Cabin intelligent display and auxiliary driving method and system based on artificial intelligence

Abstract

The invention generally relates to the technical field of intelligent auxiliary driving, and provides a cabin intelligent display and auxiliary driving method and system based on artificial intelligence. The method comprises the following steps: acquiring image information through a vehicle-mounted camera array; performing artificial intelligence target detection on a target object in the driving scene; adaptively sensing a region of interest and a target of interest in the driving scene; obtaining a small-size interest sub-graph, and reconstructing and generating a high-resolution image through an artificial intelligence self-adaptive super-resolution model; performing artificial intelligence adaptive image enhancement on the high-resolution image; and the cabin intelligent display system displays the high-resolution image and the interested target and prompts a driver and passengers. According to the invention, hardware occupation can be reduced, irrelevant information can be filtered out, distraction of drivers and passengers can be reduced, and driving safety can be improved. In addition, existing NPU hardware and AI models in the intelligent automobile can be fully utilized, and the method has the advantages of being low in cost, easy to land, easy to expand and the like.

Description

Technical Field

[0001] The present invention generally relates to the field of intelligent assisted driving technology. Specifically, the present invention relates to a cockpit intelligent display and assisted driving method and system based on artificial intelligence. Background Art

[0002] With the development of artificial intelligence (AI), machine vision technology has made rapid progress. It has become an industry consensus that AI can be applied to assisted driving, and the increasing maturity of AI technology has also paved the technical way for this.

[0003] The car cockpit display system is the best entry point for providing an immersive experience to drivers and passengers because of its mature technology and low-cost implementation. However, the current car cockpit display system usually only mechanically pieces together the information captured by the on-board camera through one or more screens to present it to the drivers and passengers. This exposes the drivers and passengers to a flood of information around the car, and they cannot quickly obtain the most useful situation information around the car from the cockpit display system. This not only fails to fully utilize the advantages of the cockpit display system, but also wastes the computing power of a large number of chips integrated in the car. Summary of the invention

[0004] In order to at least partially solve the above problems in the prior art, the present invention proposes an artificial intelligence-based cockpit intelligent display and assisted driving method, comprising the following steps:

[0005] Acquire image information through an onboard camera array;

[0006] Performing artificial intelligence target detection on target objects in the driving scene according to the image information;

[0007] Adaptively perceive the area of ​​interest and the target of interest in the driving scene according to the target object in the driving scene;

[0008] Acquire a small-sized interest subgraph according to the interest region and the interest target, and reconstruct a high-resolution image according to the small-sized interest subgraph through an artificial intelligence adaptive super-resolution model;

[0009] performing artificial intelligence adaptive image enhancement on the high-resolution image; and

[0010] The cockpit intelligent display system displays the high-resolution images after adaptive image enhancement and the objects of interest in the driving scene, and provides prompts to the driver and passengers.

[0011] In one embodiment of the present invention, it is provided that image information within a 360-degree surround of the vehicle is acquired through a vehicle-mounted camera array.

[0012] In one embodiment of the present invention, it is provided that the region of interest and the target of interest in the driving scene include:

[0013] People and obstacles within the driver's field of vision when the vehicle is stopped, started, and then moved, as well as people and obstacles within the driver's field of vision's blind spot;

[0014] When waiting for traffic lights at intersections or following a vehicle in congested traffic, the traffic lights, road signs, the vehicle in front, and the dynamic information of people and vehicles on the side or behind are in the field of vision.

[0015] In one embodiment of the present invention, it is provided that the cockpit intelligent display system prompts the driver and passengers to pay attention to the situation information around the vehicle through pop-up window displays and voice prompts.

[0016] In one embodiment of the present invention, it is provided that the cockpit intelligent display and assisted driving method based on artificial intelligence further includes:

[0017] The auxiliary driving system determines the critical scores and decision information of the interest area and the interest target according to the interest area and the interest target in the driving scene; and

[0018] The cockpit intelligent display system combines the critical score and decision information to display the high-resolution image after adaptive image enhancement and the target of interest in the driving scene.

[0019] In one embodiment of the present invention, it is provided that the cockpit intelligent display and assisted driving method based on artificial intelligence further includes:

[0020] The assisted driving system makes driving behavior decisions and executes assisted driving behaviors based on the driving behavior decisions.

[0021] The present invention also proposes an artificial intelligence-based cockpit intelligent display and assisted driving system, comprising:

[0022] an onboard camera array configured to acquire image information;

[0023] An in-vehicle neural network processing unit inference system, comprising:

[0024] The artificial intelligence target detection module is configured to detect the driving

[0025] Perform AI target detection on target objects in the scene;

[0026] An interest region and interest target perception module, which is configured to adaptively perceive an interest region and an interest target in a driving scene according to a target object in the driving scene;

[0027] an artificial intelligence adaptive super-resolution module, configured to obtain a small-sized interest subgraph according to the interest region and the interest target, and to reconstruct a high-resolution image according to the small-sized interest subgraph through an artificial intelligence adaptive super-resolution model; and

[0028] an artificial intelligence adaptive image enhancement module, configured to perform artificial intelligence adaptive image enhancement on the high-resolution image; and

[0029] The cockpit intelligent display system is configured to display high-resolution images after adaptive image enhancement and objects of interest in the driving scene, and to provide prompts to the driver and passengers.

[0030] In one embodiment of the present invention, it is provided that the artificial intelligence-based cockpit intelligent display and assisted driving system further includes:

[0031] An assisted driving system, configured to determine the criticality scores and decision information of the interest area and the interest target according to the interest area and the interest target in the driving scene, make a driving behavior decision, and perform an assisted driving behavior according to the driving behavior decision;

[0032] The cockpit intelligent display system combines the critical score and decision information to display the high-resolution image after adaptive image enhancement and the target of interest in the driving scene.

[0033] The present invention also provides a vehicle-mounted computer system, which comprises:

[0034] a processor configured to execute machine-executable instructions; and

[0035] A memory having machine executable instructions stored thereon, which when executed by a processor perform the steps according to the method.

[0036] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program executes the steps according to the method when executed by a processor.

[0037] The present invention has at least the following beneficial effects: the present invention can dynamically perceive important regions of interest (ROI) based on the content of the pictures captured by the current on-board camera and at different stages of driving, and can perform adaptive color enhancement processing and super-resolution high-definition (HD) display of key regions of interest (ROI) in the R0 I area, while reducing hardware occupancy, to provide immersive driving assistance experience to the driver and passengers; at the same time, the technical solution of the present application can also filter out irrelevant information, reduce its distraction to the driver and passengers, and improve driving safety. In addition, the present invention makes full use of the existing NPU hardware in smart cars, as well as AI models such as target detection models, AI picture enhancement models, and AI super-resolution models, and has obvious cost advantages, easy implementation, and rapid deployment and expansion. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] To further illustrate the advantages and features of various embodiments of the present invention, a more detailed description of various embodiments of the present invention will be presented with reference to the accompanying drawings. It will be understood that these drawings only depict typical embodiments of the present invention and are therefore not to be considered as limiting the scope thereof. In the accompanying drawings, for clarity, identical or corresponding parts will be represented by identical or similar reference numerals.

[0039] Figure 1 A flow chart of an artificial intelligence-based cockpit intelligent display and assisted driving method in one embodiment of the present invention is shown.

[0040] Figure 2 A schematic diagram showing the layout of a vehicle-mounted camera array in an embodiment of the present invention is shown.

[0041] Figure 3A The figure shows a schematic diagram of the operation flow of an artificial intelligence-based cockpit intelligent display and assisted driving system in one embodiment of the present invention.

[0042] Figure 3B A schematic diagram of the operation flow of an artificial intelligence-based cockpit intelligent display and assisted driving system in another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0043] It should be noted that the components in the figures may be shown exaggeratedly for the sake of illustration and are not necessarily true to scale. In the figures, identical or functionally identical components are provided with the same reference numerals.

[0044] In the present invention, unless otherwise specified, "arranged on...", "arranged above..." and "arranged above..." do not exclude the existence of an intermediate between the two. In addition, "arranged on or above..." merely indicates the relative positional relationship between two components, and in certain cases, such as after reversing the product direction, it can also be converted into "arranged below or below...", and vice versa.

[0045] In the present invention, each embodiment is only intended to illustrate the aspects of the present invention and should not be construed as limiting.

[0046] In the present invention, unless otherwise specified, the quantifiers "a", "an" and "an" do not exclude the presence of a plurality of elements.

[0047] It should also be noted that in the embodiments of the present invention, for the sake of clarity and simplicity, only a portion of the parts or components may be shown, but those of ordinary skill in the art will understand that under the teachings of the present invention, the required parts or components may be added according to the needs of the specific scenario. In addition, unless otherwise specified, the features in different embodiments of the present invention may be combined with each other. For example, a feature in the second embodiment may be used to replace a corresponding or functionally identical or similar feature in the first embodiment, and the resulting embodiment also falls within the disclosure scope or recorded scope of the present application.

[0048] It should also be noted that within the scope of the present invention, the terms "same", "equal", "equal to" and the like do not mean that the values ​​of the two are absolutely equal, but allow a certain reasonable error, that is, the terms also cover "substantially the same", "substantially equal", "substantially equal to". By analogy, in the present invention, the terms "perpendicular to", "parallel to" and the like indicating directions also cover the meanings of "substantially perpendicular to" and "substantially parallel to".

[0049] In addition, the numbering of the steps of the methods of the present invention does not limit the execution order of the method steps. Unless otherwise specified, the method steps can be executed in different orders.

[0050] The present invention will be further described below in conjunction with specific embodiments with reference to the accompanying drawings.

[0051] The system and / or method according to the present invention can be implemented in an on-board computer system, which may include a processor configured to execute machine-executable instructions; and a memory on which machine-executable instructions are stored, and the machine-executable instructions, when executed by the processor, perform the steps of the artificial intelligence-based cockpit intelligent display and assisted driving method.

[0052] When the present invention is implemented on the vehicle-mounted computer system, it can dynamically perceive important regions of interest (ROI) based on the image content captured by the current vehicle-mounted camera and different stages of driving, and perform adaptive color enhancement effect processing and super-resolution high-definition (HD) display of key regions of interest (ROI) on the ROI region, so as to provide immersive driving assistance experience for the driver and passengers. In addition, the present invention makes full use of the existing NPU hardware in smart cars, as well as Al models such as target detection models, Al picture enhancement models, and Al super-resolution models, and has obvious cost advantages, easy implementation, and rapid deployment and expansion.

[0053] Furthermore, the embodiments may be provided as a computer program product that may include one or more machine-readable media having machine-executable instructions stored thereon, which, when executed by one or more machines such as a computer, a computer network or other electronic device, may cause the one or more machines to perform operations according to the embodiments of the present invention. The machine-readable medium may include, but is not limited to, a floppy disk, an optical disk, a CD-ROM (compact disk read-only memory) and a magneto-optical disk, a ROM (read-only memory), a RAM (random access memory), an EPROM (erasable programmable read-only memory), an EEPROM (electrically erasable programmable read-only memory), a magnetic or optical card, a flash memory, or other types of media / machine-readable media suitable for storing machine-executable instructions.

[0054] In addition, various embodiments may be downloaded as a computer program product, where the program may be transmitted from a remote computer (e.g., a server) to a requesting computer (e.g., a client) via a communication link (e.g., a modem and / or a network connection) using one or more data signals implemented and / or modulated by a carrier wave or other propagation medium. Thus, the machine-readable medium used herein may include such a carrier wave, but this is not required.

[0055] In the present invention, each module of the system according to the present invention can be implemented using software, hardware, firmware or a combination thereof. When the module is implemented using software, the function of the module can be implemented by a computer program flow, for example, the module can be implemented by a code segment (such as a code segment of a language such as C, C++) stored in a storage device (such as a hard disk, a memory, etc.), wherein the corresponding function of the module can be implemented when the code segment is executed by a processor. When the module is implemented using hardware, the function of the module can be implemented by setting a corresponding hardware structure, for example, the function of the module can be implemented by hardware programming a programmable device such as a field programmable gate array (FPGA), or the function of the module can be implemented by designing an application-specific integrated circuit (ASIC) including electronic devices such as a plurality of transistors, resistors and capacitors. When the module is implemented using firmware, the function of the module can be written into a read-only memory such as an EPROM or EEPROM of the device in the form of a program code, and the corresponding function of the module can be implemented when the program code is executed by a processor. In addition, certain functions of the module may need to be implemented by separate hardware or by collaboration with the hardware, for example, the detection function is implemented by corresponding sensors (such as proximity sensors, acceleration sensors, gyroscopes, etc.), the signal transmission function is implemented by corresponding communication devices (such as Bluetooth devices, infrared communication devices, baseband communication devices, Wi-Fi communication devices, etc.), the output function is implemented by corresponding output devices (such as displays, speakers, etc.), and so on.

[0056] Figure 1 FIG. 1 is a flow chart of a cockpit intelligent display and assisted driving method based on artificial intelligence in one embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0057] Step 101: Acquire image information through a vehicle-mounted camera array.

[0058] Step 102: Perform artificial intelligence target detection on the target object in the driving scene according to the image information.

[0059] Step 103: Adaptively perceive the region of interest and the target of interest in the driving scene according to the target object in the driving scene.

[0060] Step 104: Acquire a small-sized interest subgraph according to the interest region and the interest target, and reconstruct a high-resolution image according to the small-sized interest subgraph through an artificial intelligence adaptive super-resolution model.

[0061] Step 105: Perform artificial intelligence adaptive image enhancement on the high-resolution image.

[0062] Step 106: The cockpit intelligent display system displays the high-resolution image after adaptive image enhancement and the target of interest in the driving scene, and prompts the driver and passengers.

[0063] In one embodiment of the present invention, an artificial intelligence-based cockpit intelligent display and assisted driving system is also proposed. The system includes an on-board camera array, an on-board neural network processing unit (NPU) reasoning system, a cockpit display system, and an assisted driving system.

[0064] Figure 2 FIG. 1 shows a schematic diagram of the layout of a vehicle-mounted camera array in one embodiment of the present invention. Figure 2 As shown, the vehicle-mounted camera array can capture 360-degree video information of the vehicle. It should be noted that Figure 2 This is only an example of a vehicle-mounted camera array and is not intended to be limiting. In practical applications, those skilled in the art may select six or other numbers of cameras as needed. Figure 2 Only some of the cameras' FOV areas are shown, but this does not mean that other cameras are useless.

[0065] The vehicle-mounted NPU reasoning system includes an artificial intelligence target detection module, an artificial intelligence adaptive super-resolution module, an artificial intelligence adaptive image enhancement model, and a driving scene perception and an interest target perception model. The vehicle-mounted NPU reasoning system can receive video or image information obtained from the vehicle-mounted camera array, and carry and run the above systems and models to perform target detection, region of interest (ROI) selection, adaptive super-resolution, and image effect enhancement.

[0066] Figure 3A FIG. 1 is a schematic diagram showing the operation flow of an artificial intelligence-based cockpit intelligent display and assisted driving system in one embodiment of the present invention. Figure 3A As shown, the cockpit intelligent display system receives the image after R0 I selection, adaptive super-resolution model processing and image augmentation model enhancement in the on-board NPU reasoning system, and displays it to the driver and passengers in an appropriately emphasized manner to remind the driver and passengers to pay attention to key areas.

[0067] Specifically, the video / image information captured by the on-board camera array is first transmitted to the artificial intelligence target detection system, and the artificial intelligence target detection system detects various target objects in the driving scene.

[0068] Furthermore, the results of the artificial intelligence target detection system are combined with the driving scene perception and the target of interest perception, and the ROI area and the target of interest in the current driving scene are adaptively perceived. For example, in the process of the vehicle from stopping to starting and then driving, the driver and passengers are not only concerned about the people and obstacles in the field of vision, but also the people and obstacles in the blind spot of the driver and passengers' field of vision that are easily ignored by the driver and passengers. In the scene of waiting for traffic lights at the intersection or following the car under congested road conditions, the objects of interest and ROI area of ​​the driver and passengers are not only the traffic lights, road instructions and the front car in front of the field of vision, but also the side or rear personnel and vehicle dynamic information that are easily ignored. For example, the out-of-control vehicle coming from the side or rear, etc. If the cockpit display system can prompt the driver and passengers with this information in time, the driver and passengers can take countermeasures in advance, which can minimize casualties and property losses. In addition, the above process is also applicable to the following car driving or vehicle driving scene.

[0069] Furthermore, based on the intelligently perceived R0 I and target information, small-sized sub-graphs of interest can be obtained from the original camera-captured image / video, and these small-sized sub-graphs are fed into the adaptive super-resolution model for processing.

[0070] The adaptive super-resolution model can enlarge a small sub-image to a specified size. Although the traditional interpolation algorithm can also enlarge the selected detail image in a picture to a specific size, it cannot make up for the missing details well. The noise phenomenon is particularly obvious, and the display effect is poor, which gives the driver and passengers a poor sensory experience. The artificial intelligence adaptive super-resolution model can not only enlarge the detail image on a larger scale, but also intelligently reconstruct the details to reconstruct a high-resolution (HR) image. The HR image reconstructed by the artificial intelligence adaptive super-resolution model not only makes the driver and passengers feel more comfortable with the naked eye, but also has rich details that the image enlarged by the ordinary interpolation algorithm does not have.

[0071] Furthermore, the HR image intelligently reconstructed by the AI ​​adaptive super-resolution model is sent to the AI ​​adaptive image enhancement model for processing. The traditional image enhancement method is to adjust the color effect of the picture in a subjective way based on experience, which cannot be well implemented and promoted in the field of intelligent car cockpit display. Although the HR image intelligently reconstructed by the super-resolution model will have rich detailed information, it is limited by the light of the captured image, camera hardware and other conditions. The hue, contrast, sharpness, etc. of the HR image are not particularly suitable for intelligent cockpit display. Therefore, it is necessary to perform adaptive image enhancement before sending it to the cockpit display system.

[0072] Furthermore, the image information processed as above is sent to the intelligent cockpit display system, wherein the HR map with enhanced interest targets and the interest target information of the driving scene are gathered in the intelligent cockpit display system, and the intelligent cockpit display system uses appropriate prompting methods (such as pop-up windows + voice) to emphasize and remind the occupants (especially the driver) to pay attention to the current situation information around the vehicle. The driver can make corresponding driving decisions based on the situation information of the vehicle. For example, when the vehicle is moving, children in the blind spot can be found to avoid casualties; when obstacles are found in front of the tires, damage to the vehicle can be avoided; when waiting for traffic lights or slowly following the vehicle, out-of-control vehicles coming from the side or rear can be discovered in time, and measures can be taken in advance (driving away to avoid or failing to drive away, turning the steering wheel half a circle, etc.).

[0073] Figure 3B FIG. 2 shows a schematic diagram of the operation flow of an artificial intelligence-based cockpit intelligent display and assisted driving system in another embodiment of the present invention. Figure 3B As shown, compared to Figure 3A , where the assisted driving system combines the driving scene and the selected important ROI targets to obtain the key scores and decision-making information of the ROI targets, and transmits this information to the cockpit display system. On the one hand, the cockpit display system presents the easily overlooked ROI areas and targets to the driver and passengers in a way that suits the driver and passengers, such as video / picture. On the other hand, if the assisted driving system can make driving behavior decisions in advance, it will take corresponding assisted driving behaviors. For example, when starting, the assisted driving system can sense objects in the blind spots of the driver and passengers' field of vision to avoid vehicle movement and remind the driver and passengers.

[0074] Specifically, compared to Figure 3A In the system, the HR map with enhanced interest targets and the interest target information of the driving scene will first be gathered in the intelligent assisted driving system, and the assisted driving system will make specific auxiliary decisions. At the same time, the auxiliary decision information and the HR map information with enhanced interest targets are transmitted to the cockpit display system. The intelligent cockpit display system uses appropriate prompting methods (such as pop-up windows + voice) to emphasize the driver and passengers (especially the driver) to pay attention to the current situation information and auxiliary decision information around the vehicle. The driver makes corresponding driving decisions based on the vehicle situation information and auxiliary decision information.

[0075] The present invention combines and reuses the on-board camera, AI technology and intelligent car cockpit display system. It is realized by combining existing technologies and software and hardware conditions, so it has the advantages of low cost and easy deployment. In addition, the present invention can adaptively display important situation information around the vehicle according to the driving scene, and can also provide auxiliary driving functions, bringing a preliminary immersive experience to the driver and passengers. In addition, the present invention solves the problem that traditional on-board cameras and cockpit display systems can only present the overflowing information around the vehicle without focus, and cannot provide the driver and passengers with more driving environment situation information.

[0076] Although various embodiments of the present invention are described above, it should be understood that they are presented as examples only and not as limitations. It is obvious to those skilled in the relevant art that various combinations, modifications and changes can be made thereto without departing from the spirit and scope of the present invention. Therefore, the breadth and scope of the present invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should only be defined according to the attached claims and their equivalents.

Claims

1. An artificial intelligence-based cockpit intelligent display and assisted driving method, characterized in that: The following steps are involved: Acquire image information through an onboard camera array; Performing artificial intelligence target detection on target objects in the driving scene according to the image information; Adaptively perceive the area of ​​interest and the target of interest in the driving scene according to the target object in the driving scene; Acquire a small-sized interest subgraph according to the interest region and the interest target, and reconstruct a high-resolution image according to the small-sized interest subgraph through an artificial intelligence adaptive super-resolution model; Performing artificial intelligence adaptive image enhancement on the high-resolution image; as well as The cockpit intelligent display system displays the high-resolution images after adaptive image enhancement and the objects of interest in the driving scene, and provides prompts to the driver and passengers.

2. The cockpit intelligent display and assisted driving method based on artificial intelligence according to claim 1 is characterized in that: The vehicle's 360-degree surround image information is acquired through the on-board camera array.

3. The cockpit intelligent display and assisted driving method based on artificial intelligence according to claim 1 is characterized in that: The areas of interest and targets of interest in the driving scene include: People and obstacles within the driver's field of vision when the vehicle is stopped, started, and then moved, as well as people and obstacles within the driver's field of vision's blind spot; When waiting for traffic lights at intersections or following a vehicle in congested traffic, the traffic lights, road signs, the vehicle in front, and the dynamic information of people and vehicles on the side or behind are in the field of vision.

4. The cockpit intelligent display and assisted driving method based on artificial intelligence according to claim 1 is characterized in that: The cockpit intelligent display system uses pop-up windows and voice prompts to remind drivers and passengers to pay attention to the situation information around the vehicle.

5. The cockpit intelligent display and assisted driving method based on artificial intelligence according to claim 1 is characterized in that: Also includes: The auxiliary driving system determines the critical scores and decision information of the interest area and the interest target according to the interest area and the interest target in the driving scene; as well as The cockpit intelligent display system combines the critical score and decision information to display the high-resolution image after adaptive image enhancement and the target of interest in the driving scene.

6. The cockpit intelligent display and assisted driving method based on artificial intelligence according to claim 5 is characterized in that: Also includes: The assisted driving system makes driving behavior decisions and executes assisted driving behaviors based on the driving behavior decisions.

7. An artificial intelligence-based cockpit intelligent display and assisted driving system, characterized in that: include: an onboard camera array configured to acquire image information; An in-vehicle neural network processing unit inference system, comprising: an artificial intelligence target detection module, configured to perform artificial intelligence target detection on a target object in a driving scene according to the image information; An interest region and interest target perception module, which is configured to adaptively perceive an interest region and an interest target in a driving scene according to a target object in the driving scene; an artificial intelligence adaptive super-resolution module, configured to obtain a small-sized interest subgraph according to the interest region and the interest target, and to reconstruct a high-resolution image according to the small-sized interest subgraph through an artificial intelligence adaptive super-resolution model; and an artificial intelligence adaptive image enhancement module, configured to perform artificial intelligence adaptive image enhancement on the high-resolution image; and The cockpit intelligent display system is configured to display high-resolution images after adaptive image enhancement and objects of interest in the driving scene, and to provide prompts to the driver and passengers.

8. The artificial intelligence-based cockpit intelligent display and assisted driving system according to claim 7 is characterized in that: Also includes: An assisted driving system, configured to determine the criticality scores and decision information of the interest area and the interest target according to the interest area and the interest target in the driving scene, make a driving behavior decision, and perform an assisted driving behavior according to the driving behavior decision; The cockpit intelligent display system combines the critical score and decision information to display the high-resolution image after adaptive image enhancement and the target of interest in the driving scene.

9. A vehicle-mounted computer system, characterized in that: include: a processor configured to execute machine-executable instructions; as well as A memory having machine executable instructions stored thereon, wherein the machine executable instructions, when executed by a processor, perform the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method according to any one of claims 1 to 6.

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