Real-time map information updating method and system based on V2X communication

Abstract

The invention provides a real-time map information updating method and system for a vehicle, and the method comprises the steps: obtaining one or more corresponding V2X messages from one or more other vehicles in a certain range, and the one or more V2X messages comprise the vehicle information of the corresponding vehicle and the surrounding environment information; determining road condition information of the corresponding vehicle position according to the acquired one or more V2X messages; and performing real-time information updating at the corresponding vehicle position on the map based on the determined road condition information. The invention further provides an automobile with a real-time map information updating function.

Description

Technical Field

[0001] The present invention relates to the field of vehicle networking, and more specifically, to a real-time map information updating method and system based on V2X communication. Background Art

[0002] In recent years, automobile autonomous driving technology has developed rapidly. V2X technology can provide vehicles with beyond-visual-range perception capabilities through real-time information exchange between vehicles and roads, reduce the risk of traffic accidents caused by blind spots in the vehicle's field of vision, and provide support for efficient and refined intelligent traffic control, which has effectively promoted the large-scale application of high-level intelligent driving systems.

[0003] However, in terms of in-vehicle navigation, although there are navigation maps, high-precision maps, etc. that can identify current road conditions (for example, congestion information ahead), etc., automobile manufacturers can only collect driving data from their own brand of vehicles for map updates, which may result in inaccurate map data (for example, when there are fewer vehicles of their own brand on a certain section of road).

[0004] In addition, for example, when obtaining traffic information through the Internet, the traffic information may be inaccurate due to poor network conditions and transmission delays. For example, nearby congested sections may not be marked, causing vehicles to be stuck in congestion.

[0005] Therefore, it is hoped that a real-time map information update solution based on V2X technology can be provided to achieve significant improvement of on-board map data without requiring large bandwidth and being less affected by transmission delays, thereby improving driving safety and convenience. Summary of the invention

[0006] This Summary is provided to introduce some concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0007] In response to the above problems, according to a first aspect of the present invention, a real-time map information updating method based on V2X communication for vehicles is provided, the method comprising: obtaining one or more corresponding V2X messages from one or more other vehicles within a certain range, the one or more V2X messages comprising vehicle information of the corresponding vehicle and surrounding environment information; determining road condition information of the corresponding vehicle position according to the obtained one or more V2X messages; and performing real-time information updating at the corresponding vehicle position on the map based on the determined road condition information.

[0008] In an implementation manner of the present invention, the existing on-board map is improved by acquiring vehicle data and environmental data around the vehicle from other vehicles within a certain range based on V2X technology, so that the current on-board map is more accurate. In particular, since the V2V communication delay is relatively small, the marking of real-time road conditions on the map is more accurate.

[0009] According to an embodiment of the present invention, the method further comprises: transmitting a V2X message including vehicle information of the vehicle and surrounding environment information to one or more other vehicles within a certain range via V2X communication for real-time map information update of the one or more other vehicles.

[0010] According to a further embodiment of the present invention, the vehicle information includes one or more of vehicle position, vehicle speed, gear position, braking, heading angle, size or type information.

[0011] According to a further embodiment of the present invention, determining the road condition information of the corresponding vehicle position according to the one or more V2X messages obtained and performing real-time information update at the corresponding vehicle position on the map based on the determined road condition information further includes: determining the road congestion level of the corresponding vehicle position according to the vehicle position contained in the one or more V2X messages obtained and the vehicle speed corresponding to the vehicle position; and marking the corresponding vehicle position on the map based on the road congestion level.

[0012] According to a further embodiment of the present invention, the surrounding environment information of the corresponding vehicle includes environment perception data collected by a sensor of the corresponding vehicle or environment perception data received from a roadside unit or a cloud.

[0013] According to a further embodiment of the present invention, determining the road condition information corresponding to the vehicle position according to the one or more V2X messages obtained and performing real-time information update at the corresponding vehicle position on the map based on the determined road condition information further includes: determining the road condition information corresponding to the vehicle position according to the vehicle position contained in the one or more V2X messages obtained and the environmental perception data corresponding to the vehicle position, the road condition information indicating a traffic accident, road engineering or emergency; and marking the corresponding vehicle position on the map based on the road condition information.

[0014] According to a further embodiment of the present invention, the method further includes: acquiring road information in real time from a roadside unit or a cloud via V2X communication; and fusing the acquired road information with road condition information determined based on one or more V2X messages received from other vehicles to further update the real-time map information.

[0015] According to a second aspect of the present invention, a real-time map information update system based on V2X communication for vehicles is provided, the system comprising: a V2X communication module, the V2X communication module being configured to obtain one or more corresponding V2X messages from one or more other vehicles within a certain range, the one or more V2X messages comprising vehicle information of the corresponding vehicle and surrounding environment information; a road condition information determination module, the road condition information determination module being configured to determine the road condition information of the corresponding vehicle position according to the obtained one or more V2X messages; and a map information update module, the map information update module being configured to perform real-time information update at the corresponding vehicle position on the map based on the determined road condition information.

[0016] According to one embodiment of the present invention, the V2X communication module is further configured to: transmit a V2X message containing vehicle information of the vehicle and surrounding environment information to one or more other vehicles within a certain range via V2X communication for real-time map information update of the one or more other vehicles.

[0017] According to a further embodiment of the present invention, the vehicle information includes one or more of vehicle position, vehicle speed, gear position, braking, heading angle, size or type information.

[0018] According to a further embodiment of the present invention, the road condition information determination module is further configured to determine the road congestion level of the corresponding vehicle position based on the vehicle position contained in one or more acquired V2X messages and the vehicle speed corresponding to the vehicle position, and the map information update module is further configured to mark the corresponding vehicle position on the map based on the road congestion level.

[0019] According to a further embodiment of the present invention, the surrounding environment information of the corresponding vehicle includes environment perception data collected by a sensor of the corresponding vehicle or environment perception data received from a roadside unit or a cloud.

[0020] According to a further embodiment of the present invention, the road condition information determination module is further configured to determine the road condition information corresponding to the vehicle position based on the vehicle position contained in one or more acquired V2X messages and the environmental perception data corresponding to the vehicle position, the road condition information indicating a traffic accident, road engineering or emergency, and the map information update module is further configured to mark the corresponding vehicle position on the map based on the road condition information.

[0021] According to a third aspect of the present invention, there is provided a vehicle comprising the real-time map information updating system as described in any one of the above aspects.

[0022] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing instructions, which, when executed, cause a vehicle to execute the method described in any one of the preceding aspects.

[0023] These and other features and advantages will become apparent by reading the following detailed description and by reference to the associated drawings.It is to be understood that the foregoing general description and the following detailed description are illustrative only and are not restrictive of the aspects of what is claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to understand the manner in which the above features of the present invention are used in detail, the above briefly summarized contents can be described in more detail with reference to various embodiments, some of which are shown in the accompanying drawings. However, it should be noted that the accompanying drawings only show some typical aspects of the present invention and should not be considered to limit its scope, because the description may allow for other equally effective aspects.

[0025] Figure 1 A schematic architecture diagram of a real-time map information updating system based on V2X communication according to an embodiment of the present invention is shown.

[0026] Figure 2 A schematic diagram of a scenario of real-time map information update based on V2X communication according to an embodiment of the present invention is shown.

[0027] Figure 3 A schematic diagram of another scenario of real-time map information update based on V2X communication according to an embodiment of the present invention is shown.

[0028] Figure 4 A schematic flow chart of a real-time map information updating method based on V2X communication according to an embodiment of the present invention is shown.

[0029] Figure 5 An exemplary vehicle supporting real-time map information update according to one embodiment of the present disclosure is shown.

[0030] Figure 6 A schematic architecture diagram of a real-time map information updating system based on V2X communication according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0031] The present invention is described in detail below in conjunction with the accompanying drawings, and the features of the present invention will be further apparent in the following specific description. The term "vehicle" used throughout the specification refers to any type of automobile, including but not limited to cars, vans, trucks, buses, etc. For simplicity, the present invention is described with respect to "automobile". The term "A or B" used in the specification means "A and B" and "A or B", and does not mean that A and B are exclusive, unless otherwise specified.

[0032] Figure 1 FIG. 1 is a schematic diagram of a real-time map information update system 100 based on V2X communication according to an embodiment of the present disclosure. Figure 1 As shown, the system 100 may include at least a V2X communication module 102 , a road condition information determination module 104 , and a map information update module 106 .

[0033] The V2X communication module 102 may obtain one or more corresponding V2X messages from one or more other vehicles within a certain range, where the one or more V2X messages include vehicle information of the corresponding vehicle and surrounding environment information.

[0034] In one embodiment, the vehicle information may include, but is not limited to, one or more of vehicle position, vehicle speed, gear, braking, heading angle, size, or type information.

[0035] For example, a V2X message may take the form of a Basic Safety Message (BSM), i.e., a vehicle may receive a BSM message from another vehicle via V2V communication, wherein the BSM message may contain data regarding the vehicle's location, status, type, etc.

[0036] In one embodiment, the surrounding environment information of the corresponding vehicle may include environmental perception data collected by various sensors of the corresponding vehicle (e.g., visual sensors, ultrasonic radars, millimeter-wave radars, lidars, etc.) or environmental perception data received from a roadside unit or a cloud platform.

[0037] In the above embodiment, the acquired environmental perception data may include static environmental perception data and dynamic environmental perception data, wherein the static environmental perception data may include, for example, traffic lights, traffic signs, road surface markings or lane lines, and the dynamic environmental perception data may include, for example, road traffic participant information or road condition information.

[0038] Furthermore, the V2X communication module 102 may also transmit a V2X message containing vehicle information and surrounding environment information of the vehicle to one or more other vehicles within a certain range via V2X communication for real-time map information update of the one or more other vehicles.

[0039] The road condition information determination module 104 may determine the road condition information corresponding to the vehicle position according to the acquired one or more V2X messages.

[0040] In one embodiment, the road condition information determination module 104 may determine the road congestion level corresponding to the vehicle position based on the vehicle position and the vehicle speed corresponding to the vehicle position included in the one or more V2X messages obtained, as further described below. Figure 2 as described.

[0041] In another embodiment, the road condition information determination module 104 may determine the road condition information corresponding to the vehicle position, for example, based on the vehicle position contained in the acquired one or more V2X messages and the environmental perception data corresponding to the vehicle position, and the road condition information may indicate a traffic accident, road engineering or emergency (e.g., road closure), as further described below. Figure 3 as described.

[0042] The map information updating module 105 may perform real-time information update at the corresponding vehicle position on the map based on the determined road condition information.

[0043] In one embodiment, the map data update may include, for example, marking the degree of congestion, identifying new routes, marking traffic accidents or emergencies, etc.

[0044] Preferably, the map information updating module 105 may also merge the road information obtained in real time from the roadside unit or the cloud platform with the road condition information determined according to one or more V2X messages received from other vehicles to further update the real-time map information.

[0045] Therefore, the system according to the present invention collects driving data and environmental data from other vehicles based on V2X technology, so that the source of map data is richer, so that the existing on-board map can be further improved, and the accuracy of the map is significantly improved. Moreover, since the V2V communication delay is relatively small, the marking of real-time road conditions on the map is more accurate.

[0046] Those skilled in the art will appreciate that the various systems of the present invention may be implemented in the form of hardware or software, and the various systems may be merged or combined in any appropriate manner.

[0047] Figure 2 A schematic diagram of a scenario 200 of real-time map information update based on V2X communication according to an embodiment of the present invention is shown.

[0048] like Figure 2As shown, in scenario 200, vehicle V1 is traveling on a road parallel to vehicles V2, V3...VN and cannot see the congestion on the road where vehicles V2, V3...VN are located. In this case, vehicle V1 receives a V2X message from V2, V3...VN via V2V communication, wherein the V2X message contains the position and speed information of each of these vehicles. Based on the received V2X message, the congestion on the road where V2, V3...VN are located can be determined. For example, when the speeds of V2, V3...VN are all low and they are on the same road, it can be determined that the road is congested, and the degree of congestion of the road (e.g., slight congestion, moderate congestion, or severe congestion) can be determined, for example, based on the speed of the vehicle, etc. Subsequently, the road can be marked on the map based on the determined degree of congestion on the road. Thus, before vehicle V1 is about to enter the road, the congestion on the road can be detected in real time, and the navigation route can be adjusted in time to avoid congestion.

[0049] Figure 3 A schematic diagram of another scenario 300 of real-time map information update based on V2X communication according to an embodiment of the present invention is shown.

[0050] like Figure 3 As shown, in scenario 300, vehicle V1 is traveling on a road parallel to vehicle V2. In this case, vehicle V1 receives a V2X message from vehicle V2 via V2V communication, wherein the V2X message includes the location of vehicle V2 and environmental perception data corresponding to the location. Based on the received V2X message, the road condition information of the road where vehicle V2 is located can be determined, wherein the road condition information can indicate a traffic accident, road engineering, or emergency, etc. For example, when the environmental perception data received by vehicle V1 includes traffic signs such as construction barriers and signs, it can indicate that the road where vehicle V2 is located is under construction. Subsequently, the road can be marked on the map based on the determined road condition information. Thus, before vehicle V1 is about to enter the road, the road condition of the road can be detected in real time (for example, whether it is under construction or a traffic accident has occurred, etc.), and the navigation route can be adjusted in time to avoid emergencies on the road, etc., thereby improving travel efficiency.

[0051] Of course, it is understood that there are any other scenarios where the onboard map data is improved based on the received V2X messages.

[0052] Figure 4 A schematic flow chart of a real-time map information updating method 400 based on V2X communication according to an embodiment of the present invention is shown.

[0053] The method 400 starts at step 402 , where the V2X communication module 102 may obtain one or more corresponding V2X messages from one or more other vehicles within a certain range, where the one or more V2X messages include vehicle information of the corresponding vehicle and surrounding environment information.

[0054] In one embodiment, the vehicle information may include one or more of vehicle position, speed, gear, braking, heading angle, size or type information. The environmental information around the vehicle may include environmental perception data collected by sensors of the corresponding vehicle or environmental perception data received from a roadside unit or the cloud.

[0055] In step 404 , the road condition information determination module 104 may determine the road condition information corresponding to the vehicle position according to the acquired one or more V2X messages.

[0056] In one embodiment, the road condition information determination module 104 may determine the road congestion level corresponding to the vehicle position based on the vehicle position included in one or more acquired V2X messages and the vehicle speed corresponding to the vehicle position for subsequent map data update.

[0057] In another embodiment, the road condition information determination module 104 may determine the road condition information corresponding to the vehicle position based on the vehicle position contained in one or more acquired V2X messages and the environmental perception data corresponding to the vehicle position for subsequent map data updates. The road condition information may indicate a traffic accident, road engineering or emergency, etc.

[0058] In step 406 , the map information updating module 106 may perform real-time information update at the corresponding vehicle position on the map based on the determined road condition information.

[0059] In one embodiment, the map information update module 106 may mark the corresponding vehicle position on the map based on the road congestion level or road condition information indicating a traffic accident, road engineering or emergency, so as to perform real-time update of the map data.

[0060] Furthermore, the method may also include transmitting a V2X message containing vehicle information of the vehicle and surrounding environment information to one or more other vehicles within a certain range via V2X communication for real-time map information update of the one or more other vehicles.

[0061] Furthermore, the method may also include acquiring road information in real time from a roadside unit or the cloud via V2X communication, and the acquired road information may be integrated with road condition information determined based on one or more V2X messages received from other vehicles to further update the real-time map information.

[0062] Therefore, by obtaining status data or environmental data from other vehicles based on V2X communication, the existing vehicle maps can be improved to make them more accurate, and the marking of real-time road conditions can be more accurate, for example.

[0063] Figure 5 An exemplary vehicle 500 supporting real-time map information updates according to one embodiment of the present disclosure is shown.

[0064] The vehicle 500 may include at least the above-mentioned real-time map information updating system 100 , a sensor system 502 , a communication system 504 , a positioning system 506 , and a visual display system 508 .

[0065] The sensor system 502 may include, for example, a variety of sensors installed on the vehicle, including but not limited to visual sensors (e.g., vehicle-mounted cameras), millimeter-wave radars, laser radars, etc. The sensor system 502 may be used to collect environmental perception data about the vehicle's surroundings (e.g., road information, road condition information).

[0066] The communication system 504 can communicate with other vehicles within a certain range via direct V2X (vehicle-to-everything) communication or C-V2X (cellular-based vehicle-to-everything) communication (for example, vehicle data or surrounding environment data can be transmitted to other vehicles within a certain range). In the case of utilizing direct V2X communication (for example, DSRC technology), the vehicle is equipped with an on-board unit (OBU) and the road infrastructure is equipped with a roadside unit (RSU), wherein the vehicle transmits vehicle data to a corresponding receiver (for example, an OBU unit) of another vehicle within a certain range via direct V2V (vehicle-to-vehicle) communication, or transmits vehicle data to the roadside unit via V2I (vehicle-to-road infrastructure) communication and the roadside unit transmits it to another vehicle within a certain range. For direct V2X, the sending vehicle is actually connected to the intended receiver without the need for any additional infrastructure (for example, a base station or relay), thereby minimizing communication delays in transmission. In the case of utilizing C-V2X communication, a vehicle can transmit vehicle data to another vehicle within a certain range via the cellular network covered by the base station. In this case, long-distance transmission can be achieved and reliable, real-time, and low-latency communication between different network participants can be supported.

[0067] The positioning system 506 can locate the vehicle to determine the current location of the vehicle. The visual display system 508 can be used to display updated map information or navigation routes, etc.

[0068] Figure 6 1 shows a schematic architecture diagram of a real-time map information updating system 600 according to an embodiment of the present disclosure. The system 600 may be configured to execute various methods described herein (including, for example, Figure 4aspects of the methods described herein.

[0069] like Figure 6 As shown, the system 600 may include one or more processors 602. The one or more processors 602 may include a central processing unit (CPU), which may be a multi-core CPU in some examples. The instructions executed at the CPU may be loaded, for example, from a program memory associated with the CPU or may be loaded from a memory 604. The one or more processors 602 may also include additional processing components customized for specific functions, such as a graphics processing unit (GPU), a digital signal processor (DSP), and a neural processing unit (NPU). In some examples, the one or more processors 602 may be based on an ARM or RISC-V instruction set.

[0070] The system 600 also includes a memory 604. The memory 604 may include RAM, ROM, or a combination thereof. The memory 604 may store computer executable instructions that, when executed by at least one processor 602, cause the at least one processor to perform various functions described herein, including: obtaining corresponding one or more V2X messages from one or more other vehicles within a certain range, the one or more V2X messages including vehicle information of the corresponding vehicle and surrounding environment information; determining road condition information of the corresponding vehicle location based on the obtained one or more V2X messages; and performing real-time information updates at the corresponding vehicle location on the map based on the determined road condition information. In some cases, the memory 604 may particularly include a BIOS that may control basic hardware or software operations, such as interaction with peripheral components or devices.

[0071] Understandably, Figure 6 This is merely one example of a system, and other systems including fewer, additional, or alternative aspects may also be consistent with the present disclosure.

[0072] The various illustrative blocks and modules described in conjunction with the disclosure herein may be implemented or executed with a general purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration).

[0073] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Other examples and implementations fall within the scope of the present disclosure and the appended claims. For example, due to the nature of software, the functions described herein may be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination thereof. Features that implement the functions may also be physically located in various locations, including being distributed so that parts of the functions are implemented at different physical locations.

[0074] What has been described above includes examples of various aspects of the claimed subject matter. Of course, it is not possible to describe every conceivable combination of components or methods for the purpose of describing the claimed subject matter, but one of ordinary skill in the art will recognize that many further combinations and permutations of the claimed subject matter are possible. Thus, the disclosed subject matter is intended to encompass all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims.

Claims

1. A real-time map information updating method based on V2X communication for a vehicle, the method comprising: Obtain one or more corresponding V2X messages from one or more other vehicles within a certain range, wherein the one or more V2X messages include vehicle information of the corresponding vehicle and surrounding environment information; Determine the road condition information corresponding to the vehicle position according to the acquired one or more V2X messages; as well as Real-time information update is performed at the corresponding vehicle position on the map based on the determined road condition information.

2. The method according to claim 1, characterized in that The method further comprises: A V2X message including vehicle information and surrounding environment information of the vehicle is transmitted to one or more other vehicles within a certain range via V2X communication for real-time map information update of the one or more other vehicles.

3. The method according to claim 1, characterized in that The vehicle information includes one or more of vehicle position, vehicle speed, gear, braking, heading angle, size or type information.

4. The method according to claim 3, characterized in that Determining the road condition information corresponding to the vehicle position according to the acquired one or more V2X messages and performing real-time information update at the corresponding vehicle position on the map based on the determined road condition information further includes: Determining a road congestion level corresponding to the vehicle position according to the vehicle position included in the acquired one or more V2X messages and the vehicle speed corresponding to the vehicle position; and The corresponding vehicle position on the map is marked based on the road congestion level.

5. The method according to claim 1, characterized in that The surrounding environment information of the corresponding vehicle includes environmental perception data collected by the sensor of the corresponding vehicle or environmental perception data received from a roadside unit or the cloud.

6. The method according to claim 5, characterized in that Determining the road condition information corresponding to the vehicle position according to the acquired one or more V2X messages and performing real-time information update at the corresponding vehicle position on the map based on the determined road condition information further includes: Determining, based on the vehicle position contained in the acquired one or more V2X messages and the environmental perception data corresponding to the vehicle position, road condition information corresponding to the vehicle position, wherein the road condition information indicates a traffic accident, road engineering or emergency; and The corresponding vehicle position on the map is marked based on the road condition information.

7. The method according to claim 1, characterized in that The method further comprises: Obtaining real-time road information from roadside units or the cloud via V2X communication; and The acquired road information is integrated with road condition information determined based on one or more V2X messages received from other vehicles to further update the real-time map information.

8. A real-time map information updating system based on V2X communication for a vehicle, the system comprising: A V2X communication module, wherein the V2X communication module is configured to obtain one or more corresponding V2X messages from one or more other vehicles within a certain range, wherein the one or more V2X messages include vehicle information of the corresponding vehicle and surrounding environment information; A road condition information determination module, wherein the road condition information determination module is configured to determine road condition information corresponding to the vehicle position according to the acquired one or more V2X messages; as well as A map information updating module is configured to perform real-time information update at a corresponding vehicle position on a map based on the determined road condition information.

9. The system according to claim 8, characterized in that The V2X communication module is further configured to: A V2X message including vehicle information and surrounding environment information of the vehicle is transmitted to one or more other vehicles within a certain range via V2X communication for real-time map information update of the one or more other vehicles.

10. The system according to claim 8, characterized in that The vehicle information includes one or more of vehicle position, vehicle speed, gear, braking, heading angle, size or type information.

11. The system according to claim 10, characterized in that The road condition information determination module is further configured to determine the road congestion degree corresponding to the vehicle position according to the vehicle position contained in the one or more acquired V2X messages and the vehicle speed corresponding to the vehicle position, and The map information updating module is further configured to mark the corresponding vehicle position on the map based on the road congestion level.

12. The system of claim 8, wherein: The surrounding environment information of the corresponding vehicle includes environmental perception data collected by the sensor of the corresponding vehicle or environmental perception data received from a roadside unit or the cloud.

13. The system of claim 12, wherein: The road condition information determination module is further configured to determine road condition information corresponding to the vehicle position according to the vehicle position contained in the acquired one or more V2X messages and the environmental perception data corresponding to the vehicle position, wherein the road condition information indicates a traffic accident, road engineering or emergency, and The map information updating module is further configured to mark the corresponding vehicle position on the map based on the road condition information.

14. A vehicle comprising the real-time map information updating system according to any one of claims 8 to 13.

15. A computer-readable storage medium storing instructions, which, when executed, cause a vehicle to perform the method according to any one of claims 1 to 7.

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