Vehicle control method and device, vehicle, storage medium and program product

Abstract

The invention relates to a vehicle control method and device, a vehicle, a storage medium and a program product. The driving state data of the vehicle can be acquired in response to the vehicle entering the preset driving mode; the vehicle is controlled to output a target special effect according to the driving state data, the target special effect comprises at least one special effect element, a target attribute corresponding to each special effect element is matched with the driving state data, and the target attribute comprises at least one of the movement speed, the movement direction, the color, the shape, the size, the density and the sound of the special effect element. Therefore, after the vehicle is switched to the preset driving mode, the target attribute of the target special effect can respond to the dynamic change of the vehicle driving state data in real time, so that the driving atmosphere rendering of the vehicle is more personalized, and the immersion experience brought to a driver by the intelligent cabin is also enhanced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a vehicle control method, device, vehicle, storage medium and program product. Background Art

[0002] In recent years, with the rapid development of intelligent cockpit technology, cars are no longer just means of transportation, but are gradually evolving into "intelligent, emotional, immersive" mobile spaces. In terms of driving experience, car manufacturers are paying more and more attention to the impact of driving modes on users' emotions and immersion. Especially in high-performance modes such as sports, catapult, and rage, how to convey a fierce, dynamic or futuristic driving atmosphere to drivers has become one of the key directions in current cockpit experience design.

[0003] The driving atmosphere rendering solutions provided in related technologies have relatively simple forms of expression and cannot create a dynamic immersive driving experience for users. Summary of the Invention

[0004] To overcome the problems existing in related technologies, the present disclosure provides a vehicle control method, device, vehicle, storage medium and program product.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, including: in response to the vehicle entering a preset driving mode, acquiring driving state data of the vehicle; controlling the vehicle to output a target special effect according to the driving state data, the target special effect including at least one special effect element, and a target attribute corresponding to each special effect element matching the driving state data, the target attribute including at least one of a movement speed, movement direction, color, shape, size, density and sound of the special effect element.

[0006] By adopting the above method, after the vehicle switches to the preset driving mode, at least one target attribute of the movement speed, movement direction, color, shape, size, density and sound of the target special effect output by the vehicle matches the driving state data of the vehicle, realizing real-time linkage between the target special effect and the dynamic driving state data of the vehicle, and also making the driving atmosphere rendering of the vehicle more personalized, enhancing the immersive experience of the passengers in the vehicle during the driving mode switching process.

[0007] In some possible implementation manners, the controlling the vehicle to output a target special effect according to the driving state data includes: determining special effect parameters according to the driving state data; controlling the vehicle to output the target special effect according to the special effect parameters.

[0008] With this implementation manner, the special effect parameters matching the driving state data can be dynamically determined based on the driving state data, and the target special effect that changes dynamically with the driving state data can be rendered based on the special effect parameters, making the rendering of the driving atmosphere of the vehicle more personalized.

[0009] In some possible implementation manners, the target special effect includes an animation special effect, the special effect elements include the animation special effect elements corresponding to the animation special effect, and the special effect parameters include at least one of the following parameters corresponding to the animation special effect elements: emission rate, shape, color, velocity field, speed limit, speed inheritance, life cycle, initial velocity, and initial size.

[0010] With this implementation manner, based on the above several special effect parameters, an animation special effect that changes dynamically following the driving state data of the vehicle can be generated, making the current rendering of the driving atmosphere more personalized and enhancing the driver's driving immersion.

[0011] In some possible implementation manners, the animation special effect elements include at least one particle in the particle system.

[0012] With this implementation manner, an animation special effect that changes dynamically following the driving state data of the vehicle can be generated through the particle system, enhancing the driver's immersion in the driving atmosphere.

[0013] In some possible implementation manners, controlling the vehicle to output the target special effect according to the special effect parameters includes: controlling the vehicle to display the animation special effect through a display device according to the special effect parameters.

[0014] With this implementation manner, the animation special effect can be displayed to the user through the display device, enabling the user in the vehicle to more intuitively feel the atmosphere rendering of the animation special effect visually and enhancing the immersion of the driving experience.

[0015] In some possible implementation manners, the display device includes at least one of the following: the central control screen, instrument screen, head-up display device, co-pilot screen, and rear row screen of the vehicle.

[0016] With this implementation manner, the animation special effect can be jointly displayed through multiple display devices in the vehicle, thereby meeting the viewing needs of different users in the vehicle for the animation special effect.

[0017] In some possible implementation manners, the target special effect includes a lighting special effect, the special effect elements include the lighting special effect elements corresponding to the lighting special effect, and the special effect parameters include at least one of the lighting color, brightness, and blinking frequency corresponding to the lighting special effect elements.

[0018] With this implementation manner, the lighting special effect can be combined with the animation special effect on the vehicle display device to jointly create a driving atmosphere adapted to the current driving state data, further enhancing the driver's immersion.

[0019] In some possible implementation manners, the target special effect includes a sound special effect, the special effect element includes the sound special effect element corresponding to the sound special effect, and the special effect parameter includes at least one of the loudness, pitch, timbre, melody, and rhythm corresponding to the sound special effect element.

[0020] With this implementation manner, the sound special effect can be combined with the lighting special effect and the animation special effect on the vehicle display device to jointly create a driving atmosphere adapted to the current driving state data, further enhancing the driver's immersion.

[0021] In some possible implementation manners, the driving state data includes the vehicle speed and / or acceleration of the vehicle; determining the special effect parameter according to the driving state data includes: determining the special effect parameter according to the vehicle speed and / or the acceleration.

[0022] With this implementation manner, the special effect parameter is determined based on the vehicle speed and / or acceleration of the vehicle, and based on this special effect parameter, a target special effect that changes with the dynamic changes of the vehicle speed and / or acceleration can be output, realizing the dynamic linkage between the target special effect and the vehicle speed and / or acceleration, and enhancing the driving immersion.

[0023] In some possible implementation manners, the driving state data further includes the user state data of the user in the vehicle; determining the special effect parameter according to the driving state data includes: determining the special effect parameter according to the vehicle speed, the acceleration, and the user state data.

[0024] In some possible implementation manners, the user state data includes at least one of the user's heart rate, breathing rate, and emotional state.

[0025] With this implementation manner, based on the user state data of the user in the vehicle, combined with the vehicle speed and vehicle acceleration, the special effect parameter of the target special effect is determined, and based on this special effect parameter, a target special effect that changes with the vehicle speed, acceleration, and user state data (such as heart rate, breathing rate, and emotional state) in the vehicle can be output, realizing the dynamic linkage between the target special effect and the vehicle speed, acceleration, and user state data, making the rendering of the vehicle's driving atmosphere more personalized.

[0026] In some possible implementation manners, the method further includes: acquiring the face image of the user; performing image recognition on the face image to determine the emotional state.

[0027] By adopting this embodiment, the target special effects matching the emotional state of the in-vehicle user can be generated, which can better highlight the personalization of the driving atmosphere rendering and enhance the immersive feeling of the in-vehicle user in the driving atmosphere.

[0028] According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle control device, including: An acquisition module, configured to acquire the driving state data of the vehicle in response to the vehicle entering a preset driving mode; A special effect output module, configured to control the vehicle to output target special effects according to the driving state data, the target special effects including at least one special effect element, and the target attribute corresponding to each special effect element matching the driving state data, the target attribute including at least one of the movement speed, movement direction, color, shape, size, density, and sound of the special effect element.

[0029] In some possible implementation manners, the special effect output module is configured to determine special effect parameters according to the driving state data; and control the vehicle to output the target special effects according to the special effect parameters.

[0030] In some possible implementation manners, the target special effects include animation special effects, the special effect elements include the animation special effect elements corresponding to the animation special effects, and the special effect parameters include at least one of the following parameters corresponding to the animation special effect elements: emission rate, shape, color, velocity field, speed limit, speed inheritance, life cycle, initial speed, and initial size.

[0031] In some possible implementation manners, the special effect output module is configured to control the vehicle to display the animation special effects through a display device according to the special effect parameters, and the display device includes at least one of the following: the central control screen, instrument screen, head-up display device, co-pilot screen, and rear row screen of the vehicle.

[0032] In some possible implementation manners, the target special effects include lighting special effects, the special effect elements include the lighting special effect elements corresponding to the lighting special effects, and the special effect parameters include at least one of the lighting color, brightness, and flashing frequency corresponding to the lighting special effect elements.

[0033] In some possible implementation manners, the target special effects include sound special effects, the special effect elements include the sound special effect elements corresponding to the sound special effects, and the special effect parameters include at least one of the loudness, pitch, timbre, melody, and rhythm corresponding to the sound special effect elements.

[0034] In some possible implementation manners, the driving state data includes the vehicle speed and / or acceleration of the vehicle; the special effect output module is configured to determine the special effect parameters according to the vehicle speed and / or the acceleration.

[0035] In some possible embodiments, the driving state data further includes user state data of a user inside the vehicle; the special effect output module is further configured to determine the special effect parameters according to the vehicle speed, the acceleration, and the user state data.

[0036] In some possible embodiments, the user state data includes at least one of the user's heart rate, breathing rate, and emotional state.

[0037] According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle, including: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the steps of the vehicle control method provided in the first aspect of the present disclosure.

[0038] According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.

[0039] According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.

[0040] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: in response to the vehicle entering a preset driving mode, controlling the vehicle to output a target special effect according to the driving state data of the vehicle, and at least one target attribute of the movement speed, movement direction, color, shape, size, density, and sound of the target special effect matches the driving state data of the vehicle, realizing the real-time linkage between the target special effect and the dynamic driving state data of the vehicle, making the rendering of the driving atmosphere of the vehicle more personalized, and enhancing the immersive experience of the passengers in the vehicle during the driving mode switching process.

[0041] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0043] Figure 1 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0044] Figure 2 is a flowchart of a vehicle control method shown according to Figure 1 the embodiments shown.

[0045] Figure 3 is a block diagram of a vehicle control device shown according to an exemplary embodiment.

[0046] Figure 4 is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed implementation manners

[0047] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0048] It should be noted that all actions of obtaining signals, information, or data in the present disclosure are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining authorization from the owner of the corresponding device.

[0049] The present disclosure is mainly applied to the scenario of creating a driving atmosphere in an intelligent cockpit. Especially in high-performance modes such as sports, catapult, and rage, through multi-modal means such as the central control screen, instrument screen, HUD, ambient light, and sound, a fierce, dynamic, or futuristic driving atmosphere is conveyed to the driver.

[0050] Traditional driving mode switching usually only changes driving parameters (such as throttle response, steering assist, etc.) and some static visual elements of the UI (User Interface), and in terms of visual effects, the manifestation form is relatively simple, lacking a sense of dynamic interaction and real-time feedback. For example, some vehicle models can hardly form a truly "immersive" atmosphere experience by simply switching a background image and adjusting the main color of the interface.

[0051] The real-time rendered atmosphere effects provided in the related art often rely on preset schemes, lack linkage with dynamic parameters such as vehicle driving status and occupant physiological data, are difficult to create a dynamic immersive feeling, and the atmosphere rendering of the cockpit is not personalized, resulting in a poor user driving experience.

[0052] To solve the above existing problems, the present disclosure provides a vehicle control method, device, vehicle, storage medium, and program product. The following will describe the specific implementation manners of the present disclosure in detail with reference to the drawings.

[0053] Figure 1It is a flowchart of a vehicle control method shown according to an exemplary embodiment, and this method can be used in a vehicle. As Figure 1 shown, this method includes the following steps.

[0054] In step S11, in response to the vehicle entering a preset driving mode, obtain the driving state data of the vehicle.

[0055] In one implementation, the driving state data may include the dynamic driving parameters of the vehicle, and the dynamic driving parameters may include, for example, vehicle speed and / or acceleration, etc. In another implementation, the driving state data may further include the real-time user state data of the user (i.e., the passenger) in the vehicle, and the user state data may include, for example, at least one of the user's heart rate, breathing rate, and emotional state.

[0056] Considering the actual application scenario, users have a higher demand for driving immersion in high-performance driving scenarios (such as "rage mode", "launch mode", etc.). Therefore, in this step, in response to the vehicle entering the preset driving mode, obtain the driving state data. Among them, the preset driving mode may include, for example, high-performance driving modes such as sports mode, rage mode, or launch mode.

[0057] In this way, in response to the vehicle entering the preset driving mode, obtain the driving state data of the vehicle, and then control the vehicle to output the target special effects for driving atmosphere rendering according to the driving state data, realizing the real-time linkage between the atmosphere special effects and the dynamic driving state data of the vehicle, and enhancing the immersive experience of the passengers in the vehicle during the driving mode switching process.

[0058] In this step, the driving state data can be obtained through data acquisition. When performing data acquisition, the vehicle can collect the vehicle speed, vehicle acceleration (or called "vehicle longitudinal G value"), etc. in real time through the in-vehicle CAN (Controller Area Network) bus or sensors. For the user's physiological data such as heart rate and breathing rate, they can be collected by the intelligent device (such as a smart watch) worn by the user and then transmitted to the vehicle head unit based on wireless communication. For the user's emotional state, the vehicle in this disclosure can obtain the face image of the user (for example, collect the face image based on the camera in the cockpit), and then determine the emotional state through image recognition of the face image. For example, the face image can be input into a pre-trained face emotion recognition model, and the emotional state of the user can be output through the model.

[0059] In step S12, the vehicle is controlled to output a target special effect according to the driving state data. The target special effect includes at least one special effect element, and the target attribute corresponding to each special effect element matches the driving state data. The target attribute includes at least one of the movement speed, movement direction, color, shape, size, density, and sound of the special effect element.

[0060] Among them, the target special effect is used for rendering the driving atmosphere. The target special effect may include an animation special effect, and may further superimpose a light special effect, a sound special effect, etc. on the basis of the animation special effect. In this way, through multi-modal means such as animation, light, and sound, a more immersive and personalized driving atmosphere can be created for users in the intelligent cockpit.

[0061] In addition, the special effect element can be understood as a preset special effect unit that composes the target special effect. The target special effect in the present disclosure may include at least one of an animation special effect, a sound special effect, and a light special effect. For different types of special effects, the corresponding special effect elements are also different. For example, for an animation special effect, the special effect element is an animation special effect element. The animation special effect element may include, for example, at least one particle in a particle system (the particle system and particles are described in detail later). The form of the animation special effect element may be, for example, a point, a ripple, a picture, etc. For a light special effect, the special effect element is a light special effect element. The light special effect element may be, for example, a light signal with specified light parameters (such as at least one of light color, brightness, and blinking frequency). For a sound special effect, the special effect element is a sound special effect element. The sound special effect element may be, for example, a section of audio with specified audio parameters (such as at least one of loudness, pitch, timbre, melody, and rhythm).

[0062] In a high-performance driving scenario, the user expects the target special effect to respond in real time to the driving pleasure brought by stepping on the accelerator and sudden acceleration, and at the same time link the driver's real-time physiological data (such as heart rate). In this case, the vehicle can obtain real-time driving state data such as vehicle speed, vehicle acceleration, and the driver's heart rate, and map the driving state data to special effect parameters through algorithm mapping. The special effect parameters are used to characterize the target attributes of each special effect element of the target special effect to be rendered. The target attribute refers to an attribute feature that can bring different feelings to the user's senses. For example, it may include the movement speed, movement direction, shape, color, and size of the particles in the animation special effect, the height and rhythm of the sound in the sound special effect, and the blinking frequency and light color of the light in the light special effect. In this way, based on the driving state data, the special effect parameters that match it can be dynamically determined, and based on the special effect parameters, the target special effect with the target attributes changing dynamically with the vehicle speed, acceleration, and the driver's real-time heart rate data can be rendered.

[0063] Using the above method, in response to the vehicle entering a preset driving mode, the vehicle output target special effects are controlled according to the driving state data of the vehicle. The target attributes of the target special effects (such as at least one of the movement speed, movement direction, color, shape, size, density, and sound) match the driving state data of the vehicle, realizing the real-time linkage between the target special effects and the dynamic driving state data of the vehicle, making the rendering of the driving atmosphere of the vehicle more personalized, and enhancing the immersive experience of the passengers in the vehicle during the driving mode switching process.

[0064] Figure 2 is based on Figure 1 The flowchart of a vehicle control method shown in the illustrated embodiment is as Figure 2 shown, and step S12 includes the following sub-steps: In step S121, special effect parameters are determined according to the driving state data.

[0065] Among them, the special effect parameters can be used to characterize the target attributes of each special effect element of the target special effect to be rendered, and the target attributes refer to the attribute characteristics that can bring different feelings to the user's senses. For example, the change frequency, shape, and color of the animation special effect elements in the animation special effect are different, the height and rhythm of the sound in the sound special effect are different, or the flashing frequency and color of the light in the light special effect are different, etc., all of which will bring different feelings to the user's senses.

[0066] In some possible embodiments, the target special effect includes an animation special effect, and the animation special effect can be, for example, any form of animation such as fireworks, meteors, flowing water, storms, etc. The animation special effect can be composed of multiple animation special effect elements, and the special effect parameters include at least one of the following parameters corresponding to the animation special effect elements: emission rate, shape, color, velocity field, speed limit, speed inheritance, life cycle, initial velocity, and initial size. Among them, the animation special effect elements can include at least one particle in the particle system. It can be understood that the magnitude of the special effect parameters corresponding to the animation special effect can affect the visual effect of the animation special effect.

[0067] Among them, the particle system is a method for simulating complex phenomena (such as fireworks, flames, rain, snow, etc.) and can be used in computer graphics and visual effects. The particle system dynamically represents these phenomena through a large number of small particles (points or particles), and developers can create different visual effects based on this particle system. In the particle system, a "particle" is a basic unit for simulating and representing physical phenomena. There can be various forms of presentation of particles in the particle system. For example, they can be points, textures, geometries, 3D models, and particle flows, etc. Among them, points are the most basic particle presentation. The particles appear in the form of small dots and can be used to represent effects such as starry sky and smoke. Using textures to represent particles, the texture can be, for example, a transparent image (such as flames, smoke, or petals). For particles in the form of geometries, the geometry can be, for example, a triangle, a quadrilateral, a circle, or a cube. The particles in the form of geometries can be used to represent the effects of large-scale particles. In some cases, the particles can also be 3D models, such as leaves and fragments, so as to display special effects with higher details. For particles in the form of particle flows, many particles flow or gather together to form more complex visual effects, such as flowing water and storms. This can be achieved by adjusting the movement trajectories and combination methods of the particles. In short, the particles in the particle system for generating animation special effects in this application can be in one or more of the above forms. In actual application scenarios, they can be adjusted and combined according to specific requirements and creativity to generate the animation special effects with target visual effects matching the driving state data of the vehicle.

[0068] Taking the particle in the particle system as an example of the animation special effect element, the above several special effect parameters corresponding to the animation special effect are described below.

[0069] Emission Rate of Particles: In a particle system, the emission rate of particles refers to the number of particles generated per unit time. The magnitude of the particle emission rate determines the intensity and appearance of the animation special effects. For example, a higher emission rate can create denser and heavier special effects, such as thick smoke, fierce flames, strong winds, or high-speed and high-density meteor showers, with a more intense visual effect. A lower emission rate creates animation special effects with a sparser visual effect, suitable for simulating mild phenomena like light rain or thin smoke, looking more gentle. In addition, the particle emission rate can be used in conjunction with the particle's lifespan. The lifespan of a particle determines the duration of its existence. A higher emission rate combined with a shorter lifespan can create a fast-flowing effect. Conversely, if the lifespan is long and the emission rate is low, the particles may appear more stable. In a particle system, a velocity field can be used to define the speed and direction of particles during motion. The speed limit refers to restricting the maximum value of the particle's motion speed to prevent the particles from moving too fast and to maintain controllability of the visual effect. Speed inheritance enables newly generated particles to start moving based on the motion state of existing particles to form a more coherent visual effect. In addition, the shape, color, initial velocity, and initial size of the particles also have different effects on the visual effect of the animation special effects.

[0070] Therefore, the present disclosure can perform step S121 to map the driving state data of the vehicle to obtain the special effect parameters. Since the special effect parameters can characterize the visual effect of the animation special effect to be rendered and the special effect parameters are mapped based on the current real-time driving state data of the vehicle, the visual effect of the animation special effect generated based on the special effect parameters can dynamically change with the current real-time driving state data of the vehicle, thereby making the current driving atmosphere rendering more personalized and enhancing the driver's sense of immersion.

[0071] As described above, in one implementation, the driving state data includes the vehicle speed and / or acceleration of the vehicle. In this way, during the execution of step S121, the special effect parameters can be determined according to the vehicle speed and / or acceleration. In another implementation, the driving state data may further include the user state data of the user inside the vehicle. In this way, during the execution of step S121, the special effect parameters can be determined according to the vehicle speed, acceleration, and the user state data, and the user state data includes at least one of the user's heart rate, breathing rate, and emotional state.

[0072] The following describes the process of generating and rendering the animation special effect based on the particle system according to the driving state data.

[0073] Exemplarily, assume that the driving state data includes the vehicle speed, acceleration, and the user's heart rate.

[0074] First, perform data preprocessing on the driving state data.

[0075] The data preprocessing includes two aspects. One is signal denoising and filtering. A first-order low-pass filter can be used to smooth the vehicle speed, acceleration, and real-time heart rate data to reduce the influence of noise and instantaneous fluctuations and improve data accuracy and stability. The specific implementation formula is:

[0076] Among them, represents the vehicle speed, g represents the acceleration, h represents the user's heart rate, , , respectively represent the vehicle speed, acceleration, and user's heart rate after filtering processing, is the filtering coefficient of the vehicle speed, is the filtering result of the vehicle speed in the previous frame; is the filtering coefficient of the acceleration, is the filtering result of the acceleration in the previous frame; is the filtering coefficient of the heart rate, is the filtering result of the heart rate in the previous frame. Each filtering coefficient involved in this formula can be preset according to experience.

[0077] The other aspect of data preprocessing is data clipping. Data clipping can be performed on the vehicle speed, acceleration, and user's heart rate after filtering processing respectively to clip them to a reasonable value range. The implementation formula is:

[0078] Among them, , and respectively represent the vehicle speed, acceleration, and user's heart rate after clipping processing, and respectively represent the minimum value and maximum value of the vehicle speed, and respectively represent the minimum value and maximum value of the acceleration, and respectively represent the minimum value and maximum value of the user's heart rate. The maximum value and minimum value of the three types of parameters involved can be preset based on empirical values, and the present disclosure does not limit this.

[0079] Secondly, map the preprocessed driving state data to obtain various special effect parameters based on the dynamic mapping algorithm.

[0080] 1) Perform normalization processing. The preprocessed vehicle speed, acceleration, and the user's heart rate are respectively processed through a custom normalization curve function to obtain the normalization results:

[0081] Among them, each is a custom curve function defined in the input interval, and x can represent the vehicle speed v, acceleration g, and the user's heart rate h respectively.

[0082] 2) Perform weighted summation on the normalized vehicle speed, acceleration, and the user's heart rate to obtain the following normalized output result :

[0083] Among them, the Clamp01 function is used to limit the value after weighted summation to keep it within the range of 0 to 1. is the weight coefficient corresponding to the vehicle speed, is the weight coefficient corresponding to the acceleration, is the weight coefficient corresponding to the user's heart rate, and if only rendering animation effects based on these three types of data, namely vehicle speed, acceleration, and the user's heart rate, + + = 1.

[0084] It should be noted that 、 and These three weight coefficients can be set according to empirical values or based on actual special effect rendering requirements.

[0085] Exemplarily, in the case where the vehicle switches to a high-performance driving mode such as the catapult mode or the rage mode, its acceleration and vehicle speed can better characterize the user's current intense driving behavior. Therefore, the weight coefficient corresponding to the acceleration and the weight coefficient corresponding to the vehicle speed can be set to be greater than the weight coefficient corresponding to the user's heart rate, and the weight coefficient corresponding to the acceleration can also be greater than the weight coefficient corresponding to the vehicle speed. In this way, the rendered animation effects can better match the vehicle's current driving mode and driving behavior, enhancing the driver's immersive experience.

[0086] 3) That is, map the calculated normalized output result S to the parameters of each module of the particle system: (1) Particle emission rate :

[0087] Among them, is the preset minimum emission rate, is the preset maximum emission rate, and K is the nonlinear coefficient. The particle emission rate can be used to adjust the movement speed of particles and the density of ions in the animation special effect.

[0088] (2)The shape of the emitter can be adjusted based on two parameters: the radius and the emission angle of the emitter. Among them, the radius :

[0089] Among them, is the preset base radius, is the maximum expansion ratio coefficient, is the curvature adjustment parameter.

[0090] The emission angle :

[0091] Among them, represents the preset minimum emission angle, represents the preset maximum emission angle, is the standard Sigmoid function.

[0092] The two parameters of the radius and the emission angle of the emitter can be used to adjust the movement direction of particles in the animation special effect.

[0093] (3)Velocity field :

[0094] Among them, represents the normalized particle life cycle, represents the oscillation frequency, represents the modulation intensity coefficient, represents the preset base velocity field. This velocity field can be used to define the speed and direction of particles during movement.

[0095] (4)Velocity limit, including the maximum velocity limit and the damping coefficient.

[0096] The maximum velocity limit :

[0097] The damping coefficient :

[0098] Among them, represents the preset minimum value of the velocity limit, represents the preset maximum value of the velocity limit, Represents the preset maximum value of the damping coefficient, Represents the preset minimum value of the damping coefficient.

[0099] (5)Velocity inheritance :

[0100] Among them, Represents the base value of velocity inheritance, Represents the hyperbolic tangent function.

[0101] (6)Lifecycle :

[0102] Among them, Is the inflection point position, Is the curve steepness coefficient, Represents the preset minimum lifecycle value, Represents the preset maximum lifecycle value.

[0103] (7)Initial velocity :

[0104] Among them, Is the saturation constant, Is the preset minimum initial velocity, Is the preset maximum initial velocity.

[0105] (8)Initial size :

[0106] Among them, Is the exponential decay coefficient, Is the preset maximum initial size, Is the preset minimum initial size.

[0107] (9)The color of the particle, and the color of the particle includes two parameters: hue and brightness.

[0108] Hue

[0109]

[0110] Brightness :

[0111] Among them, Is the preset base hue value, Is the preset maximum hue offset, Represents the standardized particle life cycle, Represents the oscillation frequency, Represents the preset minimum brightness, Represents the preset maximum brightness.

[0112] In this way, the normalized output result S obtained after data preprocessing and normalization of vehicle speed, acceleration, and the user's heart rate is input into the formulas involved in the above (1)-(9), and the special effect parameters such as the emission rate, shape, color, velocity field, speed limit, speed inheritance, life cycle, initial velocity, and initial size after mapping can be obtained. Subsequently, an animation special effect with the target attributes matching the current driving state data can be rendered based on these special effect parameters.

[0113] It should be noted that the preset parameters in the formulas involved in the above (1)-(9) can be calibrated in advance. For example, the quality of the target special effect rendered based on the driving state data in the simulation environment can be evaluated, and each preset parameter can be adjusted according to the evaluation result, and continuous feedback loop adjustment can be performed to achieve continuous positive iteration optimization of the atmosphere rendering effect.

[0114] In step S122, the vehicle is controlled to output the target special effect according to the special effect parameter.

[0115] Among them, the target special effect includes an animation special effect. In the process of executing step S122 of the present disclosure, the vehicle can be controlled to display the animation special effect through a display device according to the special effect parameter.

[0116] Among them, the display device may include at least one of the following: the center control screen of the vehicle, the instrument screen, the head-up display device, the co-pilot screen, and the rear row screen, etc.

[0117] In one implementation, the Unity rendering engine module can render and display the animation special effect on the display device of the vehicle based on the special effect parameters corresponding to the above animation special effect, thereby realizing the real-time linkage of the atmosphere animation special effect in the vehicle cockpit with the real-time vehicle speed, acceleration, and the driver's heart rate data.

[0118] In another possible embodiment of the present disclosure, the target special effect may further include a lighting special effect. Correspondingly, the special effect element may include a lighting special effect element corresponding to the lighting special effect, and the special effect parameters for rendering the lighting special effect may include at least one of the lighting color, brightness, and blinking frequency corresponding to the lighting special effect element. For example, the special effect parameters of the lighting special effect can be mapped from the driving state data of the vehicle, and then the lighting special effect can be rendered based on the special effect parameters of the lighting special effect.

[0119] Exemplarily, the driving state data includes vehicle speed, acceleration, and the user's heart rate data. It can be understood that the higher the vehicle speed, the greater the acceleration of the vehicle, and the higher the user's heart rate, the more intense the driving behavior is characterized. Correspondingly, a more intense driving atmosphere needs to be created. Therefore, for the user's relatively intense driving behavior, the special effect parameters of the lighting special effect corresponding to the driving state data of this type of intense driving behavior in the mapping relationship are the target lighting special effect parameters. The target lighting special effect parameters are the parameters that can create a lighting special effect with a stronger visual feeling (for example, a higher flashing frequency, a more eye-catching color, and a higher brightness, etc.). In this way, the target attribute of the lighting special effect output by the vehicle based on the target lighting special effect parameters matches the current driving state data.

[0120] Similar to the animation special effect, in the process of determining the special effect parameters corresponding to the lighting special effect, the normalized output result S obtained after performing data preprocessing and normalization processing on the vehicle speed, acceleration, and the user's heart rate can be input into the first preset mapping relationship model (the first preset mapping relationship model represents the mapping relationship between S and the flashing frequency, the RGB values of the color, and the brightness respectively), and the special effect parameters corresponding to the lighting special effect are output through the first preset mapping relationship model.

[0121] The target special effect corresponding to this includes the lighting special effect. In the process of controlling the vehicle to output the target special effect according to the special effect parameters, the vehicle's ambient light can be controlled to output the lighting special effect. In this way, the lighting special effect can be combined with the animation special effect on the vehicle display device to jointly create a driving atmosphere adapted to the current driving state data, further enhancing the driver's sense of immersion.

[0122] In another possible embodiment of the present disclosure, the target special effect may further include a sound special effect. The special effect element includes the sound special effect element corresponding to the sound special effect. The special effect parameters include at least one of the loudness, pitch, timbre, melody, and rhythm corresponding to the sound special effect element. Similar to the animation special effect and the lighting special effect, in the process of determining the special effect parameters corresponding to the sound special effect, the normalized output result S obtained after performing data preprocessing and normalization processing on the vehicle speed, acceleration, and the user's heart rate can be input into the second preset mapping relationship model (the second preset mapping relationship model represents the mapping relationship between S and the loudness, pitch, timbre, melody, and rhythm respectively), and the special effect parameters corresponding to the sound special effect are output through the second preset mapping relationship model.

[0123] The target special effect corresponding to this includes the sound special effect. In the process of controlling the vehicle to output the target special effect according to the special effect parameters, the vehicle's speaker device can be controlled to output the sound special effect. In this way, the sound special effect can be combined with the lighting special effect and the animation special effect on the vehicle display device to jointly create a driving atmosphere adapted to the current driving state data, further enhancing the driver's sense of immersion.

[0124] Figure 3 is a block diagram of a vehicle control device shown according to an exemplary embodiment. Referring to Figure 3 , the device includes: An acquisition module 301, configured to acquire driving state data of the vehicle in response to the vehicle entering a preset driving mode; A special effect output module 302, configured to control the vehicle to output a target special effect according to the driving state data, the target special effect includes at least one special effect element, and the target attribute corresponding to each special effect element matches the driving state data, and the target attribute includes at least one of the movement speed, movement direction, color, shape, size, density, and sound of the special effect element.

[0125] In some possible implementation manners, the special effect output module 302 is configured to determine special effect parameters according to the driving state data; and control the vehicle to output the target special effect according to the special effect parameters.

[0126] In some possible implementation manners, the target special effect includes an animation special effect, the special effect element includes an animation special effect element corresponding to the animation special effect, and the special effect parameters include at least one of the following parameters corresponding to the animation special effect element: Emission rate, shape, color, velocity field, speed limit, speed inheritance, life cycle, initial speed, and initial size.

[0127] In some possible implementation manners, the animation special effect element includes at least one particle in a particle system.

[0128] In some possible implementation manners, the special effect output module 302 is configured to control the vehicle to display the animation special effect through a display device according to the special effect parameters.

[0129] In some possible implementation manners, the display device includes at least one of the following: a central control screen, an instrument screen, a head-up display device, a co-pilot screen, and a rear seat screen of the vehicle.

[0130] In some possible implementation manners, the target special effect includes a light special effect, the special effect element includes a light special effect element corresponding to the light special effect, and the special effect parameters include at least one of the light color, brightness, and blinking frequency corresponding to the light special effect element.

[0131] In some possible implementation manners, the target special effect includes a sound special effect, the special effect element includes a sound special effect element corresponding to the sound special effect, and the special effect parameters include at least one of the loudness, pitch, timbre, melody, and rhythm corresponding to the sound special effect element.

[0132] In some possible embodiments, the driving state data includes the vehicle speed and / or acceleration of the vehicle; The special effect output module 302 is configured to determine the special effect parameters according to the vehicle speed and / or the acceleration.

[0133] In some possible embodiments, the driving state data further includes user state data of a user in the vehicle; The special effect output module 302 is further configured to determine the special effect parameters according to the vehicle speed, the acceleration, and the user state data.

[0134] In some possible embodiments, the user state data includes at least one of the user's heart rate, breathing rate, and emotional state.

[0135] In some possible embodiments, the acquisition module 301 is further configured to acquire a face image of the user; perform image recognition on the face image to determine the emotional state.

[0136] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0137] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the vehicle control method provided by the present disclosure are implemented.

[0138] Figure 4 is a block diagram of a vehicle shown according to an exemplary embodiment. For example, the vehicle 400 may be a hybrid vehicle, or may be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0139] Refer to Figure 4 , the vehicle 400 may include various subsystems. For example, an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. Among them, the vehicle 400 may further include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 400 may be interconnected by wired or wireless means.

[0140] In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, a navigation system, and the like.

[0141] The perception system 420 may include several types of sensors for sensing information about the environment around the vehicle 400. For example, the perception system 420 may include a Global Positioning System (the Global Positioning System may be a GPS system, or a Beidou system, or other positioning systems), an Inertial Measurement Unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0142] The decision-making and control system 430 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0143] The drive system 440 may include components that provide powered movement for the vehicle 400. In one embodiment, the drive system 440 may include an engine, an energy source, a powertrain, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting the energy provided by the energy source into mechanical energy.

[0144] Some or all of the functions of the vehicle 400 are controlled by the computing platform 450. The computing platform 450 may include at least one processor 451 and a memory 452, and the processor 451 may execute instructions 453 stored in the memory 452.

[0145] The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0146] The memory 452 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0147] In addition to the instructions 453, the memory 452 may also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 452 can be used by the computing platform 450.

[0148] In an embodiment of the present disclosure, the processor 451 may execute instructions 453 to complete all or part of the steps of the above-mentioned vehicle control method.

[0149] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0150] Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is implemented by hardware or software depends on the specific application and the design requirements of the entire system. For each specific application, those skilled in the art can use various methods to implement the described function, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present application.

[0151] In addition, the term "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous compared to other aspects or designs. Instead, the use of the term exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to mean any arrangement in a natural inclusive arrangement. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied in any of the foregoing instances. Additionally, unless otherwise specified or clear from the context indicating a singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0152] Similarly, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. Specifically with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may, as may be desired and advantageous for any given or particular application, be combined with one or more other features of other implementations. Further, with respect to the terms "comprising," "having," "including," "contains," or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "including."

[0153] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known or customary techniques in the art that are not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

[0154] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

[0155] In the foregoing detailed description, reference has been made to the accompanying drawings, which illustrate by way of illustration specific aspects in which the present disclosure may be practiced. In this regard, directional or positional relationship terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. may be used with reference to the orientation of the described figures. Since the components of the described devices may be positioned in a number of different orientations, the directional terms are used for illustrative purposes and not for purposes of limitation. It should be understood that other aspects may be utilized and structural or logical changes may be made without departing from the concepts of the present disclosure. Accordingly, the following detailed description should not be construed in a limiting sense.

[0156] It should be understood that, unless otherwise specifically stated, the features of some embodiments of the various aspects of the present disclosure described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more of them; similarly, "at least one of..." includes any one of the related listed items and any combination of any two or more of them.

[0157] It should be understood that, unless otherwise clearly specified and limited, the terms "engage", "attach", "mount", "connect", "couple", "fix", etc. used in the embodiments of the present disclosure should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this context can be understood according to specific circumstances.

[0158] In addition, the term "above" used in connection with a component, element, or layer of material formed "above" or located "above" a surface may be used herein to mean that the component, element, or layer of material is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are disposed between the surface and the component, element, or layer of material. However, the term "above" used in connection with a component, element, or layer of material formed "above" or located "above" a surface may also optionally have a specific meaning: the component, element, or layer of material is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, e.g., in direct contact with the surface.

[0159] Although terms such as "first", "second", and "third" may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, part, region, layer, or section from another. Thus, the first component, part, region, layer, or section mentioned in the examples described herein may also be referred to as the second component, part, region, layer, or section without departing from the teachings of the various examples. Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description herein, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0160] It should be understood that, as used herein, spatial relative terms, such as "above", "upper", "below", and "lower", etc., are used to describe the relationship of one element shown in the drawings to another element. In addition to the orientation depicted in the drawings, such spatial relative terms are also intended to encompass different orientations of the device during use or operation. For example, if the device in the drawings is flipped, the element described as "above" or "upper" relative to another element will then be in the "below" or "lower" relative to that other element. Thus, depending on the spatial orientation of the device, the term "above" encompasses both the above and below orientations. The device can have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

Claims

1. A vehicle control method, characterized in that, Including: Upon the vehicle entering a preset driving mode, obtaining the driving state data of the vehicle; Controlling the vehicle to output a target special effect according to the driving state data, the target special effect including at least one special effect element, and the target attribute corresponding to each special effect element matching the driving state data, the target attribute including at least one of the movement speed, movement direction, color, shape, size, density, and sound of the special effect element.

2. The method according to claim 1, wherein The controlling the vehicle to output a target special effect according to the driving state data includes: Determining special effect parameters according to the driving state data; Controlling the vehicle to output the target special effect according to the special effect parameters.

3. The method according to claim 2, wherein The target special effect includes an animation special effect, the special effect element includes the animation special effect element corresponding to the animation special effect, and the special effect parameters include at least one of the following parameters corresponding to the animation special effect element: Emission rate, shape, color, velocity field, speed limit, speed inheritance, lifespan, initial velocity, and initial size.

4. The method according to claim 3, characterized in that The animation special effect element includes at least one particle in a particle system.

5. The method according to claim 3, characterized in that, The controlling the vehicle to output the target special effect according to the special effect parameters includes: Controlling the vehicle to display the animation special effect through a display device according to the special effect parameters.

6. The method according to claim 5, characterized in that The display device includes at least one of the following: the central control screen, instrument screen, head-up display device, co-pilot screen, and rear-row screen of the vehicle.

7. The method according to claim 2, wherein The target special effect includes a lighting special effect, the special effect element includes the lighting special effect element corresponding to the lighting special effect, and the special effect parameters include at least one of the lighting color, brightness, and blinking frequency corresponding to the lighting special effect element.

8. The method according to claim 2, characterized in that, The target special effect includes a sound special effect, the special effect element includes the sound special effect element corresponding to the sound special effect, and the special effect parameters include at least one of the loudness, pitch, timbre, melody, and rhythm corresponding to the sound special effect element.

9. The method according to any one of claims 2-8, characterized in that, The driving state data includes the vehicle speed and / or acceleration of the vehicle; The determining special effect parameters according to the driving state data includes: Determining the special effect parameters according to the vehicle speed and / or the acceleration.

10. The method according to claim 9, characterized in that, The driving state data further includes user state data of the user in the vehicle; The determining special effect parameters according to the driving state data includes: Determining the special effect parameters according to the vehicle speed, the acceleration, and the user state data.

11. The method according to claim 10, wherein The user state data includes at least one of the user's heart rate, breathing rate, and emotional state.

12. The method according to claim 11, wherein The method further includes: Obtaining a face image of the user; Performing image recognition on the face image to determine the emotional state.

13. A vehicle control device, characterized in that, Including: An obtaining module, configured to obtain the driving state data of the vehicle upon the vehicle entering a preset driving mode; A special effect output module, configured to control the vehicle to output a target special effect according to the driving state data, the target special effect including at least one special effect element, and the target attribute corresponding to each special effect element matching the driving state data, the target attribute including at least one of the movement speed, movement direction, color, shape, size, density, and sound of the special effect element.

14. The device according to claim 13, wherein, The special effect output module is configured to determine special effect parameters according to the driving state data; and control the vehicle to output the target special effect according to the special effect parameters.

15. The device according to claim 14, characterized in that, The target special effect includes an animation special effect, the special effect elements include the animation special effect elements corresponding to the animation special effect, and the special effect parameters include at least one of the following parameters corresponding to the animation special effect elements: Emission rate, shape, color, velocity field, speed limit, speed inheritance, life cycle, initial velocity, and initial size.

16. The device according to claim 15, characterized in that, The special effect output module is configured to control the vehicle to display the animation special effect through a display device according to the special effect parameters, and the display device includes at least one of the following: the central control screen, instrument screen, head-up display device, co-pilot screen, and rear row screen of the vehicle.

17. The device according to claim 14, characterized in that, The target special effect includes a lighting special effect, the special effect elements include the lighting special effect elements corresponding to the lighting special effect, and the special effect parameters include at least one of the lighting color, brightness, and blinking frequency corresponding to the lighting special effect elements.

18. The device according to claim 14, wherein The target special effect includes a sound special effect, the special effect elements include the sound special effect elements corresponding to the sound special effect, and the special effect parameters include at least one of the loudness, pitch, timbre, melody, and rhythm corresponding to the sound special effect elements.

19. The device according to any one of claims 13 - 18, characterized in that The driving state data includes the vehicle speed and / or acceleration of the vehicle; The special effect output module is configured to determine the special effect parameters according to the vehicle speed and / or the acceleration.

20. The device according to claim 19, characterized in that, The driving state data further includes user state data of the user in the vehicle; The special effect output module is further configured to determine the special effect parameters according to the vehicle speed, the acceleration, and the user state data.

21. The device according to claim 20, characterized in that, The user state data includes at least one of the user's heart rate, breathing rate, and emotional state.

22. A vehicle, characterized in that, Comprising: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the steps of the method according to any one of claims 1-12.

23. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1-12.

24. A computer program product, characterized in that, Including a computer program, which implements the steps of the method according to any one of claims 1-12 when executed by the processor.

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