Obstacle collision detection method and system, storage medium and vehicle

Abstract

The invention provides an obstacle collision detection method. The obstacle collision detection method comprises the following steps: acquiring obstacle line segment coordinates and vehicle position information; discretizing the obstacle line segments into interpolation points spaced by a preset distance; based on geometric centers of a front axle and a rear axle of the vehicle, calculating a rough circle including a vehicle core area and a fine frame covering a vehicle contour; performing preliminary collision detection through the rough circle and the interpolation point to obtain a preliminary collision detection result; and if the preliminary collision detection result represents that a collision risk exists, performing accurate collision detection by using the fine frame and the interpolation point to obtain an accurate collision detection result. The invention further provides a corresponding system, a storage medium and a vehicle. By implementing the method, the automatic parking safety and the parking efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and particularly to an obstacle collision detection method, system, storage medium and vehicle. Background Art

[0002] During the automatic parking process, low obstacles such as wheel stoppers and curbs are a special type of obstacles. If the wheels collide with low obstacles, it will reduce the user's sense of security; if the wheels stop parking when they are too far away from the low obstacles, it will increase the number of parking operation steps and even lead to the failure of parking planning.

[0003] In an existing parking method, when the vehicle is in the garage, it is determined whether the vehicle touches the wheel stopper by judging whether the control integrator reaches the saturation state. If the wheel stopper has been identified, the parking is terminated to prevent the vehicle from repeatedly colliding with the wheel stopper. However, this solution relies on the vehicle having collided with the wheel stopper to passively detect its existence, resulting in a poor user experience during the first collision.

[0004] In another parking method, the position of the wheel stopper is detected to assist in parking space identification, and the coordinate origin is set on the wheel stopper to save computing power. However, in the scenario of a horizontal parking space with a wheel stopper, when repeated parking space shifting is required, the parking efficiency of this solution is low. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an obstacle collision detection method, system, storage medium and vehicle, which can improve the safety and parking efficiency of automatic parking.

[0006] As one aspect of the present invention, an obstacle collision detection method is provided, which includes the following steps:

[0007] Obtain the coordinate of the obstacle line segment and the vehicle position information;

[0008] Discretize the obstacle line segment into interpolation points at a preset distance interval;

[0009] Based on the geometric center of the vehicle's front axle and rear axle, calculate a rough circle containing the vehicle's core area and a fine box covering the vehicle's contour;

[0010] Perform a preliminary collision detection by using the rough circle and the interpolation points to obtain a preliminary collision detection result;

[0011] If the preliminary collision detection result indicates a collision risk, perform an accurate collision detection by using the fine box and the interpolation points to obtain an accurate collision detection result.

[0012] Among them, based on the geometric center of the vehicle's front axle and rear axle, calculating a rough circle containing the vehicle's core area and a fine box covering the vehicle's contour further includes:

[0013] Determine the center point of the central axis between the front axle and the rear axle of the vehicle as the center point of the rough circle, and calculate the rough circle radius R using the following formula:

[0014]

[0015] where L 轴距 is the wheelbase length, and L 车宽 is the vehicle width length;

[0016] Determine the center point of the central axis between the front axle and the rear axle of the vehicle as the center point of the fine frame, and use the two side edges of the vehicle body and the two parallel edges with a preset safety distance from the front and rear axles of the vehicle as the four sides of the fine frame;

[0017] where the width L 宽 of the fine frame = L 车宽 , and the length L 长 of the fine frame = L 轴距 +2*L d ;

[0018] And,

[0019] where L d is the preset safety distance, r is the wheel radius, and h is the obstacle height.

[0020] where, through the preliminary collision detection between the rough circle and the interpolation points, a preliminary collision detection result is obtained, including:

[0021] In the preliminary collision detection, by comparing the distance between each interpolation point and the center of the rough circle with the rough circle radius, if the distances between all interpolation points and the center of the rough circle are greater than the rough circle radius, it is determined that there is no collision; otherwise, it is determined that there is a collision risk;

[0022] If the preliminary collision detection result indicates a collision risk, use the fine frame and the interpolation points for precise collision detection to obtain a precise collision detection result, including:

[0023] If the preliminary collision detection result indicates a collision risk, determine whether each interpolation point is inside the fine frame. When all interpolation points are outside the fine frame, it is determined that there is no collision; otherwise, it is determined that there is a collision.

[0024] where, the method further includes:

[0025] When it is determined that there is no collision during the preliminary collision detection or the precise collision detection, the collision flag indicating no collision is fed back to the automatic parking module;

[0026] When a collision is determined during the precise collision detection process, the collision flag indicating the collision is fed back to the automatic parking module.

[0027] Correspondingly, on the other hand, the present invention further provides an obstacle collision detection system, which is characterized by including:

[0028] A sensing module for obtaining the coordinate of the obstacle line segment and the vehicle position information;

[0029] A data preprocessing module for discretizing the obstacle line segment into interpolation points at a preset distance interval;

[0030] A vehicle contour modeling module for calculating a rough circle containing the core area of the vehicle and a fine frame covering the vehicle contour based on the geometric center of the front axle and the rear axle of the vehicle;

[0031] A collision detection module for performing a preliminary collision detection by using the rough circle and the interpolation points to obtain a preliminary collision detection result; if the preliminary collision detection result indicates a collision risk, then performing a precise collision detection by using the fine frame and the interpolation points to obtain a precise collision detection result. Wherein, the vehicle contour modeling module further includes:

[0032] A rough circle determination unit for determining the center point of the central axis between the front axle and the rear axle of the vehicle as the center point of the rough circle, and calculating the rough circle radius R by using the following formula:

[0033]

[0034] Wherein, L 轴距 is the wheelbase length, and L 车宽 is the vehicle width length;

[0035] A fine frame determination unit for determining the center point of the central axis between the front axle and the rear axle of the vehicle as the center point of the fine frame, and using the two side edges of the vehicle body and the two parallel edges with a preset safety distance from the front and rear axles of the vehicle as the four sides of the fine frame;

[0036] Wherein, the width L 宽 of the fine frame = L 车宽 , and the length L 长 of the fine frame = L 轴距 +2*L d ;

[0037] Moreover,

[0038] Wherein, L d is the preset safety distance, r is the wheel radius, and h is the height of the low obstacle.

[0039] Wherein, the collision detection module includes:

[0040] A preliminary collision detection unit for performing preliminary collision detection by using the rough circle and the interpolation points. If the distances from all the interpolation points to the center of the rough circle are greater than the radius of the rough circle, it is determined that there is no collision; otherwise, it is determined that there is a collision risk.

[0041] An accurate collision detection unit for, if the preliminary collision detection result indicates a collision risk, determining whether each interpolation point is inside the fine frame. When all the interpolation points are outside the fine frame, it is determined that there is no collision; otherwise, it is determined that there is a collision.

[0042] Wherein, the system further includes: a decision output module for, when the detection result of the preliminary collision detection unit or the accurate collision detection unit is no collision, feeding back a collision flag indicating no collision to the automatic parking module; and when the detection result of the accurate collision detection unit is a collision, feeding back a collision flag indicating a collision to the automatic parking module.

[0043] Correspondingly, as another aspect of the present invention, there is also provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method as described above are implemented.

[0044] Correspondingly, as another aspect of the present invention, there is also provided a vehicle, which includes:

[0045] One or more processors;

[0046] A memory for storing one or more computer programs;

[0047] When the one or more computer programs are executed by the one or more processors, the one or more processors are caused to implement the method as described above.

[0048] Implementing the embodiments of the present invention has the following beneficial effects:

[0049] The present invention provides an obstacle collision detection method, system, storage medium and vehicle. By turning a low obstacle line segment into a series of interpolation points, and then representing the core area between the front axle and the rear axle of the vehicle by using a rough circle and a fine frame, first calculating with the rough circle and then calculating with the fine frame, the collision result between the low obstacle and the vehicle can be obtained at a relatively low calculation cost. Implementing the present invention can, while ensuring that the wheels do not collide with low obstacles, allow the front overhang and rear overhang areas of the vehicle to pass over low obstacles at a safe distance, improving the safety and efficiency of automatic parking. Description of the Drawings

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, obtaining other drawings based on these drawings still belongs to the scope of the present invention;

[0051] Figure 1 It is a schematic diagram of the main process of an embodiment of an obstacle collision detection method provided by the present invention;

[0052] Figure 2 It is a more detailed schematic diagram of the process of the method of the present invention;

[0053] Figure 3 It is a schematic diagram of the vehicle body parameters related to the present invention;

[0054] Figure 4 It is a schematic diagram of the principle of rough circle calculation related to the present invention;

[0055] Figure 5 It is a schematic diagram of the principle of fine frame calculation related to the present invention;

[0056] Figure 6 It is a schematic diagram of the principle of safety distance calculation related to the present invention;

[0057] Figure 7 It is a schematic diagram of the structure of an embodiment of an obstacle collision detection system provided by the present invention;

[0058] Figure 8 For Figure 7 It is a schematic diagram of the structure of the vehicle contour modeling module in

[0059] Figure 9 For Figure 7 It is a schematic diagram of the structure of the collision detection module in Detailed implementation manners

[0060] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0061] As Figure 1 shown, it shows a schematic diagram of the main process of an embodiment of an obstacle collision detection method provided by the present invention; and in combination with Figures 2 to 6 shown, in this embodiment, the method includes the following steps:

[0062] Step S10, obtain the coordinates of the obstacle line segment and the vehicle position information; specifically, a camera or lidar can be used to obtain the obstacle position; the vehicle position information can be obtained by receiving satellite signals through an in-vehicle GNSS module (such as GPS, Beidou, GLONASS, etc.) and calculating the longitude, latitude, altitude, and heading angle of the vehicle, or by scanning the surrounding environment using lidar and estimating the movement of the vehicle through a point cloud matching algorithm.

[0063] As Figure 3 shown, a top view of a vehicle is shown, with the front of the vehicle on the right. The distance between the front axle and the rear axle of the vehicle can be represented by L 轴距 and the vehicle width can be represented by L 车宽 . Among them, the obstacle can be a wheel stopper or a curb, etc.; during the parking process, the front overhang and the rear overhang of the vehicle can pass over the obstacle, but the wheels cannot cross the obstacle.

[0064] Step S11, discretize the obstacle line segment into interpolation points at a preset distance interval; specifically, the data preprocessing module generates evenly spaced interpolation points through a linear interpolation algorithm, and the interpolation interval is 0.1 - 0.3 meters. In one example, 0.2 meters can be selected.

[0065] Step S12, based on the geometric center of the front axle and the rear axle of the vehicle, calculate a rough circle containing the core area of the vehicle and a fine box covering the vehicle contour;

[0066] In a specific example, step S12 further includes:

[0067] Step S120, determine the center point of the mid-axis between the front axle and the rear axle of the vehicle as the center point of the rough circle. As Figure 4 shown, the radius R of the rough circle can be calculated using the following formula:

[0068]

[0069] where L 轴距 is the wheelbase length and L 车宽 is the vehicle width;

[0070] Step S121, determine the center point of the mid-axis between the front axle and the rear axle of the vehicle as the center point of the fine box, and use the two sides of the vehicle body as the two sides of the fine box and the two parallel sides with a preset safety distance from the front and rear axles of the vehicle as the other two sides of the fine box; specifically, as Figure 5 shown.

[0071] Among them, the width L 宽 of the fine box = L 车宽 , and the length L 长 of the fine box = L 轴距 +2*Ld ;

[0072] And as Figure 6 shown by the calculation principle of the preset safety distance, where

[0073] where L d is the preset safety distance, r is the wheel radius, and h is the height of the obstacle. In one example, the wheel radius is 40 cm, and the height of the obstacle (such as a wheel stopper) is 15 cm. Then, the preset safety distance L d can be calculated as 31 cm through the above formula.

[0074] Step S13: Perform preliminary collision detection by using the rough circle and the interpolation points to obtain a preliminary collision detection result. If the preliminary detection result indicates a collision risk, further perform precise collision detection by using the fine box and the interpolation points to obtain a precise collision detection result;

[0075] In a specific example, step S13 further includes:

[0076] Step S130: In the preliminary collision detection, by polling each low-obstacle interpolation point, compare the distance between each interpolation point and the center of the rough circle with the radius of the rough circle. If the distances between all interpolation points and the center of the rough circle are greater than the radius of the rough circle, it is determined that there is no collision; otherwise, it is determined that there is a collision risk, and proceed to the next step;

[0077] Step S131: When the preliminary collision detection result indicates a collision risk, perform precise collision detection. Also use the polling method to determine whether each interpolation point is inside the fine box. When all interpolation points are outside the fine box, it is determined that there is no collision; otherwise, it is determined that there is a collision.

[0078] Step S14: Output a corresponding collision flag to the automatic parking module according to the collision detection result.

[0079] In a specific example, step S14 further includes:

[0080] When it is determined that there is no collision during the preliminary collision detection or the precise collision detection, feedback the collision flag indicating no collision to the automatic parking module;

[0081] When it is determined that there is a collision during the precise collision detection, feedback the collision flag indicating a collision to the automatic parking module.

[0082] It can be understood that in the existing collision calculation of automatic parking, only high obstacles are considered, while the method of the present invention takes into account low obstacles such as wheel stoppers or curbs.

[0083] When calculating whether there is a collision with a low obstacle, the method provided by the present invention innovatively uses a rough circle judgment first because the calculation of a circle is much faster than that of a polygon (fine frame). Such an algorithm design can greatly improve the speed of path planning.

[0084] In the present invention, by considering whether there is a collision with a low obstacle, the planned path can avoid the collision between the vehicle and the low obstacle during parking, improving comfort. At the same time, the low obstacle collision detection algorithm allows the front and rear overhangs of the vehicle to pass over the low obstacle, which can improve parking efficiency.

[0085] For example, during automatic parking, the vehicle is automatically parking into a horizontal parking space with wheel stoppers. Since the rear overhang of the vehicle can pass over the wheel stoppers, when using the method provided by the present invention to plan the parking path, it can quickly enter the garage, reduce the number of parking steps, and improve parking efficiency.

[0086] As Figure 7 shown, a schematic diagram of the main process of an embodiment of an obstacle collision detection system provided by the present invention is shown; in combination with Figure 8 and Figure 9 shown, in this embodiment, the obstacle collision detection system 1 at least includes:

[0087] A sensing module 10 for obtaining the coordinates of the obstacle line segment and the real-time position of the vehicle; specifically, the sensing module 10 can use a camera or a lidar to obtain the position of the low obstacle;

[0088] A data preprocessing module 11 for discretizing the obstacle line segment into interpolation points; specifically, the data preprocessing module 11 can generate evenly spaced interpolation points through a linear interpolation algorithm, and the interpolation interval is 0.1 to 0.3 meters, for example, 0.2 meters can be selected;

[0089] A vehicle contour modeling module 12 for calculating a rough circle including the core area of the vehicle and a fine frame covering the vehicle contour based on the geometric centers of the front and rear axles of the vehicle;

[0090] A collision detection module 13 for performing preliminary collision detection between the rough circle and the interpolation points to obtain a preliminary collision detection result; if the preliminary collision detection result indicates a collision risk, then perform precise collision detection between the fine frame and the interpolation points to obtain a precise collision detection result;

[0091] A decision output module 14 for outputting a corresponding collision flag to the automatic parking module according to the collision detection result.

[0092] As Figure 8 shown, more specifically, the vehicle contour modeling module 12 further includes:

[0093] A rough circle determination unit 120 is configured to determine the center point of the central axis between the front axle and the rear axle of the vehicle as the center point of the rough circle, and calculate the rough circle radius R using the following formula:

[0094]

[0095] where L 轴距 is the wheelbase length, and L 车宽 is the vehicle width;

[0096] A fine frame determination unit 121 is configured to determine the center point of the central axis between the front axle and the rear axle of the vehicle as the center point of the fine frame, and use the two side edges of the vehicle body and the two parallel edges at a preset safety distance from the front and rear axles of the vehicle as the four sides of the fine frame; in short, the fine frame will protrude a certain distance in front of the front axle and a certain distance behind the rear axle.

[0097] where the width L 宽 of the fine frame = L 车宽 , and the length L 长 of the fine frame = L 轴距 + 2 * L d ;

[0098] Moreover,

[0099] where L d is the preset safety distance, r is the wheel radius, and h is the obstacle height.

[0100] As Figure 9 shown, in a specific example, the collision detection module 13 includes:

[0101] A preliminary collision detection unit 130 is configured to perform preliminary collision detection by using the rough circle and the interpolation points. If the distances from all the interpolation points to the center of the rough circle are greater than the rough circle radius, it is determined that there is no collision; otherwise, it is determined that there is a collision risk;

[0102] An accurate collision detection unit 131 is configured to, when the detection result of the preliminary collision detection unit 130 indicates a collision risk, determine whether each interpolation point is inside the fine frame. When all the interpolation points are outside the fine frame, it is determined that there is no collision; otherwise, it is determined that there is a collision.

[0103] Specifically, in the decision output module 14, when the detection result of the preliminary collision detection unit 130 or the accurate collision detection unit 131 is no collision, a collision flag indicating no collision is fed back to the automatic parking module; and when the detection result of the accurate collision detection unit 131 is a collision, a collision flag indicating a collision is fed back to the automatic parking module.

[0104] For more details, reference can be made to and combined with the foregoing description of Figures 1 to 6 , which will not be elaborated here.

[0105] As another aspect of the present invention, there is also provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method as described in Figures 1 to 6 are implemented. For more details, reference can be made to and combined with the foregoing description of Figures 1 to 6 , which will not be elaborated here.

[0106] As another aspect of the present invention, there is also provided a vehicle, which includes:

[0107] One or more processors;

[0108] A memory for storing one or more computer programs;

[0109] When the one or more computer programs are executed by the one or more processors, the one or more processors implement the method as described in Figures 1 to 6 . For more details, reference can be made to and combined with the foregoing description of Figures 1 to 6 , which will not be elaborated here.

[0110] Implementing the embodiments of the present invention has the following beneficial effects:

[0111] The present invention provides an obstacle collision detection method, system, storage medium and vehicle. By turning a low obstacle line segment into a series of interpolation points, and then representing the core area between the front axle and the rear axle of the vehicle using a rough circle and a fine box, first calculating with the rough circle and then calculating with the fine box, the collision result between the low obstacle and the vehicle can be obtained at a relatively low computational cost. Implementing the present invention can, while ensuring that the wheels do not collide with low obstacles, allow the front and rear overhang areas of the vehicle to pass over low obstacles at a safe distance, improving the safety and efficiency of automatic parking.

[0112] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0113] The above-disclosed is only a preferred embodiment of the present invention. Of course, it cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A method for obstacle collision detection, characterized in that, It includes the following steps: Obtain the coordinates of the obstacle line segment and the vehicle position information; Discretize the obstacle line segment into interpolation points at a preset distance interval; Based on the geometric center of the vehicle's front axle and rear axle, calculate a rough circle containing the vehicle's core area and a fine box covering the vehicle's contour; Perform preliminary collision detection through the rough circle and the interpolation points to obtain a preliminary collision detection result; If the preliminary collision detection result indicates a collision risk, use the fine box and the interpolation points to perform precise collision detection to obtain a precise collision detection result.

2. The method according to claim 1, characterized in that, Based on the geometric center of the vehicle's front axle and rear axle, calculating a rough circle containing the vehicle's core area and a fine box covering the vehicle's contour further includes: Determine the center point of the central axis between the vehicle's front axle and rear axle as the center point of the rough circle, and calculate the radius R of the rough circle using the following formula: Among them, L 轴距 is the wheelbase length, and L 车宽 is the vehicle width length; Determine the center point of the fine box as the center point of the central axis between the vehicle's front axle and rear axle, and use the two side edges of the vehicle body and the two parallel edges at a preset safety distance from the vehicle's front and rear axles as the four sides of the fine box; Among them, the width L of the fine frame 宽 = L 车宽 , the length L of the fine frame 长 = L 轴距 + 2 * L d ; And, Among them, L d is the preset safety distance, r is the wheel radius, and h is the obstacle height.

3. The method according to claim 1 or 2, characterized in that, Performing preliminary collision detection through the rough circle and the interpolation points to obtain a preliminary collision detection result includes: In the preliminary collision detection, by comparing the distance between each interpolation point and the center of the rough circle with the radius of the rough circle, if the distances between all interpolation points and the center of the rough circle are greater than the radius of the rough circle, it is determined that there is no collision; otherwise, it is determined that there is a collision risk; If the preliminary collision detection result indicates a collision risk, using the fine box and the interpolation points to perform precise collision detection to obtain a precise collision detection result includes: If the preliminary collision detection result indicates a collision risk, determine whether each interpolation point is inside the fine box. When all interpolation points are outside the fine box, it is determined that there is no collision; otherwise, it is determined that there is a collision.

4. The method according to claim 3, wherein The method further includes: When it is determined that there is no collision during the preliminary collision detection or the precise collision detection, feedback the collision flag indicating no collision to the automatic parking module; When it is determined that there is a collision during the precise collision detection, feedback the collision flag indicating a collision to the automatic parking module.

5. An obstacle collision detection system, characterized in that, It includes: A sensing module for obtaining the coordinates of the obstacle line segment and the vehicle position information; A data preprocessing module for discretizing the obstacle line segment into interpolation points at a preset distance interval; A vehicle contour modeling module for calculating a rough circle containing the vehicle's core area and a fine box covering the vehicle's contour based on the geometric center of the vehicle's front axle and rear axle; A collision detection module for performing preliminary collision detection through the rough circle and the interpolation points to obtain a preliminary collision detection result; if the preliminary collision detection result indicates a collision risk, use the fine box and the interpolation points to perform precise collision detection to obtain a precise collision detection result.

6. The system according to claim 5, characterized in that The vehicle contour modeling module further includes: A rough circle determination unit for determining the center point of the central axis between the vehicle's front axle and rear axle as the center point of the rough circle, and calculating the radius R of the rough circle using the following formula: Among them, L 轴距 is the wheelbase length, and L 车宽 is the vehicle width length; A fine frame determination unit for determining the center point of the central axis between the front axle and the rear axle of the vehicle as the center point of the fine frame, and using the two side edges of the vehicle body and the two parallel edges with a preset safety distance from the front and rear axles of the vehicle as the four sides of the fine frame; Among them, the width L of the fine frame 宽 = L 车宽 , the length L of the fine frame 长 = L 轴距 + 2 * L d ; And, Among them, L d is the preset safety distance, r is the wheel radius, and h is the height of the low obstacle.

7. The system according to claim 5 or 6, characterized in that The collision detection module includes: A preliminary collision detection unit for performing preliminary collision detection by using the rough circle and the interpolation points. If the distances from all the interpolation points to the center of the rough circle are greater than the radius of the rough circle, it is determined that there is no collision; otherwise, it is determined that there is a collision risk; An accurate collision detection unit for, if the preliminary collision detection result indicates a collision risk, determining whether each interpolation point is inside the fine frame. When all the interpolation points are outside the fine frame, it is determined that there is no collision; otherwise, it is determined that there is a collision.

8. The system according to claim 7, wherein Further includes: A decision output module for, when the detection result of the preliminary collision detection unit or the accurate collision detection unit is no collision, feeding back the collision flag indicating no collision to the automatic parking module; and when the detection result of the accurate collision detection unit is a collision, feeding back the collision flag indicating a collision to the automatic parking module.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A vehicle, characterized in that, Includes: One or more processors; A memory for storing one or more computer programs; When the one or more computer programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 4.

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