Vehicle driving path tracking method, electronic equipment and storage medium

Abstract

The invention provides a vehicle driving path tracking method, electronic equipment and a storage medium, and relates to the technical field of vehicle driving path tracking, and the method comprises the steps: generating an initial path; acquiring the current actual position Z of the target vehicle; obtaining an initial path point Amin closest to the Z, and a previous initial path point AQ and a next initial path point AH adjacent to the Amin; z, Amin and AQ are connected to generate a first triangle, and Z, Amin and AH are connected to generate a second triangle; acquiring a vertical distance L between the Z and a target edge of the target triangle; if L is smaller than a preset distance threshold value, it is determined that the driving path of the target vehicle does not deviate from the initial path, and a point penetrating through Z and perpendicularly intersecting with the target edge is determined as a driving position corresponding to the target vehicle; according to the invention, the difference between the vehicle driving path and the preliminarily planned vehicle driving path can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving path tracking, and in particular to a vehicle driving path tracking method, electronic equipment and storage medium. Background Art

[0002] In the civil aviation field, civil aviation companies will develop their own passenger-hailing software. Passengers enter the corresponding departure and destination, and the civil aviation company's own software will preliminarily plan the vehicle's driving route based on the departure and destination entered by the passengers; however, the vehicle driving route planned by the civil aviation company's software is only generated based on the departure and destination entered by the user, and then the vehicle's positioning information is obtained from a third-party platform, and the vehicle's positioning information is matched with the initially planned route; however, the driver corresponding to the vehicle may not drive along the route planned by the civil aviation company's software, which may result in a large difference between the vehicle's driving route and the preliminary planned vehicle driving route when the user views the vehicle's driving route. Summary of the invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is:

[0004] According to a first aspect of the present application, a vehicle driving path tracking method is provided, the method comprising the following steps:

[0005] S100, generating an initial path according to coordinate information corresponding to a departure point and a destination input by a user; wherein the initial path includes a plurality of initial path points.

[0006] S200, obtaining the current actual position Z of the target vehicle at every preset time interval T; wherein the target vehicle is the vehicle called by the user.

[0007] S300, obtaining the initial path point A closest to Z min and A min The adjacent previous initial path point A Q And the next initial path point A H .

[0008] S400, change Z, A min With A Q Connect the first triangle and connect Z, A min With A H Connect to create the second triangle.

[0009] S500: If the three internal angles of the first triangle are all acute angles, determine the first triangle as a target triangle.

[0010] S600: If the three internal angles of the second triangle are all acute angles, determine the second triangle as a target triangle.

[0011] S700, obtaining a vertical distance L between Z and a target edge of a target triangle; wherein the target edge is an edge located on the initial path;

[0012] S800, if L<L', determine that the target vehicle's driving path is not offset from the initial path, and determine the point that passes through Z and intersects the target edge perpendicularly as the driving position corresponding to the target vehicle; wherein L' is a preset distance threshold.

[0013] According to another aspect of the present application, a non-transitory computer-readable storage medium is also provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned vehicle driving path tracking method.

[0014] According to another aspect of the present application, an electronic device is provided, including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0015] The present invention has at least the following beneficial effects:

[0016] The vehicle driving path tracking method of the present invention generates an initial path according to the coordinate information corresponding to the departure place and the destination input by the user; obtains the current actual position Z of the target vehicle at each preset time interval T; obtains the initial path point A closest to Z min and A min The adjacent previous initial path point A Q And the next initial path point A H ; Z, A min With A Q Connect the first triangle and connect Z, A min With A H Connect to generate a second triangle; if the three internal angles of the first triangle are all acute angles, the first triangle is determined as the target triangle; if the three internal angles of the second triangle are all acute angles, the second triangle is determined as the target triangle; obtain the vertical distance L between Z and the target side of the target triangle; if L is less than the preset distance threshold, it is determined that the target vehicle's driving path is not offset from the initial path, and the point that passes through Z and intersects the target side vertically is determined as the driving position corresponding to the target vehicle; thereby judging in real time whether the target vehicle is driving along the initial path, and when the driving position of the target vehicle deviates slightly from the initial path, the driving position of the target vehicle is adsorbed onto the initial path, thereby reducing the difference between the vehicle's driving path and the initially planned vehicle's driving path. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A flow chart of a vehicle driving path tracking method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application are described clearly and completely below. 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 technicians in the relevant technical field without creative work are within the scope of protection of the present application.

[0020] It is noteworthy that in the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0021] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or their collections. It should also be understood that when the term "and / or" is used in the present specification and the appended claims, it refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0022] In the description of the present specification and the appended claims, if the term "if" is used, it can be interpreted as "in the case of" or "when" or "uponce" or "in response to determining" or "in response to detecting" according to the context. Similarly, the phrase "if it is determined" or "if [the described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [the described condition or event] is detected" or "in response to detecting [the described condition or event]" according to the context.

[0023] In the description of this application specification and the appended claims, the terms "first", "second", "third", etc., are only used to distinguish the description and are not to be understood as indicating or implying relative importance, nor are they used to describe a specific order or sequence.

[0024] The following will refer to Figure 1 The flowchart of the vehicle driving path tracking method shown in the figure introduces a vehicle driving path tracking method.

[0025] The vehicle driving path tracking method may include the following steps:

[0026] S100, generating an initial path according to coordinate information corresponding to a departure point and a destination input by a user; wherein the initial path includes a plurality of initial path points.

[0027] In this embodiment, on the airline's ride-hailing software, the user can enter the departure place and destination, and the airline's software can generate an initial path based on the departure place and destination entered by the user; the initial path is used to prompt the user with the approximate driving path of the vehicle from the departure place to the destination; the initial path includes several initial path points.

[0028] It should be noted that those skilled in the art can use existing path planning methods according to actual needs to generate an initial path according to the coordinate information corresponding to the departure and destination input by the user, which will not be elaborated here.

[0029] S200, obtaining the current actual position Z of the target vehicle at every preset time interval T; wherein the target vehicle is the vehicle called by the user.

[0030] In this embodiment, the airline's ride-hailing software will obtain the current actual position Z of the corresponding target vehicle from the third-party travel platform at a preset time interval T. The actual position of the target vehicle may not be on the initial path because the driver of the target vehicle may not be driving along the initial path.

[0031] Furthermore, T may range from 2S to 4S, for example: T=3S; that is, the actual position of the target vehicle is acquired once every 3S.

[0032] S300, obtaining the initial path point A closest to Z min and A min The adjacent previous initial path point A Q And the next initial path point A H .

[0033] In this embodiment, after obtaining the current actual position Z of the target vehicle, the current actual position of the target vehicle is not necessarily on the initial planned path, and it is necessary to obtain the initial path point A closest to Z.min and A min The adjacent previous initial path point A Q And the next initial path point A H , for subsequent judgment.

[0034] Further, step S300 may include the following steps:

[0035] S310, obtaining the current speed V of the target vehicle.

[0036] In this embodiment, the real-time speed of the target vehicle can be obtained through a third-party platform.

[0037] S320, according to T and V, determine the target distance LQ=α×T×V; wherein α is a first preset weight; α>1.

[0038] In this embodiment, there will be a delay in signal transmission when obtaining the current real-time position of the target vehicle. Moreover, the positioning accuracy of the target vehicle is not absolutely accurate. It is difficult to directly determine the initial path point closest to Z. The traversal method consumes a long time and has low efficiency. In order to improve efficiency, the target distance is first determined, and the initial path point closest to the current position of the target vehicle will be within the path range of the target distance.

[0039] Furthermore, the value range of α is 1.3 to 2; α can be obtained through a large number of experiments, for example: α=1.5.

[0040] S330, obtaining each initial path point in LQ with Z as the midpoint on the initial path to obtain an initial path point list B = (B 1 , B 2 , …, B i , …, B n ), i = 1, 2, ..., n; where B i is the i-th initial path point obtained, and n is the number of initial path points obtained.

[0041] In this embodiment, when the target vehicle is traveling, a small deviation will occur from the initial path. However, the target vehicle will travel along the initial path without deviating from the initial path. Taking Z as the midpoint, each initial path point within LQ is taken on the initial path to obtain B. This is equivalent to obtaining several initial path points in front of Z and several initial path points behind Z, and the initial path point closest to Z must be within B.

[0042] S340, obtaining the distance between Z and each initial path point in B to obtain the distance list LB corresponding to B = (LB 1 , L.B. 2 , …, LB i, …, LB n ), where LB i For Z and B i The distance between.

[0043] S350, according to B, determine the minimum distance LB min =MIN(LB).

[0044] S360, LB min The corresponding initial path point is determined as A min .

[0045] In this embodiment, through the above steps, the initial path point closest to Z can be limited to a certain range, and it is only necessary to traverse each initial path point within the limited range, thereby greatly reducing the traversal time and improving processing efficiency.

[0046] In this embodiment, after obtaining the initial path point A closest to Z min After that, you can also get the same min The adjacent previous initial path point A Q And the next initial path point A H .

[0047] S400, change Z, A min With A Q Connect the first triangle and connect Z, A min With A H Connect to create the second triangle.

[0048] In this embodiment, after determining A min , A Q and A H After that, you can put Z, A min With A Q Connect the first triangle and connect Z, A min With A H Connect the generated second triangles to further determine between which two initial path points Z is on the initial path.

[0049] S500: If the three internal angles of the first triangle are all acute angles, determine the first triangle as a target triangle.

[0050] In this embodiment, if the three internal angles of the first triangle are all acute angles, it means that the point that passes through Z and intersects the target edge perpendicularly is located at A. min With A Q If the first triangle is between , the first triangle is determined as the target triangle.

[0051] S600: If the three internal angles of the second triangle are all acute angles, determine the second triangle as a target triangle.

[0052] In this embodiment, if the three internal angles of the second triangle are all acute angles, it means that the point that passes through Z and intersects the target edge perpendicularly is located at A. H With A Q If the second triangle is between , the second triangle is determined as the target triangle.

[0053] S700, obtaining a perpendicular distance L between Z and a target edge of a target triangle; wherein the target edge is an edge located on the initial path.

[0054] In this embodiment, it should be noted that those skilled in the art can use the existing vertical distance calculation method to calculate the vertical distance L between Z and the target side of the target triangle according to actual needs, which will not be elaborated here.

[0055] S800, if L<L', determine that the target vehicle's driving path is not offset from the initial path, and determine the point that passes through Z and intersects the target edge perpendicularly as the driving position corresponding to the target vehicle; wherein L' is a preset distance threshold.

[0056] In this embodiment, if L<L', it means that the target vehicle has not deviated too much from the initial path. Within the preset distance range, it is determined that the target vehicle's driving path has not deviated from the initial path. In order to make the target vehicle icon on the map travel along the initial planned path, the point where Z intersects vertically with the target edge is determined as the driving position corresponding to the target vehicle, and the icon corresponding to the target vehicle is at the point where Z intersects vertically with the target edge, that is, the actual driving position of the target vehicle is adsorbed onto the initial path.

[0057] Furthermore, after step S800, the method may further include the following steps:

[0058] S900: If L≥L', it is determined that the target vehicle's driving path deviates from the initial path.

[0059] S910, replanning the target vehicle's travel path according to the destination and Z.

[0060] In this embodiment, after determining that the target vehicle's driving path deviates from the initial path, the target vehicle's driving path is replanned according to the destination and Z, and the path that has already been driven is not planned, thereby improving the path planning efficiency.

[0061] Further, the range of L' is 25m to 35m; for example, L' is 30m; L' can be obtained based on a large number of experiments.

[0062] Further, after step S600 and before step S700, the method may further include the following steps:

[0063] S610: If there is an obtuse angle among the three internal angles of the first triangle and there is an obtuse angle among the three internal angles of the second triangle, the actual position Z' of the target vehicle is acquired again at intervals of T.

[0064] In this embodiment, if one of the three internal angles of the first triangle is an obtuse angle and one of the three internal angles of the second triangle is also an obtuse angle, it means that the target triangle that meets the preset conditions has not been determined. At this time, it is impossible to determine between which two initial path points the point passing through Z and intersecting the target side perpendicularly is located, and the target vehicle may deviate from the initial path. In order to determine the driving status of the target vehicle, the actual position Z' of the target vehicle can be obtained again at an interval of T.

[0065] S620, obtaining the initial path point A closest to Z' min '.

[0066] Similarly, the initial path point A closest to Z' can be obtained through the above steps. min '.

[0067] S630, if A min With A min ' is the same initial path point and LN'>LN, then it is determined that the target vehicle has deviated from the initial planned path; where LN' is the difference between Z' and A min ', LN is the distance between Z and A min The distance between.

[0068] In this embodiment, if A min With A min ' is the same initial path point and LN'>LN, it means that the target vehicle has deviated from the initial path, for example: the target vehicle has turned.

[0069] Furthermore, after step S630, the method may further include the following steps:

[0070] S640: If the target vehicle deviates from the initially planned path, the path of the target vehicle is replanned according to Z' and the destination.

[0071] In this embodiment, if it is determined that the target vehicle deviates from the initial planned path, in order to enable the user to understand the driving trajectory of the target vehicle in real time, the initial path needs to be re-planned; when re-planning the path, the path that has been traveled can remain unchanged, and the subsequent driving path of the target vehicle is re-planned according to the departure point, destination and Z', so that the target vehicle can travel along the planned path, which is convenient for the user to view the driving location of the target vehicle in real time.

[0072] The vehicle driving path tracking method of this embodiment generates an initial path according to the coordinate information corresponding to the departure and destination input by the user; obtains the current actual position Z of the target vehicle at each preset interval T; obtains the initial path point A closest to Z min and A min The adjacent previous initial path point A Q And the next initial path point A H ; Z, A min With A Q Connect the first triangle and connect Z, A min With A H Connect to generate a second triangle; if the three internal angles of the first triangle are all acute angles, the first triangle is determined as the target triangle; if the three internal angles of the second triangle are all acute angles, the second triangle is determined as the target triangle; obtain the vertical distance L between Z and the target side of the target triangle; if L is less than the preset distance threshold, it is determined that the target vehicle's driving path is not offset from the initial path, and the point that passes through Z and intersects the target side vertically is determined as the driving position corresponding to the target vehicle; thereby judging in real time whether the target vehicle is driving along the initial path, and when the driving position of the target vehicle deviates slightly from the initial path, the driving position of the target vehicle is adsorbed onto the initial path, thereby reducing the difference between the vehicle's driving path and the initially planned vehicle's driving path.

[0073] Furthermore, the method in this embodiment can also accurately determine whether the target vehicle deviates from the initial path, and re-plan the subsequent driving path based on the current position and destination of the target vehicle, further reducing the difference between the vehicle's driving path and the initially planned vehicle driving path.

[0074] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0075] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0076] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0077] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0078] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0079] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0080] An embodiment of the present invention further provides an electronic device, comprising a processor and the aforementioned non-transitory computer-readable storage medium.

[0081] The electronic device is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0082] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one memory mentioned above, and a bus connecting different system components (including the memory and the processor).

[0083] The memory stores program codes, which can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.

[0084] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0085] The memory may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0086] The bus may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0087] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0088] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0089] An embodiment of the present invention further provides a computer program product, which includes program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0090] Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A vehicle driving path tracking method, characterized in that: The method comprises the following steps: S100, generating an initial path according to coordinate information corresponding to a departure point and a destination input by a user; wherein the initial path includes a plurality of initial path points; S200, obtaining the current actual position Z of the target vehicle at every preset time interval T; wherein the target vehicle is the vehicle called by the user; S300, obtaining the initial path point A closest to Z min and A min The adjacent previous initial path point A Q And the next initial path point A H ; S400, change Z, A min With A Q Connect the first triangle and connect Z, A min With A H Connect to generate the second triangle; S500, if the three internal angles of the first triangle are all acute angles, determine the first triangle as a target triangle; S600, if the three internal angles of the second triangle are all acute angles, determine the second triangle as a target triangle; S700, obtaining a vertical distance L between Z and a target edge of a target triangle; wherein the target edge is an edge located on the initial path; S800, if L<L', determine that the target vehicle's driving path is not offset from the initial path, and determine the point that passes through Z and intersects the target edge perpendicularly as the driving position corresponding to the target vehicle; wherein L' is a preset distance threshold.

2. The vehicle driving path tracking method according to claim 1, characterized in that: Step S300 includes the following steps: S310, obtaining the current speed V of the target vehicle; S320, according to T and V, determine the target distance LQ = α × T × V; wherein α is a first preset weight; α> 1; S330, obtaining each initial path point in LQ with Z as the midpoint on the initial path to obtain an initial path point list B = (B1, B2, ..., B i , …, B n ), i = 1, 2, ..., n; where B i is the i-th initial path point obtained, and n is the number of initial path points obtained; S340, obtaining the distance between Z and each initial path point in B to obtain the distance list LB corresponding to B = (LB1, LB2, ..., LB i , …, LB n ), where LB i For Z and B i The distance between S350, according to B, determine the minimum distance LB min =MIN(LB); S360, LB min The corresponding initial path point is determined as A min .

3. The vehicle driving path tracking method according to claim 2, characterized in that: The value range of α is 1.3 to 2.

4. The vehicle driving path tracking method according to claim 1, characterized in that: After step S600 and before step S700, the method further includes the following steps: S610, if there is an obtuse angle among the three internal angles of the first triangle and there is an obtuse angle among the three internal angles of the second triangle, then the actual position Z' of the target vehicle is acquired again at intervals of T; S620, obtaining the initial path point A closest to Z' min '; S630, if A min With A min ' is the same initial path point and LN'>LN, then it is determined that the target vehicle has deviated from the initial planned path; where LN' is the difference between Z' and A min ', LN is the distance between Z and A min The distance between.

5. The vehicle driving path tracking method according to claim 4, characterized in that: After step S630, the method further includes the following steps: S640: If the target vehicle deviates from the initially planned path, the path of the target vehicle is replanned according to Z' and the destination.

6. The vehicle driving path tracking method according to claim 1, characterized in that: After step S800, the method further includes the following steps: S900, if L≥L', determining that the target vehicle's driving path deviates from the initial path; S910, replanning the target vehicle's travel path according to the destination and Z.

7. The vehicle driving path tracking method according to claim 1, characterized in that: L' ranges from 25m to 35m.

8. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle driving path tracking method as described in any one of claims 1-7.

9. An electronic device, characterized in that: Includes a processor and the non-transitory computer-readable storage medium of claim 8.

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