interaction data and other data.

[0166] The third judgment module 205 is used to determine whether the autonomous driving function boundary has been exceeded based on the determined vehicle accident occurrence time, autonomous driving function data and human-vehicle interaction data.

[0167] The fourth judgment module 206 is used to determine whether the autonomous driving function was in operation at the time of the accident based on the determined time of the vehicle accident and the autonomous driving function data.

[0168] The fifth judgment module 207 is used to determine the consistency between the driver's and the system's operations;

[0169] The sixth judgment module 208 is used to determine whether there is an emergency before the autonomous driving function exits;

[0170] The seventh judgment module 209 is used to judge the integrity of the autonomous driving takeover reminder;

[0171] The eighth judgment module 210 is used to determine whether an accident occurred within a short period of time based on the determined vehicle accident occurrence time and autonomous driving function data;

[0172] The ninth judgment module 211 is used to determine whether the autonomous driving takeover reminder is timely based on the determined vehicle accident occurrence time and autonomous driving function data;

[0173] The tenth judgment module 212 is used to determine whether the driver takes over after the autonomous driving takeover reminder;

[0174] The determination module 213 is used to determine whether it is an autonomous driving guarantee responsibility or a non-autonomous driving guarantee responsibility.

[0175] The present invention also provides a device for determining liability for autonomous driving in intelligent connected vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of any of the aforementioned methods for determining liability for autonomous driving in intelligent connected vehicles.

[0176] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the steps of any of the aforementioned methods for determining liability for autonomous driving of intelligent connected vehicles.

[0177] The specific implementation methods and technical effects of the determination device, determination equipment, and computer-readable storage medium for determining liability for autonomous driving accidents of intelligent connected vehicles can be found in the embodiments of the determination method for determining liability for autonomous driving accidents of intelligent connected vehicles provided by the present invention, and will not be repeated here.

[0178] This invention provides a method, device, equipment, and readable storage medium for determining liability in autonomous driving accidents involving intelligent connected vehicles. It comprehensively applies data from vehicle operation, human-vehicle interaction, and driver status during accidents to construct a method for determining liability within the scope of autonomous driving function protection. This method solves the problem that existing algorithms struggle to effectively determine liability in scenarios such as autonomous driving function boundaries, the completeness of autonomous driving takeover warnings, the timeliness of autonomous driving takeover warnings, and the consistency of driver and system operations. This improves the accuracy of liability determination in autonomous driving accidents involving intelligent connected vehicles and protects the legitimate rights and interests of drivers, vehicle manufacturers, and autonomous driving function suppliers.

[0179] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps are described above in a generalized manner in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the invention.

[0180] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed using 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 device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, it may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0181] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of both. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor such that the processor can read and write information to / from the storage medium. In an alternative, the storage medium may be integrated into the processor. The processor and storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and storage medium may reside as discrete components in the user terminal.

[0182] In one or more exemplary embodiments, the described functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functionality may be stored or transmitted as one or more instructions or code on or through a computer-readable medium. A computer-readable medium includes both computer storage media and communication media, encompassing any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of a medium. As used in this article, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs. Disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of these should also be included within the scope of computer-readable media.

[0183] It will be apparent to those skilled in the art that various modifications and variations can be made to the exemplary embodiments described above without departing from the spirit and scope of the invention. Therefore, it is intended that this invention cover modifications and variations falling within the scope of the appended claims and their equivalents.

Claims

1. A method for determining liability for autonomous driving in intelligent connected vehicles, comprising the following steps: S1, acquire accident data of autonomous driving accidents, the accident data including vehicle dynamic data, autonomous driving function data, driver operation data, driver status data, human-vehicle interaction data and other data; S2, determine the time of the vehicle accident based on the vehicle dynamic data; S3. Based on the driver status data, determine whether the driver status is normal. If normal, proceed to step S4; if abnormal, proceed to step S14. S4. Based on the human-vehicle interaction data and other data, determine whether the autonomous driving function was normal before the accident. If it was normal, proceed to step S5; if it was abnormal, proceed to step S13. S5. Based on the determined vehicle accident time, autonomous driving function data and human-vehicle interaction data, determine whether the autonomous driving function boundary has been exceeded. If it has not been exceeded, proceed to step S6. If it has been exceeded, proceed to step S14. S6. Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether the autonomous driving function was running at the time of the accident. If yes, proceed to step S7; otherwise, proceed to step S8. S7. Determine the consistency between the driver's and the system's operations. If they are consistent, proceed to step S13; otherwise, proceed to step S14. S8. Determine if there is an emergency before the autonomous driving function exits. If not, proceed to step S14; if so, proceed to step S9. S9. Determine the completeness of the automatic driving takeover reminder. If it is incomplete, proceed to step S10; if it is complete, proceed to step S11. S10: Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether an accident occurred in a short period of time. If yes, proceed to step S13; otherwise, proceed to step S14. S11. Based on the determined time of the vehicle accident and the data of the autonomous driving function, determine whether the autonomous driving takeover reminder is timely. If not, proceed to step S13; if yes, proceed to step S12. S12, determine whether the driver takes over after the automatic driving takeover reminder. If yes, proceed to step S13; otherwise, proceed to step S14. S13, determined to be responsible for autonomous driving safety, proceed to step S15; S14, determined to be non-autonomous driving safety responsibility, proceed to step S15; S15, End; In step S2, the time point when the absolute value of the longitudinal acceleration is the largest and negative in the vehicle dynamic data is T1, and the time point when the vehicle's lateral acceleration is 0 for the first time is T2. The earlier of the two times is selected as the accident occurrence time T. In step S5, based on the determined vehicle accident occurrence time T, the first takeover request time T3 in the accident data, and the automatic driving function exit time T4 in the accident data, it is comprehensively determined whether the accident exceeds the boundary of the automatic driving function. Specifically, when the autonomous driving function data shows a first set condition requiring immediate takeover, the system determines that it has issued a takeover request, obtains the time set {T request} corresponding to the takeover request in the accident data, and selects the first data in the accident data within {T request} as the first takeover request time T3; if the system does not issue a takeover request, the first takeover request time T3 is set to NA. When the function status signal of the autonomous driving function data meets the second set condition, it is determined that the autonomous driving function has exited. The set of time corresponding to the exit of the autonomous driving function in the accident data {T exit} is obtained, and the last data before the accident occurrence time T in the accident data in {T exit} is selected as the exit time T4 of the autonomous driving function. If the autonomous driving function has not exited in the accident data, the exit time T4 of the autonomous driving function is NA. If the initial takeover request time T3 or the automatic driving function exit time T4 occurs within s seconds before the accident occurrence time T, proceed to step S14; otherwise, proceed to step S6.

2. The determination method as described in claim 1, characterized in that, Step S3 includes: S31, determine whether fatigue has occurred and take over the information immediately. If not, proceed to step S32; if yes, proceed to step S14. S32, determine whether there is an immediate takeover message. If not, proceed to step S33; if yes, proceed to step S14. S33, determine whether a distraction-immediate-takeover message has appeared. If not, proceed to step S34; if yes, proceed to step S14. S34, determine whether a call to immediately take over information has been received. If not, proceed to step S35; if yes, proceed to step S14. S35, determine whether a seatbelt unfastening message has appeared. If not, proceed to step S36; if yes, proceed to step S14. S36, determine whether there is a message indicating that all four doors and two covers are open. If not, proceed to step S4; if yes, proceed to step S14.

3. The determination method as described in claim 2, characterized in that, Step S4 includes the following steps: S41, determine whether a safety alarm occurred before the accident. If yes, proceed to step S42; otherwise, proceed to step S13. S42, determine whether a third-party signal appeared before the accident. If not, proceed to step S5; if yes, proceed to step S13.

4. The determination method as described in claim 3, characterized in that, The safety alarms include lane departure warning, forward collision warning, steering wheel vibration alert, and autonomous driving function warning.

5. The determination method as described in claim 1, characterized in that, In step S6, the autonomous driving function data at the time T when the vehicle accident occurred is extracted. If the autonomous driving function status is running, it is considered that the autonomous driving function was running normally at the time of the accident; if the autonomous driving function status is suspended or closed, it is considered that the autonomous driving function was closed at the time of the accident.

6. The determination method as described in claim 5, characterized in that, Step S7, determining the consistency between the driver's and system operations includes the following steps: S71, based on the autonomous driving function data and driver operation data, determine whether the driver's operation is consistent with the system request. If yes, proceed to step S13; otherwise, proceed to step S72. S72, determine whether an inconsistency warning occurred before the accident. If yes, proceed to step S14; otherwise, proceed to step S13.

7. The determination method as described in claim 6, characterized in that, In step S8, if there are minor or serious alarm signals for lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning before the autonomous driving function is discontinued, it is determined that there is an emergency before the autonomous driving function is discontinued; if the lane departure warning, forward collision warning, steering wheel vibration reminder, and autonomous driving function warning remain normal before the autonomous driving function is discontinued, it is determined that there is no emergency before the autonomous driving function is discontinued.

8. The determination method as described in claim 6, characterized in that, In step S9, if the autonomous driving function warning before the accident has a serious alarm or immediate takeover signal, it is determined that the autonomous driving takeover reminder is complete; if the autonomous driving function warning before the accident remains normal or has a minor alarm signal, it is determined that the autonomous driving takeover reminder is incomplete.

9. The determination method as described in claim 8, characterized in that, In step S10, if the difference between the accident occurrence time T and the automatic driving function exit time T4 is less than or equal to a given time, it is determined that an accident occurred shortly after the active takeover. If the difference between the time T when the accident occurs and the time T4 when the autonomous driving function exits is greater than a given time, it is determined that no accident occurred within a short period of time after the active takeover.

10. The determination method as described in claim 8, characterized in that, In step S11, if the autonomous driving function warning shows a normal or minor alarm to a serious situation and an immediate takeover signal change before the given time period T of the accident, it is determined that the autonomous driving takeover reminder is timely and proceeds to step S12; if the autonomous driving function warning does not show a normal or minor alarm to a serious situation and an immediate takeover signal change before the given time period T of the accident, it is determined that the autonomous driving takeover reminder is not timely and proceeds to step S13.

11. The determination method as described in claim 10, characterized in that, Step S12 includes: S121, Determine whether the gear was manually switched. If not, proceed to step S122; if yes, proceed to step S13. S122, determine whether the brake was manually applied. If not, proceed to step S123; if yes, proceed to step S13. S123, determine whether the accelerator pedal has been manually pressed. If not, proceed to step S124; if yes, proceed to step S13. S124, determine whether the steering wheel was turned manually. If not, proceed to step S14; if yes, proceed to step S13.

12. A device for determining liability for autonomous driving in intelligent connected vehicles, applicable to the determination method described in claim 1, characterized in that, include: The acquisition module is used to acquire accident data of autonomous driving accidents. The accident data includes vehicle dynamic data, autonomous driving function data, driver operation data, driver status data, human-vehicle interaction data, and other data. The first calculation module is used to determine the time of the vehicle accident based on the vehicle dynamic data; The first judgment module is used to determine whether the driver's status is normal based on the driver status data; The second judgment module is used to determine whether the autonomous driving function was normal before the accident based on the human-vehicle interaction data and other data. The third judgment module is used to determine whether the autonomous driving function boundary has been exceeded based on the determined vehicle accident time, autonomous driving function data and human-vehicle interaction data. The fourth judgment module is used to determine whether the autonomous driving function was activated at the time of the accident based on the determined time of the vehicle accident and the autonomous driving function data. The fifth judgment module is used to determine the consistency between the driver's and the system's operations; The sixth judgment module is used to determine whether there is an emergency before the autonomous driving function exits; The seventh judgment module is used to determine the completeness of the autonomous driving takeover reminder; The eighth judgment module is used to determine whether an accident occurred within a short period of time based on the determined time of the vehicle accident and the data from the autonomous driving function. The ninth judgment module is used to determine whether the autonomous driving takeover reminder is timely based on the determined vehicle accident time and autonomous driving function data; The tenth judgment module is used to determine whether the driver takes over after the autonomous driving takeover warning; The determination module is used to determine whether the responsibility for autonomous driving or non-autonomous driving is attributable to the responsible party.

13. A device for determining liability for autonomous driving in intelligent connected vehicles, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the determination method as described in any one of claims 1-11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the determination method as described in any one of claims 1-11.

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