Cross-regional intelligent connected vehicle roaming method, device and readable storage medium

Abstract

The present application provides a cross-regional intelligent networked vehicle roaming method, device and readable storage medium, which relates to the field of autonomous driving technology. The method includes: receiving a connection request sent by an intelligent networked vehicle; the connection request carries instruction information for connecting to a network node and identity information of the intelligent networked vehicle; periodically receiving geographic coordinate information of the current region where the intelligent networked vehicle is located; querying the cloud control application platform information of the current region where the intelligent networked vehicle is located according to the geographic coordinate information; sending feedback information to the intelligent networked vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current region where the intelligent networked vehicle is located; the query success information includes the target cloud control application platform information that the intelligent networked vehicle can connect to in the current region. The solution of the present application can automatically connect to different regional platforms when the intelligent networked vehicle is traveling across regions.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more particularly to a cross-regional intelligent networked vehicle roaming method, device and readable storage medium. Background Art

[0002] The integrated "vehicle-road-cloud" solution for future transportation involves vehicles, roads, and clouds, and the three parties work together to improve vehicle driving safety. Vehicles generally refer to intelligent connected vehicles (ICVs), which have the communication capabilities of C-V2X (Cellular vehicle-to-everything), fourth-generation mobile communication technology (4G) / fifth-generation mobile communication technology (5G), and can communicate with road-side infrastructure and cloud-controlled application platforms in real time; roads generally refer to digital roads after intelligent transformation, which have the ability to integrate perception, calculation, and distribution of all targets on the road; clouds generally refer to cloud-controlled application platforms (CAS), which maintain links with vehicle-side and road-side, and provide weak real-time or non-real-time services.

[0003] At present, different industry associations or cities have released their own communication protocol standards, such as CSAE, C-ITS, etc. Intelligent network service providers (SPs) in different regions have built their own cloud control application platform systems, and the standards adopted are different. Since the current ICV vehicles are mainly operated in local cities, there is no cross-city operation scenario. However, with the evolution of technology and industry, ICV vehicles will travel in different regions. When driving across regions, the following problems will arise:

[0004] (1) ICV vehicles cannot obtain the cloud control application platform (CAS) address in different regions: According to the current protocol standards, ICV vehicles in various regions have pre-set CAS addresses in their local areas. Vehicles can directly register with the local CAS to complete communication and services. However, when the ICV vehicle leaves the current city and arrives in another city, it cannot automatically obtain the CAS vehicle address of the other city.

[0005] (2) ICV vehicles cannot obtain the communication protocols of different regional platforms: It is difficult to switch between different cities by manually obtaining the address of the current city's CAS. There is also the problem of not knowing the protocol family and version number used by the current city's CAS, which makes it impossible to establish a connection correctly. Summary of the invention

[0006] The purpose of this application is to provide a cross-regional intelligent connected vehicle roaming method, device and readable storage medium to solve the problem that the intelligent connected vehicle cannot connect to different regional platforms when traveling across regions.

[0007] To achieve the above objectives, in a first aspect, an embodiment of the present application provides a cross-regional intelligent connected vehicle roaming method, which is executed by a network node, and the network node is arranged in a cloud or edge device, including:

[0008] Receiving a connection request sent by an intelligent network-connected vehicle; the connection request carries instruction information for connecting to a network node and identity information of the intelligent network-connected vehicle;

[0009] Periodically receiving geographic coordinate information of a current area where the intelligent network-connected vehicle is located;

[0010] According to the geographic coordinate information, query the cloud control application platform information of the current area where the intelligent network-connected vehicle is located;

[0011] Send feedback information to the intelligent connected vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent connected vehicle is located; the query success information includes the target cloud control application platform information that the intelligent connected vehicle can connect to in the current area.

[0012] Optionally, before receiving the connection request sent by the intelligent network-connected vehicle, the method further includes:

[0013] Receiving registration requests from different intelligent network connection service providers at the network node;

[0014] Determine the corporate legitimacy and service capabilities of the intelligent network service provider based on the registration request;

[0015] When the legitimacy of the enterprise and the service capabilities meet the preset requirements, return the information input request to the corresponding intelligent network service provider;

[0016] According to the information input request, basic information of the cloud control application platform of the corresponding intelligent network service provider is obtained; the basic information at least includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform;

[0017] If it is determined that the currently input service area overlaps with the service area in the query list, it is necessary to review and determine the accuracy of the currently input service area, and after the review is confirmed successfully, the basic information corresponding to the currently input service area is added to the query list.

[0018] Optionally, querying the cloud control application platform information of the current area where the intelligent network-connected vehicle is located according to the geographic coordinate information includes the following:

[0019] If, according to the geographic coordinate information, no information of any cloud control application platform to which the intelligent network-connected vehicle can connect in the current area is found, determining to generate the query failure information;

[0020] According to the geographic coordinate information, if it is found that there is at least one connectable cloud control application platform information in the current area for the intelligent connected vehicle, it is determined to generate the query success information; the target cloud control application platform information carried in the query success information includes at least one cloud control application platform information; each of the cloud control application platform information includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform.

[0021] Optionally, after sending the feedback information to the intelligent network-connected vehicle, the method further includes:

[0022] Receiving matching information of the intelligent network-connected vehicle; the matching information is used to indicate whether the intelligent network-connected vehicle switches the target cloud control application platform information;

[0023] When the matching information indicates that the matching is successful, the network node continues to maintain the connection with the intelligent network-connected vehicle;

[0024] When the matching information indicates that the communication protocol version number is not supported and the matching fails, the network node disconnects from the intelligent connected vehicle and sends an online upgrade message to the corresponding intelligent connected vehicle service provider.

[0025] In a second aspect, the present application provides a cross-regional intelligent connected vehicle roaming method, which is performed by the intelligent connected vehicle, including:

[0026] Sending a connection request to the network node; the connection request carries instruction information for connecting to the network node and identity information of the intelligent network-connected vehicle;

[0027] Periodically sending geographic coordinate information of the current area where the intelligent network-connected vehicle is located to the network node;

[0028] receiving feedback information sent by the network node; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent network-connected vehicle is located; the query success information includes information of a target cloud control application platform to which the intelligent network-connected vehicle can connect in the current area;

[0029] According to the feedback information, switch to connect to the cloud control application platform.

[0030] Optionally, switching the connection to the cloud control application platform according to the feedback information includes:

[0031] In the case where the feedback information is the query failure information, the intelligent network-connected vehicle maintains the currently connected cloud control application platform;

[0032] In the case where the feedback information is the query success information, if the number of the target cloud control application platform information is one, switching the connection to the corresponding cloud control application platform;

[0033] In the case where the feedback information is the query success information, if there are multiple target cloud control application platform information and the multiple cloud control application platforms belong to the same intelligent network service provider, the current cloud control application platform connection is maintained;

[0034] In the case where the feedback information is the query success information, if the number of the target cloud control application platform information is multiple and the multiple cloud control application platforms belong to different intelligent network service providers, the current cloud control application platform connection is maintained until the number of the target cloud control application platform information returned by the network node is one, and then the connection is switched to the corresponding cloud control application platform.

[0035] Optionally, switching the connection to the cloud control application platform according to the feedback information further includes:

[0036] In the case where the feedback information is the query success information, determining whether the intelligent network-connected vehicle supports the communication protocol version of the cloud control application platform to be connected according to the target cloud control application platform information;

[0037] According to the communication protocol version of the intelligent connected vehicle, matching information of the intelligent connected vehicle is generated and sent to the network node; the matching information is used to indicate whether the intelligent connected vehicle switches the target cloud control application platform information.

[0038] Optionally, the method further comprises:

[0039] Determining the accuracy of the target cloud control application platform information;

[0040] If the target cloud control application platform information contains an incorrect address, the current cloud control application platform connection is maintained.

[0041] In a third aspect, the present application provides a cross-regional intelligent networked vehicle roaming device, which is executed by a network node, and the network node is arranged in a cloud or edge side device, including:

[0042] A first receiving module is used to receive a connection request sent by an intelligent network-connected vehicle; the connection request carries instruction information for connecting to a network node and identity information of the intelligent network-connected vehicle;

[0043] A second receiving module is used to periodically receive geographic coordinate information of a current area where the intelligent network-connected vehicle is located;

[0044] A first processing module, configured to query the cloud control application platform information of the current area where the intelligent network-connected vehicle is located according to the geographic coordinate information;

[0045] The first sending module is used to send feedback information to the intelligent connected vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent connected vehicle is located; the query success information includes the target cloud control application platform information that the intelligent connected vehicle can connect to in the current area.

[0046] In a fourth aspect, the present application provides a cross-regional intelligent networked vehicle roaming device, which is executed by the intelligent networked vehicle, including:

[0047] A second sending module is used to send a connection request to the network node; the connection request carries instruction information for connecting to the network node and identity information of the intelligent network-connected vehicle;

[0048] A third sending module, used for periodically sending geographic coordinate information of a current area where the intelligent network-connected vehicle is located to the network node;

[0049] A third receiving module is used to receive feedback information sent by the network node; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent networked vehicle is located; the query success information includes information about the target cloud control application platform that the intelligent networked vehicle can connect to in the current area;

[0050] The second processing module is used to switch the connection to the cloud control application platform according to the feedback information.

[0051] In a fifth aspect, the present application provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps in the method described in the first aspect or the second aspect.

[0052] The beneficial effects of the above technical solution of the present application are as follows:

[0053] The method executed by the network node in the embodiment of the present application includes: receiving a connection request sent by an intelligent networked vehicle; the connection request carries instruction information for connecting to the network node and identity information of the intelligent networked vehicle; periodically receiving geographic coordinate information of the current area where the intelligent networked vehicle is located; querying the cloud control application platform information of the current area where the intelligent networked vehicle is located according to the geographic coordinate information; sending feedback information to the intelligent networked vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent networked vehicle is located; the query success information includes the target cloud control application platform information that the intelligent networked vehicle can connect to in the current area. The solution of the present application can automatically connect to different regional platforms when the intelligent networked vehicle travels across regions. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A flowchart of a cross-regional intelligent connected vehicle roaming method applied to a network node according to an embodiment of the present application;

[0055] Figure 2 This is a system architecture diagram of cross-regional intelligent connected vehicle roaming in an embodiment of the present application;

[0056] Figure 3 A flow chart of registration of intelligent network connection service providers in cross-regional intelligent network connection vehicle roaming according to an embodiment of the present application;

[0057] Figure 4 This is an overall interactive diagram of the cross-regional intelligent connected vehicle roaming method according to an embodiment of the present application;

[0058] Figure 5 A flow chart of a cross-regional intelligent connected vehicle roaming method applied to an intelligent connected vehicle according to an embodiment of the present application;

[0059] Figure 6 This is a flow chart of a cross-regional intelligent networked vehicle roaming device applied to a network node according to an embodiment of the present application;

[0060] Figure 7 This is a flow chart of a cross-regional intelligent connected vehicle roaming device applied to an intelligent connected vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the technical problems, technical solutions and advantages to be solved by the present application clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0062] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0063] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0064] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] The embodiments of the present application provide a cross-regional intelligent network-connected vehicle roaming method, device, and readable storage medium. The method and device are based on the same application concept. Since the method and device solve the problem in a similar principle, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0067] like Figure 1 As shown, the cross-regional intelligent network-connected vehicle roaming method provided by the embodiment of the present application is executed by a network node, and the network node is arranged in a cloud or edge side device, including:

[0068] A connection request sent by an intelligent network-connected vehicle is received; the connection request carries instruction information for connecting to a network node and identity information of the intelligent network-connected vehicle.

[0069] In this application, the network node is a node, service device or server of the address query service (CQS) of the cloud control application platform (CAS). The CQS can be deployed on the edge device or on the cloud. The execution subject of this application is the CQS.

[0070] The CQS receives a connection request sent by the intelligent networked vehicle, which carries the identity authentication information of the intelligent networked vehicle. The CQS can obtain the identity information of the vehicle and implement safety authentication of the vehicle. It also needs to carry a connection instruction to realize the connection between the CQS and the intelligent networked vehicle.

[0071] It should be noted that in actual application scenarios, the CQS can connect multiple intelligent connected vehicles, and does not impose specific restrictions on the models or brands of intelligent connected vehicles.

[0072] Periodically receive geographic coordinate information of the current area where the intelligent network-connected vehicle is located.

[0073] In the present application, for autonomous driving smart connected vehicles, when the positioning system in the vehicle may just be started, there is a probability that the geographic coordinate information may be inaccurately reported, resulting in the CQS returning erroneous cloud control application platform information. Since the vehicle's positioning is inaccurate for a short time, the present application utilizes the periodic reception of the geographic coordinate information of the current area reported by the smart connected vehicle, and can utilize the periodic reporting mechanism to avoid the CQS from sending erroneous cloud control application platform information, thereby further improving the stability and accuracy of the interaction process.

[0074] It should be noted that when the on-board equipment in the intelligent connected vehicle temporarily cannot obtain a communication connection with the CQS, it is generally because the positioning system in the vehicle has not yet been fully started and the current coordinates cannot be obtained. The intelligent connected vehicle needs to wait for the positioning system to start before sending a request message to the CQS.

[0075] According to the geographic coordinate information, the cloud control application platform information of the current area where the intelligent connected vehicle is located is queried.

[0076] Send feedback information to the intelligent connected vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent connected vehicle is located; the query success information includes the target cloud control application platform information that the intelligent connected vehicle can connect to in the current area.

[0077] In this application, after receiving the geographic coordinate information, the CQS queries the query list in the CQS. If the target cloud-controlled application platform corresponding to the intelligent connected vehicle in the current area is not found, the query result is empty, and a query failure message is generated. The query failure message is sent to the corresponding intelligent connected vehicle as feedback information. If the target cloud-controlled application platform information that the intelligent connected vehicle can connect to in the current area is found, a query success message is generated, and the query success message is sent to the corresponding intelligent connected vehicle as feedback information. Correspondingly, the intelligent connected vehicle can use the feedback information to execute the step of whether to switch the cloud-controlled application platform, thereby solving the problem that the intelligent connected vehicle (ICV) cannot connect to different regional platforms when traveling across regions (such as cities or countries).

[0078] Furthermore, before step 11, the method further includes:

[0079] Receiving registration requests from different intelligent network connection service providers at the network node;

[0080] Determine the corporate legitimacy and service capabilities of the intelligent network service provider based on the registration request;

[0081] When the legitimacy of the enterprise and the service capabilities meet the preset requirements, return the information input request to the corresponding intelligent network service provider;

[0082] According to the information input request, basic information of the cloud control application platform of the corresponding intelligent network service provider is obtained; the basic information at least includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform;

[0083] If it is determined that the currently input service area overlaps with the service area in the query list, it is necessary to review and determine the accuracy of the currently input service area, and after the review is confirmed successfully, the basic information corresponding to the currently input service area is added to the query list.

[0084] In the embodiments of this application, reference can be made to Figure 2 The network architecture shown and Figure 3The reporting / registration process of the intelligent network service provider shown in the figure, by establishing a CAS address query service (CQS), the intelligent network service provider (SP) registers the local CAS information and registers it to the CQS. The ICV only needs to set a default CAS query service address to query the CAS address of the current area. Specifically, the registration process includes: SP registers an account in CQS as an enterprise, and through registration, the CQS audits to confirm the legitimacy and service capabilities of the enterprise. When the legitimacy of the enterprise and the service capabilities meet the preset requirements, the information input request is returned to the corresponding intelligent network service provider. The input request can be a request connection returned to the SP. The corresponding SP can fill in the corresponding CQS information in the request connection. The SP needs to register the basic information of the CAS in the service area on the CQS. The basic information at least includes the CAS IP (or domain name) / port number, the service area (coordinate range), and the communication protocol version number. If there are multiple service addresses in the same geographical area, the service provider should provide them in priority order. Further, the basic information can be shown in Table 1 below.

[0085] Table 1: Basic information:

[0086]

[0087] CQS reviews the basic information of CAS: After the review is completed, the basic information of CAS is added to the query list and can be queried by ICV.

[0088] The above-mentioned overall registration / reporting process is that SP registers on CQS as an enterprise, submits platform service information for distribution after successful registration, and can be added to the service queue after CQS reviews and approves it.

[0089] Furthermore, if the CQS finds that the service area of ​​a certain SP overlaps with other SPs in the query list or that the service area reported by a certain SP overlaps, it needs to review and confirm, and send confirmation information to the SP.

[0090] For example, the service area reported by a certain SP includes City A and Area B in City A. If the CQS finds that there are overlapping service areas, it needs to review and determine whether the information of the two cloud control application platforms needs to be saved. At this time, after receiving the review information, the SP fills in the switching rules. The CQS receives the switching rules, judges the rationality of the switching rules, and saves the information of the two cloud control application platforms. The switching rules may include: outside the non-B area of ​​City A where the smart connected vehicle is located, it connects to the cloud control application platform of City A, and after driving to Area B of City A, it switches to the cloud control application platform corresponding to Area B. Area B is the default area with high congestion in the city.

[0091] Of course, the service area reported by the SP of this application can also include special areas. Special signs are set for special areas. When the intelligent connected vehicle drives to the special area, it uses the cloud platform sub-address corresponding to the special area to connect. At this time, the cloud control platform will send the corresponding driving information according to the connection with the cloud control sub-address. Special areas include but are not limited to: tunnel road areas, road areas blocked by tall buildings and trees, road areas frequently affected by bad weather, complex road areas with urban incidental traffic, road areas without lane lines and road areas with uneven road surfaces, areas with various irregular parking on the road surface, road areas of cross-sea bridges, and road areas near scenic spots.

[0092] Optionally, querying the cloud control application platform information of the current area where the intelligent network-connected vehicle is located according to the geographic coordinate information includes the following:

[0093] If, according to the geographic coordinate information, no information of any cloud control application platform to which the intelligent network-connected vehicle can connect in the current area is found, determining to generate the query failure information;

[0094] According to the geographic coordinate information, if it is found that there is at least one connectable cloud control application platform information in the current area for the intelligent connected vehicle, it is determined to generate the query success information; the target cloud control application platform information carried in the query success information includes at least one cloud control application platform information; each of the cloud control application platform information includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform.

[0095] In an embodiment of the present application, an updateable query list is stored in advance in the CQS through a registration / reporting process set in advance, and through periodically updated geographic coordinate information, it is queried whether there is any cloud control application platform information that can be connected in the current area of ​​the intelligent connected vehicle. If at least one cloud control application platform information can be queried, it is determined to generate the query success information. If any cloud control application platform information that the intelligent connected vehicle can connect to in the current area is not queried, it is determined to generate the query failure information. This application can query at least one cloud control application platform information, and all information needs to be sent to the intelligent connected vehicle. Each of the cloud control application platform information includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform.

[0096] After generating the query failure information, the CQS returns a cloud control platform with no service.

[0097] Furthermore, after sending feedback information to the intelligent network-connected vehicle, the method further includes:

[0098] Receiving matching information of the intelligent network-connected vehicle; the matching information is used to indicate whether the intelligent network-connected vehicle switches the target cloud control application platform information;

[0099] When the matching information indicates that the matching is successful, the network node continues to maintain the connection with the intelligent network-connected vehicle;

[0100] When the matching information indicates that the communication protocol version number is not supported and the matching fails, the network node disconnects from the intelligent connected vehicle and sends an online upgrade message to the corresponding intelligent connected vehicle service provider.

[0101] In an embodiment of the present application, after the vehicle receives feedback information, the intelligent connected vehicle needs to switch the cloud control application platform based on the feedback information. When the intelligent connected vehicle successfully switches the cloud control application platform, the CQS receives matching information. When the matching information indicates a successful match, the network node continues to maintain a connection with the intelligent connected vehicle and can periodically send feedback information to the intelligent connected vehicle. When the matching information received indicates that the communication protocol version number is not supported, resulting in a matching failure, the network node disconnects from the intelligent connected vehicle and sends an online upgrade message to the corresponding intelligent connected service provider.

[0102] That is, the intelligent connected vehicle (ICV) checks whether it supports the protocol and version. If the ICV supports the communication protocol and version sent by the CQS, it returns a successful match and can continue to establish a connection. If the ICV does not support the communication protocol and version sent by the CQS, it returns a failed match. After receiving the message, the CQS will generate a system reminder to prompt the SP to perform an Over The Air (OTA) upgrade.

[0103] Furthermore, when the smart connected vehicle is at the junction of area A and area B for a short time (passing through the junction from area A for a short time and then returning to area A), there is no need to switch the cloud control application platform. When V2X is deployed, there will usually be cross-coverage areas. When the smart connected vehicle enters the cross-coverage area, it will give priority to the current CAS address and will not switch the control application platform. Only when it completely leaves the A service area and enters the B service area (that is, when only one B area CAS address is returned) will the server address be switched to avoid the problem of frequent switching in the overlapping service areas.

[0104] Reference Figure 4The overall interaction process shown is realized through the interaction of ICV, CQS and target CQS (ICV can be understood as the cloud control application platform that needs to be switched). The process interaction method of the three includes: Step 1: ICV and CQS establish a communication connection; Step 2: ICV periodically sends geographic coordinate information to CQS, and accordingly, CQS periodically receives the geographic coordinate information sent by ICV. After receiving the geographic coordinate information, the CQS calculates and finds the target CAS that the current ICV can connect to. The target CAS can be one or more. Only when the result of the target CAS is one, the ICV executes the switching process. Step 3, CQS returns the target CAS address and protocol version information to ICV. Accordingly, ICV verifies whether ICV itself supports the protocol version information based on the received protocol version information. Step 4, ICV returns matching information to CQS; after receiving the information of the target CAS, the ICV verifies whether the protocol version information fed back by the CQS is consistent with the target CAS. Only when the protocol versions of the two are consistent, will the communication connection be established. Step 5: When the matching information indicates that the match is successful, the ICV establishes a connection with the target CAS; Step 6: The target CAS authenticates the ICV, and after completing the authentication, the two establish a connection successfully. Step 7: The ICV can perform two-way communication with the target CAS.

[0105] It should be noted that ICV establishes a connection with CAS: If the protocol match is successful, ICV authenticates and communicates with the local CAS according to the corresponding communication protocol. If an empty address is returned, it means that there is no local SP providing CAS service and no connection needs to be established. If ICV receives multiple CAS from multiple SPs, it may be in an area where multiple SPs overlap. The CAS of the current SP is used first. When CQS returns only one CAS, it switches to avoid the problem of multiple switches. If ICV receives multiple CAS from the same SP, it is in an area where multiple CAS overlap. The current CAS is used first. When CQS returns only one CAS, it switches to avoid the problem of multiple switches.

[0106] Optionally, as the industry develops and the degree of standardization increases, the number of vehicle-cloud protocols will gradually converge. The communication protocols in different regions may differ in custom fields and minor version numbers, but will not affect the communication of normal information. In this case, it is only necessary to verify whether the communication protocols are consistent.

[0107] In summary, through the method of the present application, by utilizing the periodic geographic location changes of ICV and obtaining the CQS address and protocol version information corresponding to the current area, ICV can roam in different regions to find the local CAS address and the communication standard protocol used, and has the ability to automatically switch CQS, thereby achieving the purpose of cross-regional autonomous driving.

[0108] Reference Figure 5 As shown, the embodiment of the present application provides a cross-regional intelligent networked vehicle roaming method, which is executed by the intelligent networked vehicle, including:

[0109] Step 51, sending a connection request to a network node; the connection request carries instruction information for connecting to the network node and identity information of the intelligent network-connected vehicle;

[0110] Step 52, periodically sending geographic coordinate information of the current area where the intelligent network-connected vehicle is located to the network node;

[0111] Step 53, receiving feedback information sent by the network node; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent networked vehicle is located; the query success information includes information of a target cloud control application platform that the intelligent networked vehicle can connect to in the current area;

[0112] Step 54: switch the connection to the cloud control application platform according to the feedback information.

[0113] In an embodiment of the present application, the intelligent connected vehicle (ICV) sends a connection request to the network node, that is, sends a connection request to the CQS. After the ICV establishes a connection with the CQS, the ICV periodically sends the geographic coordinate information of the current area to the CQS. This can avoid the situation where the CQS returns an incorrect CAS address after an error is reported in the geographic coordinate information, thereby improving the stability of the interaction and the accuracy of the feedback information. Furthermore, after receiving the feedback information, when the feedback information is a query failure message, the switching process is not executed and the current CAS connection is maintained. When the feedback information is a query success message, the cloud control application platform can be automatically switched.

[0114] Specifically, the above step 54 includes:

[0115] In the case where the feedback information is the query failure information, the intelligent network-connected vehicle maintains the currently connected cloud control application platform;

[0116] In the case where the feedback information is the query success information, if the number of the target cloud control application platform information is one, switching the connection to the corresponding cloud control application platform;

[0117] In the case where the feedback information is the query success information, if there are multiple target cloud control application platform information and the multiple cloud control application platforms belong to the same intelligent network service provider, the current cloud control application platform connection is maintained;

[0118] In the case where the feedback information is the query success information, if the number of the target cloud control application platform information is multiple and the multiple cloud control application platforms belong to different intelligent network service providers, the current cloud control application platform connection is maintained until the number of the target cloud control application platform information returned by the network node is one, and then the connection is switched to the corresponding cloud control application platform.

[0119] In the embodiment of the present application, ICV is based on the feedback information. If the feedback information is the query failure information, that is, CQS returns an empty address, it indicates that there is no SP providing CAS service locally, and there is no need to establish a connection. The currently connected cloud control application platform is maintained; if the feedback information is the query success information, if the number of the target cloud control application platform information is one, then the connection to the corresponding cloud control application platform is switched; if the feedback information is the query success information, if the number of the target cloud control application platform information is multiple, and the multiple cloud control application platforms belong to different intelligent network service providers, then the current cloud control application platform connection is maintained until the number of the target cloud control application platform information returned by the network node is one, and then the connection to the corresponding cloud control application platform is switched. That is, if ICV receives multiple CASs from the same SP, it is in an area where multiple CASs overlap, and the current CAS is used first, until CQS returns only one CAS, then the switch is performed to avoid the problem of multiple switches.

[0120] In the case where the feedback information is the query success information, if the number of the target cloud control application platform information is multiple, and the multiple cloud control application platforms and the intelligent connected vehicle belong to different intelligent connected service providers, the current cloud control application platform connection is maintained until the number of the target cloud control application platform information returned by the network node is one, and then the corresponding cloud control application platform is switched. That is, if the ICV receives multiple CASs from multiple SPs, it may be in an area where multiple SPs overlap, and the CAS of the current SP is preferentially used until the CQS returns only one CAS, then the switch is performed to avoid the problem of multiple switches.

[0121] It can also be understood that if there are multiple server addresses in the same area, if there are multiple service providers in the same area, each service provider has its own server address, then CQS needs to send the addresses of multiple service providers to the smart connected vehicle, and the smart connected vehicle should give priority to the current address until an address is returned to switch. Avoid multiple switching in overlapping service areas, which may cause unstable services.

[0122] If multiple addresses of the current service provider are returned, the address of the current service provider will be given priority; if multiple addresses of the same service provider are returned, the address of the current service provider will be connected in order of priority.

[0123] Optionally, the above step 54 further includes:

[0124] In the case where the feedback information is the query success information, determining whether the intelligent network-connected vehicle supports the communication protocol version of the cloud control application platform to be connected according to the target cloud control application platform information;

[0125] According to the communication protocol version of the intelligent connected vehicle, matching information of the intelligent connected vehicle is generated and sent to the network node; the matching information is used to indicate whether the intelligent connected vehicle switches the target cloud control application platform information.

[0126] In the embodiment of the present application, when the feedback information is the query success information, if the target cloud control application platform needs to be switched, the communication protocol versions of ICV and CAS need to be checked for consistency to prevent driving safety problems after the connection is made due to a failed check. Through the consistency check, the matching information of the intelligent networked vehicle is generated and sent to the network node; the matching information is used to indicate whether the intelligent networked vehicle should switch the target cloud control application platform information.

[0127] Optionally, the method further comprises:

[0128] Determining the accuracy of the target cloud control application platform information;

[0129] If the target cloud control application platform information contains an incorrect address, the current cloud control application platform connection is maintained.

[0130] In an embodiment of the present application, ICV will also perform accuracy verification on the target cloud control application platform information that is fed back, such as verifying whether the address information of the returned information contains garbled characters or whether there is any missing information. If the target cloud control application platform information contains an incorrect address, the current cloud control application platform connection will be maintained.

[0131] In a specific embodiment, ICV initiates a connection to the CQS address to establish communication; ICV periodically sends the basic information and geographic coordinates of the vehicle; CQS queries the CAS information of the area based on the vehicle information (mainly the coordinate information); CQS returns the above registration information if the query is successful, otherwise it returns empty. If there are multiple SPs in the same area, that is, in the adjacent overlapping area of ​​multiple SPs, multiple CASs will be queried, and CQS returns the CAS of multiple SPs. ICV establishes a connection with CAS: If the protocol match is successful, ICV authenticates and communicates with the local CAS according to the corresponding communication protocol. If an empty address is returned, it means that there is no SP providing CAS service locally, and there is no need to establish a connection. If ICV receives multiple CASs from multiple SPs, it may be in an area where multiple SPs overlap, and the CAS of the current SP is used first until CQS returns only one CAS, then switching is performed to avoid the problem of multiple switching. If ICV receives multiple CASs from the same SP, it is in an area where multiple CAS overlap, and the current CAS is used first until CQS returns only one CAS, then switching is performed to avoid the problem of multiple switching.

[0132] In summary, through the method of the present application, by utilizing the periodic geographic location changes of ICV and obtaining the CQS address and protocol version information corresponding to the current area, ICV can roam in different regions to find the local CAS address and the communication standard protocol used, and has the ability to automatically switch CQS, thereby achieving the purpose of cross-regional autonomous driving.

[0133] Reference Figure 6 As shown, an embodiment of the present application provides a cross-regional intelligent networked vehicle roaming device, which is executed by a network node, and the network node is arranged in a cloud or edge side device, including:

[0134] A first receiving module 61 is used to receive a connection request sent by an intelligent network-connected vehicle; the connection request carries instruction information for connecting to a network node and identity information of the intelligent network-connected vehicle;

[0135] The second receiving module 62 is used to periodically receive the geographical coordinate information of the current area where the intelligent network-connected vehicle is located;

[0136] A first processing module 63 is used to query the cloud control application platform information of the current area where the intelligent network-connected vehicle is located according to the geographic coordinate information;

[0137] The first sending module 64 is used to send feedback information to the intelligent connected vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent connected vehicle is located; the query success information includes the target cloud control application platform information that the intelligent connected vehicle can connect to in the current area.

[0138] Optionally, the cross-regional intelligent networked vehicle roaming device of the present application further includes:

[0139] A fourth receiving module, configured to receive registration requests from different intelligent network connection service providers at the network node;

[0140] A first determination module, configured to determine the corporate legitimacy and service capability of the intelligent network connection service provider according to the registration request;

[0141] A third processing module is used to return an information input request to the corresponding intelligent network service provider when the legitimacy of the enterprise and the service capability meet the preset requirements;

[0142] An acquisition module, configured to acquire basic information of the cloud control application platform of the corresponding intelligent network service provider according to the information input request; the basic information at least includes the domain name or address, port number, service area of ​​the cloud control application platform, and communication protocol version number of the cloud control application platform;

[0143] The fourth processing module is used to review the accuracy of the currently input service area if it is determined that the currently input service area overlaps with the service area in the query list, and add the basic information corresponding to the currently input service area to the query list after the review is successful.

[0144] Optionally, the first processing module 63 includes the following:

[0145] A first processing unit is configured to determine to generate the query failure information if no information of any cloud control application platform to which the intelligent network-connected vehicle can connect in the current area is found according to the geographic coordinate information;

[0146] The second processing unit is used to determine and generate the query success information if it is found that there is at least one connectable cloud control application platform information in the current area of ​​the intelligent connected vehicle based on the geographic coordinate information; the target cloud control application platform information carried in the query success information includes at least one cloud control application platform information; each of the cloud control application platform information includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform.

[0147] Optionally, the cross-regional intelligent networked vehicle roaming device of the present application further includes:

[0148] A fifth receiving module, configured to receive matching information of the intelligent network-connected vehicle; the matching information is used to indicate whether the intelligent network-connected vehicle switches the target cloud control application platform information;

[0149] A fifth processing module, configured to, when the matching information indicates that the matching is successful, continue to connect the network node with the intelligent connected vehicle;

[0150] The sixth processing module is used to disconnect the network node from the intelligent connected vehicle and send an online upgrade message to the corresponding intelligent connected service provider when the matching information indicates that the communication protocol version number is not supported and the matching fails.

[0151] Among them, the implementation embodiments of the above-mentioned cross-regional intelligent connected vehicle roaming method applied to network nodes are all applicable to the embodiments of the cross-regional intelligent connected vehicle roaming device of the network node, and can also achieve the same technical effect.

[0152] Reference Figure 7 As shown, the embodiment of the present application provides a cross-regional intelligent networked vehicle roaming device, which is executed by the intelligent networked vehicle, including:

[0153] The second sending module 71 is used to send a connection request to the network node; the connection request carries instruction information for connecting to the network node and identity information of the intelligent network-connected vehicle;

[0154] A third sending module 72 is used to periodically send geographic coordinate information of the current area where the intelligent network-connected vehicle is located to the network node;

[0155] The third receiving module 73 is used to receive feedback information sent by the network node; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent networked vehicle is located; the query success information includes information about the target cloud control application platform that the intelligent networked vehicle can connect to in the current area;

[0156] The second processing module 74 is used to switch the connection to the cloud control application platform according to the feedback information.

[0157] Optionally, the second processing module 74 includes:

[0158] A third processing unit, configured to, when the feedback information is the query failure information, enable the intelligent connected vehicle to maintain the currently connected cloud control application platform;

[0159] a fourth processing unit, configured to switch the connection to a corresponding cloud control application platform if the feedback information is the query success information and the number of the target cloud control application platform information is one;

[0160] a fifth processing unit, configured to, when the feedback information is the query success information, maintain the connection of the current cloud control application platform if there are multiple target cloud control application platform information and the multiple cloud control application platforms belong to the same intelligent network service provider;

[0161] The sixth processing unit is used to maintain the connection of the current cloud control application platform when the feedback information is the query success information and if there are multiple target cloud control application platform information and the multiple cloud control application platforms belong to different intelligent network service providers, until the number of the target cloud control application platform information returned by the network node is one, and then switch the connection to the corresponding cloud control application platform.

[0162] Optionally, the second processing module 74 further includes:

[0163] A seventh processing unit, configured to determine, when the feedback information is the query success information, whether the intelligent network-connected vehicle supports a communication protocol version of the cloud control application platform to be connected according to the target cloud control application platform information;

[0164] An eighth processing unit is used to generate matching information of the intelligent connected vehicle according to the communication protocol version of the intelligent connected vehicle, and send the matching information to the network node; the matching information is used to indicate whether the intelligent connected vehicle switches the target cloud control application platform information.

[0165] Optionally, the cross-regional intelligent networked vehicle roaming device of the present application further includes:

[0166] A judgment module, used to judge the accuracy of the target cloud control application platform information;

[0167] The seventh processing module is used to maintain the current cloud control application platform connection if the target cloud control application platform information has an incorrect address.

[0168] Among them, the implementation embodiments of the above-mentioned cross-regional intelligent connected vehicle roaming method applied to an intelligent connected vehicle are all applicable to the embodiments of the cross-regional intelligent connected vehicle roaming device of an intelligent connected vehicle, and can also achieve the same technical effect.

[0169] A readable storage medium in an embodiment of the present application stores a program or instruction thereon. When the program or instruction is executed by a processor, the steps in the cross-regional intelligent connected vehicle roaming method as described above are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0170] The processor is the processor in the cross-regional intelligent networked vehicle roaming method described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0171] The present application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the above Figure 1 or Figure 5 The various processes of the method embodiment shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0172] The above exemplary embodiments are described with reference to the accompanying drawings, and many different forms and embodiments are feasible without departing from the spirit and teachings of the present application. Therefore, the present application should not be constructed as a limitation of the exemplary embodiments proposed herein. More specifically, these exemplary embodiments are provided so that the present application will be perfect and complete, and the scope of the present application will be conveyed to those who are familiar with the technology. In these figures, the component sizes and relative sizes may be exaggerated for clarity. The terms used here are only based on the purpose of describing specific exemplary embodiments and are not intended to be limiting. As used herein, unless the text clearly indicates otherwise, the singular forms "one", "an" and "the" are intended to include these multiple forms. It will be further understood that the terms "comprising" and / or "including" when used in this specification indicate the presence of the features, integers, steps, operations, components and / or components, but do not exclude the presence or increase of one or more other features, integers, steps, operations, components, components and / or their groups. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of that range and any subranges therebetween.

[0173] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A cross-regional intelligent connected vehicle roaming method, characterized in that: Executed by a network node, which is deployed in the cloud or edge device, including: Receiving a connection request sent by an intelligent network-connected vehicle; the connection request carries instruction information for connecting to a network node and identity information of the intelligent network-connected vehicle; Periodically receiving geographic coordinate information of a current area where the intelligent network-connected vehicle is located; According to the geographic coordinate information, query the cloud control application platform information of the current area where the intelligent network-connected vehicle is located; Sending feedback information to the intelligent network-connected vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent network-connected vehicle is located; the query success information includes information about the target cloud control application platform that the intelligent network-connected vehicle can connect to in the current area; Among them, when the feedback information is the query failure information, the intelligent connected vehicle maintains the currently connected cloud control application platform; when the feedback information is the query success information, if the number of the target cloud control application platform information is one, the connection is switched to the corresponding cloud control application platform; when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple, and the multiple cloud control application platforms belong to the same intelligent connected service provider, the current cloud control application platform connection is maintained; when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple, and the multiple cloud control application platforms belong to different intelligent connected service providers, the current cloud control application platform connection is maintained until the number of the target cloud control application platform information returned by the network node is one, and then the connection is switched to the corresponding cloud control application platform.

2. The method according to claim 1, characterized in that Before receiving the connection request sent by the intelligent network-connected vehicle, the method further includes: Receiving registration requests from different intelligent network connection service providers at the network node; Determine the corporate legitimacy and service capabilities of the intelligent network service provider based on the registration request; When the legitimacy of the enterprise and the service capabilities meet the preset requirements, return the information input request to the corresponding intelligent network service provider; According to the information input request, basic information of the cloud control application platform of the corresponding intelligent network service provider is obtained; the basic information at least includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform; If it is determined that the currently input service area overlaps with the service area in the query list, it is necessary to review and determine the accuracy of the currently input service area, and after the review is confirmed successfully, the basic information corresponding to the currently input service area is added to the query list.

3. The method according to claim 1, characterized in that According to the geographic coordinate information, querying the cloud control application platform information of the current area where the intelligent network-connected vehicle is located includes the following: If, according to the geographic coordinate information, no information of any cloud control application platform to which the intelligent network-connected vehicle can connect in the current area is found, determining to generate the query failure information; If it is found that the intelligent network-connected vehicle has at least one connectable cloud control application platform in the current area according to the geographic coordinate information, determining to generate the query success information; The target cloud control application platform information carried in the query success information includes at least one cloud control application platform information; each of the cloud control application platform information includes the domain name or address of the cloud control application platform, the port number, the service area of ​​the cloud control application platform, and the communication protocol version number of the cloud control application platform.

4. The method according to claim 1, characterized in that: After sending feedback information to the intelligent network-connected vehicle, the method further includes: Receiving matching information of the intelligent network-connected vehicle; the matching information is used to indicate whether the intelligent network-connected vehicle switches the target cloud control application platform information; When the matching information indicates that the matching is successful, the network node continues to maintain the connection with the intelligent network-connected vehicle; When the matching information indicates that the communication protocol version number is not supported and the matching fails, the network node disconnects from the intelligent connected vehicle and sends an online upgrade message to the corresponding intelligent connected vehicle service provider.

5. A cross-regional intelligent networked vehicle roaming method, characterized in that: Executed by intelligent connected vehicles, including: Sending a connection request to the network node; the connection request carries instruction information for connecting to the network node and identity information of the intelligent network-connected vehicle; Periodically sending geographic coordinate information of the current area where the intelligent network-connected vehicle is located to the network node; receiving feedback information sent by the network node; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent network-connected vehicle is located; the query success information includes information of a target cloud control application platform to which the intelligent network-connected vehicle can connect in the current area; According to the feedback information, switching the connection to the cloud control application platform includes: when the feedback information is the query failure information, the intelligent connected vehicle maintains the currently connected cloud control application platform; when the feedback information is the query success information, if the number of the target cloud control application platform information is one, switching the connection to the corresponding cloud control application platform; when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple and the multiple cloud control application platforms belong to the same intelligent connected service provider, maintaining the current cloud control application platform connection; when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple and the multiple cloud control application platforms belong to different intelligent connected service providers, maintaining the current cloud control application platform connection until the number of the target cloud control application platform information returned by the network node is one, and then switching the connection to the corresponding cloud control application platform.

6. The method according to claim 5, characterized in that According to the feedback information, switching the connection to the cloud control application platform also includes: In the case where the feedback information is the query success information, determining whether the intelligent network-connected vehicle supports the communication protocol version of the cloud control application platform to be connected according to the target cloud control application platform information; According to the communication protocol version of the intelligent connected vehicle, matching information of the intelligent connected vehicle is generated and sent to the network node; the matching information is used to indicate whether the intelligent connected vehicle switches the target cloud control application platform information.

7. The method according to claim 5, characterized in that The method further comprises: Determining the accuracy of the target cloud control application platform information; If the target cloud control application platform information contains an incorrect address, the current cloud control application platform connection is maintained.

8. A cross-regional intelligent networked vehicle roaming device, characterized in that: Executed by a network node, which is deployed in the cloud or edge device, including: A first receiving module is used to receive a connection request sent by an intelligent network-connected vehicle; the connection request carries instruction information for connecting to a network node and identity information of the intelligent network-connected vehicle; A second receiving module is used to periodically receive geographic coordinate information of a current area where the intelligent network-connected vehicle is located; A first processing module, configured to query the cloud control application platform information of the current area where the intelligent network-connected vehicle is located according to the geographic coordinate information; A first sending module is used to send feedback information to the intelligent network-connected vehicle; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent network-connected vehicle is located; the query success information includes information about a target cloud control application platform that the intelligent network-connected vehicle can connect to in the current area; Among them, when the feedback information is the query failure information, the intelligent connected vehicle maintains the currently connected cloud control application platform; when the feedback information is the query success information, if the number of the target cloud control application platform information is one, the connection is switched to the corresponding cloud control application platform; when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple, and the multiple cloud control application platforms belong to the same intelligent connected service provider, the current cloud control application platform connection is maintained; when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple, and the multiple cloud control application platforms belong to different intelligent connected service providers, the current cloud control application platform connection is maintained until the number of the target cloud control application platform information returned by the network node is one, and then the connection is switched to the corresponding cloud control application platform.

9. A cross-regional intelligent networked vehicle roaming device, characterized in that: Executed by intelligent connected vehicles, including: A second sending module is used to send a connection request to the network node; the connection request carries instruction information for connecting to the network node and identity information of the intelligent network-connected vehicle; A third sending module, used for periodically sending geographic coordinate information of a current area where the intelligent network-connected vehicle is located to the network node; A third receiving module is used to receive feedback information sent by the network node; the feedback information is query failure information or query success information; the query failure information is used to indicate that there is no corresponding cloud control application platform in the current area where the intelligent networked vehicle is located; the query success information includes information about the target cloud control application platform that the intelligent networked vehicle can connect to in the current area; A second processing module, used for switching the connection to the cloud control application platform according to the feedback information; Among them, the second processing module includes: a third processing unit, which is used for the intelligent connected vehicle to maintain the currently connected cloud control application platform when the feedback information is the query failure information; a fourth processing unit, which is used for, when the feedback information is the query success information, if the number of the target cloud control application platform information is one, switching the connection to the corresponding cloud control application platform; a fifth processing unit, which is used for, when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple and the multiple cloud control application platforms belong to the same intelligent connected service provider, maintaining the current cloud control application platform connection; a sixth processing unit, which is used for, when the feedback information is the query success information, if the number of the target cloud control application platform information is multiple and the multiple cloud control application platforms belong to different intelligent connected service providers, maintaining the current cloud control application platform connection until the number of the target cloud control application platform information returned by the network node is one, and then switching the connection to the corresponding cloud control application platform.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps in the method according to any one of claims 1 to 4 are implemented, or when executed, the steps in the method according to any one of claims 5 to 7 are implemented.

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