Vehicle control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a vehicle and a readable storage medium. The method comprises the steps that the driving style of a vehicle in the driving process and the passenger emotion of a passenger are obtained; the driving style is used for indicating at least one of comfort, commuting efficiency and safety in the driving process of the vehicle; based on the emotion of the passenger, the driving style is adjusted; and controlling the vehicle to run according to the adjusted driving style. According to the method, the purpose of adjusting the driving style in real time according to the emotion of the passenger is achieved, and therefore the problems that a fixed driving style (the driving style manually selected by a user) is adopted in the vehicle driving process, the vehicle driving process is difficult to match with the emotion of the passenger, the driving style is single, and the driving experience is poor are avoided. And therefore, the driving experience of the automatic driving process can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a vehicle control method, device, vehicle, and computer-readable storage medium. Background Art

[0002] In the field of autonomous driving, users can manually select the driving style of the vehicle, and then the vehicle controls the vehicle to drive automatically according to the driving style selected by the user. However, using this control method, the driving experience of the vehicle's autonomous driving process is poor. Summary of the invention

[0003] The present application proposes a vehicle control method, device, vehicle and computer-readable storage medium to enhance the driving experience during the vehicle's autonomous driving process.

[0004] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0005] Determine a target perception lane where a target obstacle is located from at least one perception lane perceived by the ego-vehicle;

[0006] Determine the relative angle difference between the heading angle of the target obstacle and the lane centerline direction of the target sensing lane;

[0007] Determine the target obstacle intention corresponding to the target angle interval where the relative angle difference is located; each angle interval corresponds to its own obstacle intention;

[0008] According to the intention of the target obstacle, the motion trajectory of the target obstacle is generated.

[0009] In a second aspect, an embodiment of the present application further provides a vehicle control device, the device comprising:

[0010] A lane determination module, used to determine a target perception lane where a target obstacle is located from at least one perception lane perceived by the vehicle;

[0011] An angle determination module, used to determine the relative angle difference between the heading angle of the target obstacle and the lane centerline direction of the target sensing lane;

[0012] An intention determination module is used to determine the intention of a target obstacle corresponding to a target angle interval where the relative angle difference is located; each angle interval corresponds to its own obstacle intention;

[0013] The vehicle control module is used to generate the motion trajectory of the target obstacle according to the intention of the target obstacle.

[0014] In a third aspect, an embodiment of the present application further provides a vehicle, comprising: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above method.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the above method.

[0016] The present application provides a vehicle control method, device, vehicle and computer-readable storage medium. In the present application, the emotions of the occupants of the vehicle are first determined, and then the driving style is adjusted according to the emotions of the occupants, and the driving of the vehicle is controlled based on the adjusted driving style, thereby achieving the purpose of adjusting the driving style in real time according to the emotions of the occupants, thereby avoiding the use of a fixed driving style (a driving style manually selected by the user) during vehicle driving, which makes it difficult to match the emotions of the occupants during vehicle driving, and the driving style is single, resulting in a poor driving experience during the automatic driving process, thereby effectively improving the driving experience during the automatic driving process.

[0017] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and partly become apparent from the description, or can be understood by practicing the embodiments of the present application. The purposes and other advantages of the embodiments of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of a vehicle hardware environment suitable for an embodiment of the present application is shown.

[0020] Figure 2 A flow chart of a vehicle control method proposed according to an embodiment of the present application is shown.

[0021] Figure 3 Shows Figure 2 The corresponding step S120 of the embodiment is a flowchart in an embodiment.

[0022] Figure 4 A schematic diagram of a vehicle structure in an embodiment of the present application is shown.

[0023] Figure 5 A schematic diagram of a vehicle control process in an embodiment of the present application is shown.

[0024] Figure 6 A structural block diagram of a vehicle control device proposed in one embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] In order to make those skilled in the art better understand the present application scheme, the technical scheme in the present application embodiment will be clearly and completely described below in conjunction with the drawings in the present application embodiment. Obviously, the described embodiment is only a part of the present application embodiment, rather than all the embodiments. The components of the present application embodiment usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application for protection, but merely represents the selected embodiment of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment suitable for an embodiment of the present application is shown, wherein the vehicle 100 includes a driving system 110, which may have multiple built-in autonomous driving functions. The driving system 110 may store an electronic map, and the driving system 110 may plan a driving route based on the electronic map stored in the driving system, and may also control the vehicle's autonomous driving based on the planned driving route.

[0028] The driving system 110 may include a data acquisition device 111 , one or more (only one is shown in the figure) processors 112 , and a memory 113 .

[0029] The data acquisition device 111 is used to detect the emotions of the passengers. The data acquisition device 111 may include a driver monitoring system (DMS) and an occupancy monitoring system (OMS). The facial image of the main driver is collected by the DMS, and the facial image of the co-driver is collected by the OMS, so as to determine the emotions of the main driver through the facial image of the main driver, and determine the emotions of the co-driver through the facial image of the co-driver. Both the DMS and the OMS may include cameras to collect facial images through the cameras.

[0030] The processor 112 may be a microcontroller unit (MCU) having a built-in memory 113 . The memory 113 stores a program that can execute the contents of the following embodiments, and the processor 112 may execute the program stored in the memory 113 .

[0031] The processor 112 may include one or more processors. The processor 112 uses various interfaces and lines to connect various parts of the entire vehicle 100, and executes various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and calling data stored in the memory 113.

[0032] The memory 113 may include a random access memory (RAM) or a read-only memory (ROM). The memory 15 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 15 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc.

[0033] See also Figure 2 , Figure 2 A flow chart of a vehicle control method proposed according to an embodiment of the present application is shown, which is used for a vehicle, and the method includes:

[0034] S110: Acquire the driving style of the vehicle and the emotions of the passengers during the driving process.

[0035] The vehicle in this embodiment can be an electric vehicle or a fuel vehicle, or a sedan, an SUV, a bus, a truck, etc.; the self-vehicle refers to the vehicle itself.

[0036] The occupants refer to the passengers in the vehicle. The occupants may include at least one of the main driver and the co-driver. The occupants may also include other passengers excluding the main driver and the co-driver. For example, the occupants may also include the occupants in the back seats of the car.

[0037] The driving process of the vehicle may be an automatic driving process, and the vehicle drives automatically according to the driving style. The driving style is used to indicate the characteristics of the driving process of the vehicle. For example, the driving style is used to indicate at least one of the comfort, commuting efficiency and safety of the driving process of the vehicle. The commuting efficiency is used to indicate the driving aggressiveness of the vehicle. The higher the commuting efficiency, the more aggressive the driving of the vehicle. The lower the commuting efficiency, the more conservative the driving of the vehicle.

[0038] The driving style may correspond to multiple style levels, the safety of the driving style is positively correlated with the style level, the comfort of the driving style is positively correlated with the style level, and the commuting efficiency of the driving style is negatively correlated with the style level. For example, when the driving style indicates comfort, the higher the style level of the driving style, the higher the comfort. For another example, when the driving style indicates commuting efficiency, the higher the style level of the driving style, the lower the commuting efficiency. For another example, when the driving style indicates comfort, commuting efficiency and safety, the higher the style level of the driving style, the lower the commuting efficiency, and the higher the safety and comfort.

[0039] For example, when the driving style indicates comfort, commuting efficiency and safety, the driving style can be divided into five style levels: A1, A2, A3, A4 and A5, among which A1: commuting efficiency is prioritized, aggressive driving; A2: emphasis is placed on commuting efficiency; A3: both commuting efficiency and comfort are taken into account; A4: emphasis is placed on comfort and safety; A5: comfort and safety are prioritized.

[0040] The occupant's emotions refer to the occupant's emotions when riding in the vehicle, which may include panic, tension, calmness, and impatience.

[0041] In some embodiments, the occupant's emotion may be determined from the occupant's speech tone in the vehicle, or the occupant's emotion may be input by the occupant, for example, the occupant inputs the occupant's emotion by voice or text.

[0042] In some further embodiments, a facial image of the occupant may be acquired; and the occupant's emotion may be determined based on the facial image.

[0043] The vehicle may have an occupant monitoring system; the facial image of the occupant is collected through the camera of the occupant monitoring system. The occupant monitoring system may include a DMS and an OMS, so that the facial image of the main driver occupant is obtained through the camera of the DMS, and the facial image of the co-driver occupant is obtained through the camera of the OMS.

[0044] Of course, the vehicle may be provided with only one camera, through which the facial image of each occupant is collected separately, or the camera may be used to collect a global facial image including the faces of each occupant.

[0045] After determining the facial image of the occupant, the facial image can be identified by an emotion recognition model to determine the occupant's emotion. The emotion recognition model can be a neural network model, and the emotion recognition model can be obtained by training the neural network model with parameters initialized by sample facial images and annotated emotions of facial annotations in the sample facial images.

[0046] In some embodiments, after determining the facial image of the occupant, the facial image can be recognized by an expression recognition model to determine the occupant's expression, and then the occupant's emotion can be determined based on the occupant's expression. The expression recognition model can be a neural network model, and the neural network model with parameters initialized can be trained to obtain an emotion recognition model through sample facial images and annotated expressions of facial annotations in the sample facial images.

[0047] After the occupant's expression is determined, the emotion corresponding to the occupant's expression can be directly obtained as the occupant's emotion. For example, if the occupant's expression is a panic expression, the occupant's emotion is a panic emotion. For another example, if the occupant's expression is a nervous expression, the occupant's emotion is a nervous emotion.

[0048] S120. Adjust driving style based on passenger emotions.

[0049] After obtaining the occupant's emotions, the driving style can be adjusted according to the specific occupant's emotions.

[0050] In some implementations, if the occupant's emotion belongs to the fear emotion category, a style level of the driving style is increased to adjust the driving style; wherein the style level is positively correlated with comfort and safety, and negatively correlated with commuting efficiency.

[0051] When the occupant's emotion is panic or nervous, it is determined that the occupant's emotion belongs to the fear emotion category. When the occupant's emotion belongs to the fear emotion category, it means that the vehicle's driving style is aggressive and the occupant is afraid, so the style level of the driving style is increased to reduce commuting efficiency and increase comfort and safety.

[0052] In some further implementations, if the occupant's emotion belongs to the category of boredom, the style level of the driving style is reduced to adjust the driving style.

[0053] When the passenger's emotion is impatient and sighing, it is determined that the passenger's emotion belongs to the boredom emotion category. When the passenger's emotion belongs to the boredom emotion category, it means that the vehicle's driving style is conservative, the passenger is tired of waiting, and the passenger wants to drive fast. Therefore, the style level of the driving style can be reduced to increase commuting efficiency and reduce comfort and safety.

[0054] S130: Control the driving of the vehicle according to the adjusted driving style.

[0055] After adjusting the driving style, you can continue to control the vehicle to drive automatically according to the driving style.

[0056] Among them, the vehicle can include actuators such as ESP (Electronic Stability Program) and EPS (Electrical Power Steering), which control the vehicle's driving based on the adjusted driving style through ESP and EPS.

[0057] In this embodiment, the emotions of the occupants of the vehicle are first determined, and then the driving style is adjusted according to the emotions of the occupants, and the driving of the vehicle is controlled based on the adjusted driving style, thereby achieving the purpose of adjusting the driving style in real time according to the emotions of the occupants, thereby avoiding the use of a fixed driving style (a driving style manually selected by the user) during vehicle driving, which makes it difficult to match the emotions of the occupants during vehicle driving and results in a single driving style, resulting in a poor driving experience during the automatic driving process, thereby effectively improving the driving experience during the automatic driving process.

[0058] In some embodiments, Figure 3 As shown, S120 includes:

[0059] S210: Acquire a driving scene during the driving process of the vehicle.

[0060] The driving scene is used to indicate the driving behavior of the vehicle. For example, the driving scene may include following a vehicle (which may be divided into long-distance following and close-distance following), cutting into other lanes, overtaking, and changing lanes.

[0061] S220: Adjust the driving style according to the driving scenario and the emotions of the passengers.

[0062] After obtaining the driving scene of the vehicle, the driving style can be adjusted based on the driving scene and the passenger's emotions.

[0063] In one implementation, if the driving scenario indicates that the driving process of the vehicle is a high-risk driving process, and / or the occupant's emotion belongs to the fear emotion category, the style level of the driving style is increased to adjust the driving style.

[0064] Among them, when the driving scenario is following a vehicle at a close distance, cutting into other lanes or changing lanes, it is determined that the driving scenario indicates that the driving process of the vehicle is a high-risk driving process.

[0065] If the driving scenario indicates that the driving process of the vehicle is a high-risk driving process, it is determined that the driving process of the vehicle is relatively dangerous and aggressive, and the style level of the driving style needs to be increased to reduce commuting efficiency and improve safety and comfort.

[0066] If the occupant's emotion belongs to the fear emotion category, it is determined that the driving process of the vehicle makes the occupant fearful, and the driving process of the vehicle is relatively aggressive. It is necessary to increase the style level of the driving style to reduce commuting efficiency and improve safety and comfort.

[0067] If the driving scenario indicates that the driving process of the vehicle is a high-risk driving process, and the passenger's emotion belongs to the fear emotion category, it is determined that the driving process of the vehicle is relatively dangerous and aggressive. At the same time, the driving process of the vehicle makes the passenger fearful, and it is again determined that the driving process of the vehicle is relatively aggressive. It is necessary to increase the style level of the driving style to reduce commuting efficiency and improve safety and comfort.

[0068] In yet another embodiment, if the driving scenario indicates that the driving process of the vehicle is a low-high risk driving process, and / or the occupant's emotion belongs to the boredom emotion category, the style level of the driving style is reduced to adjust the driving style.

[0069] Among them, when the driving scenario is following a vehicle at an original distance, etc., it is determined that the driving scenario indicates that the driving process of the own vehicle is a low-risk driving process.

[0070] If the driving scenario indicates that the driving process of the vehicle is a low-risk driving process, it is determined that the driving process of the vehicle is relatively conservative and safe, and the style level of the driving style needs to be lowered to improve commuting efficiency.

[0071] If the occupant's emotion belongs to the boredom emotion category, it is determined that the driving process of the vehicle makes the occupant bored, the driving process of the vehicle is relatively conservative and slow, the occupant is tired of waiting, and the occupant wants to drive quickly. It is necessary to lower the style level of the driving style to improve commuting efficiency.

[0072] If the driving scenario indicates that the vehicle's driving process is a low-risk driving process, and the occupant's emotion belongs to the fear emotion category, it is determined that the vehicle's driving process is relatively conservative and safe. At the same time, the vehicle's driving process makes the occupant bored, the occupant is tired of waiting, and the occupant wants to drive quickly, it is again determined that the vehicle's driving process is relatively conservative and safe, and the style level of the driving style needs to be lowered to improve commuting efficiency.

[0073] For example, the structure of the vehicle can be as follows Figure 4As shown, the vehicle collects video streams through the DMS camera and the OMS camera, and sends the video streams to the intelligent driving domain. The intelligent driving domain extracts the occupant's facial image from the video stream to determine the occupant's emotion based on the facial image.

[0074] At the same time, the vehicle can also obtain environmental information around the vehicle and the vehicle's own driving information through driving cameras, ultrasonic radars, millimeter-wave radars and other sensors, so that the intelligent driving domain can determine the vehicle's own driving style and driving scenarios based on the environmental information and driving information.

[0075] Afterwards, the intelligent driving domain adjusts the driving style based on the driving scenario and the passengers' emotions, and through the adjusted driving style, controls the EPS, ESP and other actuators to output corresponding actions to achieve the purpose of controlling the vehicle.

[0076] The vehicle control process in this embodiment is as follows Figure 5 As shown, the facial image of the occupant is collected through the occupant monitoring system, and the occupant's emotion is determined through the facial image; at the same time, the sensor information of each sensor of the vehicle is obtained through the domain controller of the vehicle to determine the driving scene through the sensor information.

[0077] Afterwards, the driving style is adjusted based on the driving scenario and the emotions of the passengers. The specific adjustment methods can be:

[0078] When following a car at a long distance or when you are impatient, you can adjust the driving style level AX to A (X-1);

[0079] When changing lanes quickly or when you are nervous, you can adjust the driving style's style level AX to A (X+1);

[0080] When cutting into the lane or panicking, the style level AX of the driving style can be adjusted to A(X+1).

[0081] Among them, the style levels of driving style can include A1 to A5, A1: commuting efficiency first, aggressive driving; A2: focus on commuting efficiency; A3: commuting efficiency and comfort are taken into account; A4: focus on comfort and safety; A5: comfort and safety are prioritized.

[0082] In this embodiment, the driving style is adjusted together with the passenger emotions and the driving scenario, so as to achieve the purpose of adjusting the driving style according to the specific driving conditions of the vehicle (expressed through the driving scenario) and the passenger experience (expressed by the passenger emotions), so that the adjusted driving style conforms to the specific driving conditions of the vehicle and the passenger experience, thereby improving the accuracy of the adjusted driving style, achieving precise adjustment of the driving style, and further improving the driving experience of controlling the automatic driving process of the vehicle according to the adjusted driving style.

[0083] See attached Figure 5 , Figure 5 The structure block diagram of a vehicle control device proposed in one embodiment of the present application is shown. For use in a vehicle, the device 800 includes:

[0084] An acquisition module 810 is used to acquire the driving style of the vehicle and the emotions of the passengers during the driving process; the driving style is used to indicate at least one of the comfort, commuting efficiency and safety of the vehicle during the driving process;

[0085] An adjustment module 820, for adjusting the driving style based on the occupant's emotions;

[0086] The control module 830 is used to control the driving of the vehicle according to the adjusted driving style.

[0087] Optionally, the adjustment module 820 is further used to obtain a driving scene during the driving process of the vehicle, where the driving scene is used to indicate the driving behavior of the vehicle; and the driving style is adjusted according to the driving scene and the emotions of the occupants.

[0088] Optionally, the adjustment module 820 is also used to increase the style level of the driving style to adjust the driving style if the driving scenario indicates that the vehicle driving process is a high-risk driving process, and / or the passenger emotion belongs to the fear emotion category; wherein the style level is positively correlated with comfort and safety, and negatively correlated with commuting efficiency.

[0089] Optionally, the adjustment module 820 is also used to reduce the style level of the driving style to adjust the driving style if the driving scenario indicates that the vehicle driving process is a low-high risk driving process, and / or the passenger emotion belongs to the boredom emotion category; wherein the style level is positively correlated with comfort and safety, and negatively correlated with commuting efficiency.

[0090] Optionally, the acquisition module 810 is further used to acquire a facial image of the occupant; and determine the occupant's emotion based on the facial image.

[0091] Optionally, the vehicle is equipped with an occupant monitoring system; the acquisition module 810 is further used to collect the facial image of the occupant through the camera of the occupant monitoring system. .

[0092] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0093] In addition, each function in each embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of software function module.

[0094] On the other hand, the present application also provides a computer-readable storage medium, in which program code is stored. The program code can be called by a processor to execute the method described in the above method embodiment.

[0095] The computer readable storage medium can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a cluster of ROMs. Optionally, the computer readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written into one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring a driving style and an occupant's emotions during the driving process of the vehicle; the driving style is used to indicate at least one of comfort, commuting efficiency, and safety during the driving process of the vehicle; adjusting the driving style based on the occupant's emotion; The vehicle is controlled to travel according to the adjusted driving style.

2. The method according to claim 1, characterized in that: The adjusting the driving style based on the occupant's emotion includes: Acquire a driving scene during the driving process of the vehicle, wherein the driving scene is used to indicate the driving behavior of the vehicle; The driving style is adjusted according to the driving scenario and the occupant's emotions.

3. The method according to claim 2, characterized in that The adjusting the driving style according to the driving scene and the occupant's emotion to obtain the target driving style of the vehicle includes: If the driving scenario indicates that the driving process of the vehicle is a high-risk driving process, and / or the occupant's emotion belongs to the fear emotion category, the style level of the driving style is increased to adjust the driving style; wherein the style level is positively correlated with comfort and safety, and the style level is negatively correlated with commuting efficiency.

4. The method according to claim 2, characterized in that: The adjusting the driving style according to the driving scene and the occupant's emotion to obtain the target driving style of the vehicle includes: If the driving scenario indicates that the driving process of the vehicle is a low-high risk driving process, and / or the occupant emotion belongs to the boredom emotion category, the style level of the driving style is reduced to adjust the driving style; wherein the style level is positively correlated with comfort and safety, and the style level is negatively correlated with commuting efficiency.

5. The method according to claim 1, characterized in that Before obtaining the driving style of the vehicle and the occupant's emotions during driving, the method further includes: Acquire a facial image of the occupant; Based on the facial image, the occupant's emotion is determined.

6. The method according to claim 1, characterized in that The self-vehicle has an occupant monitoring system; The acquiring of the facial image of the occupant comprises: The facial image of the occupant is collected by a camera of the occupant monitoring system.

7. The method according to any one of claims 1 to 6, characterized in that: The passenger includes at least one of a main driver and a front passenger.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, used to acquire the driving style of the vehicle and the occupant's emotions during the driving process; the driving style is used to indicate at least one of the comfort, commuting efficiency and safety of the vehicle during the driving process; An adjustment module, configured to adjust the driving style based on the occupant's emotion; The control module is used to control the driving of the vehicle according to the adjusted driving style.

9. A vehicle, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the method according to any one of claims 1 to 7.

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