Parking control method, device, equipment, medium and program product

Abstract

The present application relates to the technical field of vehicle management, and particularly relates to a parking control method, device, equipment, medium and program product. The method comprises the following steps: in response to a car washing parking mode entering instruction, acquiring a vehicle state, and judging whether the entering condition of the mode is met; if the entering condition of the mode is met, acquiring the current state of the electronic parking, and keeping / switching to a release state; real-time monitoring of a vehicle speed signal, determining the time when the vehicle drives out of the car washing area according to the vehicle speed change; if no user operation is detected within a certain time range with the time as a starting point, and the vehicle speed continuously increases within the time range, entering a dynamic parking mode, and performing dynamic parking control. In the automatic car washing scene, by comprehensively applying multiple parking modes, the present application can maximize the avoidance of intentional or unintentional misoperations and possible risks of the user in the whole car washing process.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle management, in particular to a parking control method and device applied to an automatic car washing scenario, equipment, medium and program product. BACKGROUND

[0002] With the improvement of vehicle control intelligence, to provide convenience for users to park, many vehicles are equipped with automatic parking function (AUTO HOLD) and electronic parking brake function (EPB), so as to prevent the vehicle from moving unexpectedly in various scenarios. For example, the automatic parking function can provide braking force when the user parks for a short time, and the electronic parking brake function can be automatically pulled up when the user does not step on the accelerator pedal for a long time.

[0003] In the automatic car washing scenario, especially in the tunnel-type car washing machine equipped with a single-side conveying mechanism, in addition to performing the operations of closing the window, wiper function and folding the rearview mirror, etc., it is also necessary to pay attention to the following when parking: after the vehicle is parked stably, the gear is switched to neutral position, the foot brake is released, the hand brake is released, and the vehicle can be moved to the car washing area under the guidance of the conveying mechanism. Since many users' automatic parking function is in the open state, if it is forgotten to be closed before entering the car washing machine, the vehicle cannot be towed or towed to slide, thereby causing unnecessary damage to the vehicle.

[0004] In addition, since the vehicle is in the neutral sliding state, it has a certain inertia when reaching the exit of the car washing machine. If the road at the exit is not flat or has a slope (for example, patent document CN212500278U), the vehicle may continue to move forward, or even accelerate forward. If the driver inside the vehicle does not react in time, there is a risk of collision. SUMMARY

[0005] Embodiments of the present application provide a parking control method, device, equipment and computer readable storage medium applied to an automatic car washing scenario, which can be used to solve the problems in the related art.

[0006] The first aspect of the present application provides a parking control method applied to an automatic car washing scenario, comprising:

[0007] In response to a car washing parking mode entering instruction, the vehicle state is obtained, and it is determined whether the entering condition of the mode is met;

[0008] If the entering condition of the mode is met, the current state of the electronic parking brake is obtained, and the state is kept / switched to the released state;

[0009] The vehicle speed signal is monitored in real time, and the time when the vehicle drives out of the car washing area is determined according to the change of the vehicle speed;

[0010] If no user operation is detected within a certain time range starting from the time point, and the vehicle speed continues to increase within the time range, the dynamic parking mode is entered, and dynamic parking control is performed.

[0011] The second aspect of the application provides a parking control device applied to an automatic car washing scene, comprising:

[0012] The car washing mode triggering module is configured to obtain a vehicle state in response to a car washing parking mode entering instruction, and determine whether the entering condition of the mode is met.

[0013] The car washing parking control module is configured to obtain the current state of the electronic parking if the entering condition of the mode is met, and keep / switch to the release state.

[0014] The vehicle state monitoring module is configured to monitor a vehicle speed signal in real time, and determine the time point when the vehicle drives out of the car washing area according to the vehicle speed change.

[0015] The vehicle driving-out protection module is configured to enter the dynamic parking mode and perform dynamic parking control if no user operation is detected within a certain time range starting from the time point, and the vehicle speed continues to increase within the time range.

[0016] The third aspect of the application provides an electronic device comprising a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the electronic device performs the method.

[0017] The fourth aspect of the application provides a computer readable storage medium, wherein the computer readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor to enable a computer to implement the method.

[0018] The fourth aspect of the application provides a computer program product comprising computer executable instructions, wherein the computer executable instructions implement the method when executed by a processor.

[0019] The technical scheme provided by the embodiments of the application at least brings the following beneficial effects:

[0020] In the automatic car washing scene, by comprehensively applying multiple parking modes, the intentional or unintentional misoperation of the user in the whole car washing process can be avoided to the maximum extent, and by monitoring the motion state of the vehicle in the whole car washing process, it can be determined whether the driver enters the driving state in time when the vehicle drives out of the car washing area, so that the dynamic parking is used as a backup protection measure in the case that the driver's reaction is not timely. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.

[0022] Figure 1 is a schematic diagram of various parking modes provided by the embodiments of the present application;

[0023] Figure 2 is a flowchart of a parking control method applied in an automatic car washing scenario provided by the embodiments of the present application;

[0024] Figure 3 is a schematic diagram of a parking control device applied in an automatic car washing scenario provided by the embodiments of the present application. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0026] It should be noted that the terms "first", "second" and the like (if any) in the specification of the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The term "comprising" and its similar terms should be understood as open inclusion, i.e. "including but not limited to". The term "based on" should be understood as "at least partially based on". The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application.

[0027] In order to facilitate the understanding of the technical solutions in the subsequent embodiments, the related terms are explained as follows:

[0028] The embodiments of the present application provide a parking control method, and the implementation environment of the parking control method can be a vehicle controller. The vehicle controller is installed on a vehicle, and the vehicle controller is used to execute the parking control method provided by the embodiments of the present application. In addition, a sensor for acquiring a vehicle state is also installed on the vehicle, and the vehicle state includes but is not limited to the state of the vehicle body structure such as the window and the door, and also includes the gear of the vehicle transmission, the vehicle speed and other forms of state. After these vehicle state information is acquired, it is transmitted to the vehicle controller.

[0029] Different application scenarios have different demands for parking, including normal parking mode, car washing parking mode, and dynamic parking mode. The normal parking mode is equivalent to the existing electronic parking mode, which is applied when the user has a parking intention and the vehicle speed is reduced to a set threshold. The EPB works in this mode. The car washing parking mode is applied in the automatic car washing scenario. If the vehicle speed is 0, it means that the vehicle is not moving or being towed, and the EPB is released. The dynamic parking mode is for parking needs during vehicle travel. When the vehicle speed is greater than a set threshold, the EPB works to mechanically brake the wheels, which can be used in scenarios where the brakes fail or other emergency braking needs.

[0030] In some embodiments, to reduce the complexity of operation, the parking control modes in different application scenarios are integrated together. As an example, the start-stop function of the above parking modes can be integrated into an EPB soft switch. The pressing time of the soft switch is used to distinguish different parking control modes. For example, a tap (operation time ≤ 1 s) corresponds to the normal parking mode, a long press (operation time > 1 s and ≤ 3 s) corresponds to the car washing parking mode, and a long press (operation time > 3 s) corresponds to the dynamic parking mode. The EPB soft switch is connected to the vehicle controller. Of course, as another example, various parking control modes can be recorded by voice input devices connected to the vehicle multimedia system. The vehicle multimedia system is equipped with a voice recognition function and can recognize the user's parking intention and transmit it to the vehicle controller. The vehicle controller executes the corresponding parking control strategy in response to the user's specified parking mode entry instruction. Based on the above-mentioned multiple parking modes, the user's parking needs in various scenarios can be met.

[0031] As shown in Figure 1 , in the normal parking mode, if the vehicle speed > 1 km / h, the EPB does not act; if the vehicle speed ≤ 1 km / h, the EPB clamps; in the car washing parking mode, if the vehicle speed = 0 km / h, the EPB releases, and if the vehicle speed > 0 km / h, the EPB does not act; in the dynamic parking mode, if the vehicle speed > 1 km / h, the EPB clamps; if the vehicle speed ≤ 1 km / h, the EPB does not act.

[0032] As a specific implementation of the dynamic parking mode, when controlling the EPB clamping, instead of using a constant clamping force, a safe clamping force acceptable to the vehicle occupants is determined according to the current vehicle motion state, avoiding the obvious jerk when applying the clamping force to the wheels. This includes:

[0033] (1) Obtain a vehicle speed, acceleration, and clamping force mapping relationship suitable for the current vehicle;

[0034] (2) monitoring the vehicle speed and acceleration at the current moment, determining the required clamping force at the current moment according to the mapping relationship, controlling the wheel caliper motor to apply the clamping force to the wheel, and then releasing, repeating step (2) until the vehicle speed is reduced to below the set threshold, to complete parking in the normal parking mode.

[0035] The vehicle speed, acceleration and clamping force mapping relationship is obtained by pre-calibration, as an example, the vehicle manufacturer can test at different vehicle speeds and accelerations under the condition that the vehicle is fully loaded to obtain the safe clamping force under different vehicle speeds and accelerations, it can be understood that the vehicle speed, acceleration and clamping force mapping relationship can be in the form of a mapping table, or in the form of a function obtained by fitting, which is not limited here. By applying clamping force in stages, discomfort caused by directly using a fixed clamping force on the occupant during vehicle movement can be avoided, and wheel lock can also be avoided, thereby achieving safe and efficient braking parking.

[0036] As can be understood by those skilled in the art, the above parking mode can be used as a plurality of control strategies in parallel, which can be selected and used by the user as needed. In some special scenarios, the vehicle controller can also automatically switch between the above-mentioned parking modes according to the working conditions of the vehicle.

[0037] As described in the background, in the automatic car washing scenario, in order to avoid damage to the vehicle, during the car washing process, in order to ensure that the vehicle smoothly enters the washing area through the conveying mechanism, there are special requirements for parking, specifically: the transmission gear is in neutral, the foot brake is released, and the hand brake is released. For the unintended forward rolling of the vehicle caused by the inertia of the vehicle when the vehicle reaches the exit of the washing area, there is currently no corresponding protection measure. One or more embodiments of the present application are based on at least two parking modes, which can provide comprehensive protection for the vehicle during the forward movement of the vehicle through the conveying mechanism and during the movement of the vehicle from the washing area to the non-interference area. Specifically, one or more embodiments of the present application provide a parking control method applied in the automatic car washing scenario, which can be applied to the above-mentioned vehicle controller, as shown in Figure 2 The method includes but is not limited to steps 101-104.

[0038] Step 101: In response to the car washing parking mode entering instruction, the vehicle state is obtained, and it is judged whether the entering condition of the mode is met, if it is met, step 102 is executed;

[0039] Step 102: Get the current state of the electronic parking, and keep / switch to the release state. That is, if the current state is the release state, no operation is performed, and if the current state is the clamping state, the release state is switched.

[0040] Step 103: Real-time monitoring of the vehicle speed signal, determining the time when the vehicle leaves the car washing area according to the change of the vehicle speed;

[0041] Step 104: If no user operation is detected within a certain time range starting from the time, and the vehicle speed continues to increase within the time range, entering the dynamic parking mode and performing dynamic parking control.

[0042] In step 101, after the vehicle is parked, the user can input the car washing parking mode entry instruction. The car washing mode entry instruction can be input to the vehicle-mounted multimedia system through voice, or input through the soft switch on the vehicle-mounted multimedia system. As an example, the car washing parking mode entry instruction can be generated and transmitted to the vehicle controller by long pressing the EPB soft switch described above for a set time.

[0043] The vehicle state includes the door state, the window state, the air conditioning working state, the wiper start-stop state, the gear position of the transmission, and the automatic parking start-stop state. When the doors and windows are closed, the air conditioning is not in external circulation, the wipers are not on, the transmission is in neutral, and the automatic parking is not on, it is considered that the entering condition of the car washing parking mode is met. Those skilled in the art can understand that the above-mentioned vehicle state can be obtained by using existing methods, which is not limited here, for example, based on sensor to obtain the opening and closing signals of the doors and windows.

[0044] In step 101, if it is determined that the current vehicle state does not meet the car washing parking mode entry condition, it is also determined that the operation to be performed to meet the mode entry condition, and a reminder is given. After detecting that all operations are completed, step 102 is performed. As an example, the user can be reminded by the vehicle-mounted multimedia system, and the user can perform the corresponding operation according to the prompt. Those skilled in the art can understand that after determining the object to be executed, a control instruction can also be sent to the corresponding execution mechanism, for example, sending a control instruction to the window, door, or rearview mirror through the vehicle body controller, so that it meets the entering condition of the car washing parking mode.

[0045] In step 103, when the vehicle speed is stable, it is considered that the car washing area is entered, and the vehicle speed within this link is taken as the reference vehicle speed. The change of the current vehicle speed relative to the reference vehicle speed is calculated in real time. When the change exceeds a set threshold, it is considered that the vehicle leaves the car washing area.

[0046] In step 104, the vehicle speed signal is continuously monitored. If no user operation is detected within a certain time range: if the vehicle speed continues to decrease to less than a set threshold within the time range, enter the ordinary parking mode, perform ordinary parking control, and remind the user that the car washing is over; if the vehicle speed continues to increase within the time range, enter the dynamic parking mode and perform dynamic parking control.

[0047] In one or more of the above embodiments, in an automatic car washing scenario, by comprehensively applying multiple car washing modes, the user's intentional or unintentional misoperation in the whole car washing process can be avoided to the greatest extent. At the same time, by monitoring the motion state of the vehicle in the whole car washing process, it can be judged whether the driver enters the driving state in time when the vehicle drives out of the car washing area, so that in the case that the driver's reaction is not timely, certain protection measures are given through ordinary parking / dynamic parking.

[0048] Specifically, after the vehicle drives out of the car washing area, if no driving operation of the driver is detected within a period of time, when the vehicle speed decreases to a set threshold, the ordinary parking mode is triggered, the EPB clamping is directly controlled to make the vehicle stop moving and remind the user that the car washing is over and to drive away as soon as possible; if the vehicle speed has a continuous increasing trend within this period of time, the dynamic parking mode is triggered, the EPB clamping is controlled to force the vehicle to stop, so as to avoid the risk that the vehicle may move due to inertia.

[0049] In addition, in the dynamic parking control process, the safe parking force can be determined according to the speed and acceleration of the vehicle at each moment, so that the discomfort of the passengers in the vehicle caused by sudden deceleration / stop can be avoided in the process of deceleration and stopping of the vehicle.

[0050] It should be noted that the dynamic parking mode is different from the traditional parking function. The traditional parking function is a safety measure of the vehicle in the case of parking, which fixes the position of the vehicle when the vehicle is in the parking state; while the dynamic parking is a control strategy when the vehicle has parking demand in the driving state. In addition, the dynamic parking mode is also different from the anti-lock braking system (ABS). The anti-lock braking system is used to adjust the braking pressure by using electromagnetic valves and pumps when the brake is pressed down, so as to avoid the complete stop of the wheel in the braking process. The dynamic parking mode is to receive related signals transmitted by other controllers or sensors, calculate the clamping force required by the current vehicle, output a target current signal to the EPB caliper motor, start the motor to output torque, reduce the speed and increase the torque through the reduction mechanism, form the input torque of the EPB caliper, and then convert the input torque of the EPB caliper to the piston clamping force through screw transmission or ball screw transmission to realize parking.

[0051] Referring to Figure 3 The embodiment of the present application provides a parking control device applied to an automatic car washing scene, which comprises:

[0052] The car washing mode triggering module 201 is configured to acquire the vehicle state in response to a car washing parking mode entering instruction, and judge whether the entering condition of the mode is met;

[0053] The car washing parking control module 202 is configured to obtain the current state of the electronic parking if the entering condition of the mode is met, and keep / switch to the release state;

[0054] The vehicle state monitoring module 203 is configured to monitor the vehicle speed signal in real time, and determine the time when the vehicle drives out of the car washing area according to the change of the vehicle speed;

[0055] The vehicle driving-out protection module 204 is configured to enter the dynamic parking mode and perform dynamic parking control if no user operation is detected within a certain time range starting from the time and the vehicle speed continues to increase within the time range.

[0056] In the car washing mode triggering module 201, the vehicle state includes the gear of the gearbox and the automatic parking start-stop state. More specifically, the vehicle state further includes the door state, the window state, the air conditioner working state and the wiper start-stop state.

[0057] In the vehicle state monitoring module 203, the determination of the time when the vehicle drives out of the car washing area according to the change of the vehicle speed specifically includes: when the vehicle speed is stable, it is considered that the vehicle starts to enter the car washing area, and the change amount of the current vehicle speed relative to the reference vehicle speed is calculated in real time based on the vehicle speed in this link, and when the change amount exceeds the set threshold, it is considered that the vehicle drives out of the car washing area.

[0058] In the vehicle driving-out protection module 204, if no user operation is detected within a certain time range starting from the time and the vehicle speed continues to decrease within the time range, the parking is completed in the ordinary parking mode when the vehicle speed decreases to below the set threshold.

[0059] The dynamic parking control includes:

[0060] Obtaining the vehicle speed, acceleration and clamping force mapping relationship suitable for the current vehicle;

[0061] Monitoring the vehicle speed and acceleration at the current time, determining the required clamping force at the current time according to the mapping relationship, controlling the wheel caliper motor to apply the clamping force to the wheel, and then releasing, repeating the step until the vehicle speed decreases to below the set threshold, and completing the parking in the ordinary parking mode.

[0062] It should be noted that the device provided in the above embodiment is only exemplified by the division of the above functional modules in realizing its function, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is described in detail in the method embodiments, which will not be repeated here.

[0063] One or more embodiments of the present application also provide an electronic device which can be used to implement the above-mentioned parking control method. The electronic device comprises one or more processors, one or more memories coupled to the processors, and a communication module coupled to the processors.

[0064] The memory can include one or more non-volatile memories and one or more volatile memories. Examples of the non-volatile memory include, but are not limited to, at least one of a Read-Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash memory, a hard disk, a Compact Disc (CD), a Digital Versatile Disc (DVD), or other magnetic storage and / or optical storage. Examples of the volatile memory include, but are not limited to, at least one of a Random Access Memory (RAM), or other volatile memory that does not maintain data in duration of power off. The computer program can be stored in the ROM. The processor implements the above-mentioned parking control method when executing the computer program.

[0065] In some embodiments, the program can be tangibly embodied in a computer readable medium which can include other storage devices in the device (such as in the memory) or other storage devices accessible by the device. The program can be loaded from the computer readable medium to the RAM for execution. The computer readable medium can include any type of tangible non-volatile memory, such as a ROM, an EPROM, a flash memory, a hard disk, the computer readable storage medium storing a computer program which, when executed by the processor, implements the above-mentioned parking control method.

[0066] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof, and when implemented by software, the software can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions loaded and executed on a server or terminal, and the computer program instructions, when executed, generate all or part of the processes or functions described in the embodiments of the present application. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium accessible by a server or terminal or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk and magnetic tape, etc.), optical media (such as digital video disk (digital video disk, DVD), etc.), or semiconductor media (such as solid state disk, etc.).

[0067] In addition, although each operation is depicted in a particular order, it should be understood that the operations are not required to be performed in the particular order shown or in sequential order, or that all illustrated operations should be performed to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Likewise, the specific sequence of operations illustrated in the figures can not be required to achieve the desires results. Similarly, while the above discussion has included certain specific implementations, it should neither be interpreted nor otherwise understood as limiting the scope of the application. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in subcombination or in a variety of combinations. Embodiments described herein can be implemented in hardware, software, firmware, or any combination thereof.

[0068] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A parking control method applied to an automatic car washing scene, characterized in that, The method comprises: in response to a car washing parking mode entering instruction, obtaining a vehicle state, and determining whether the entering condition of the mode is met; if the entering condition of the mode is met, obtaining the current state of the electronic parking, and keeping / switching to a release state; real-time monitoring of a vehicle speed signal, and determining the time when the vehicle exits the car washing area according to the change of the vehicle speed; if no user operation is detected within a certain time range with the time as a starting point, and the vehicle speed continuously increases within the time range, entering a dynamic parking mode, and performing dynamic parking control.

2. The parking control method for an automatic car washing scenario according to claim 1, wherein, The vehicle state comprises the gear of the gearbox and the automatic parking start-stop state.

3. The parking control method for an automatic car washing scenario according to claim 2, wherein, The vehicle state further comprises the door state, the window state, the air conditioner working state and the wiper start-stop state.

4. The parking control method for an automatic car washing scenario according to claim 1, wherein, The determination of the time when the vehicle exits the car washing area according to the change of the vehicle speed specifically comprises: when the vehicle speed is stable, it is considered that the vehicle starts to enter the car washing area, and the vehicle speed in this link is taken as a reference vehicle speed, the change of the current vehicle speed relative to the reference vehicle speed is calculated in real time, and when the change exceeds a set threshold, it is considered that the vehicle exits the car washing area.

5. The parking control method applied to an automatic car washing scenario according to any one of claims 1-4, characterized in that, If no user operation is detected within a certain time range with the time as a starting point, and the vehicle speed continuously decreases within the time range, when the decrease is below a set threshold, the parking is completed in a normal parking mode.

6. The parking control method applied to an automatic car washing scenario according to any one of claims 1-4, wherein, The dynamic parking control comprises: obtaining a vehicle speed, acceleration and clamping force mapping relationship suitable for the current vehicle; monitoring the vehicle speed and acceleration at the current time, determining the required clamping force at the current time according to the mapping relationship, controlling the wheel caliper motor to apply the clamping force to the wheel, then releasing, and repeating the step until the vehicle speed is reduced to below a set threshold, and the parking is completed in a normal parking mode.

7. A parking control device applied to an automatic car washing scene, characterized in that, The method comprises: a car washing mode triggering module configured to obtain a vehicle state in response to a car washing parking mode entering instruction, and determine whether the entering condition of the mode is met; a car washing parking control module configured to obtain the current state of the electronic parking if the entering condition of the mode is met, and keep / switch to a release state; a vehicle state monitoring module configured to real-time monitor a vehicle speed signal, and determine the time when the vehicle exits the car washing area according to the change of the vehicle speed; a vehicle exit protection module configured to enter a dynamic parking mode and perform dynamic parking control if no user operation is detected within a certain time range with the time as a starting point, and the vehicle speed continuously increases within the time range.

8. An electronic device, comprising: The electronic device comprises a processor and a memory, and the memory stores computer instructions, when the computer instructions are executed by the processor, the electronic device executes the method in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor to enable the computer to implement the method in any one of claims 1 to 6.

10. A computer program product comprising computer executable instructions, characterised in that, The computer executable instructions enable the method in any one of claims 1 to 6 when executed by the processor.

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