Smooth control method, system and equipment for vehicle low-speed warning tone and medium

Abstract

The invention relates to the technical field of vehicle electronic control, in particular to a smooth control method, system and device for a vehicle low-speed warning tone and a medium, and the method comprises the steps: presetting a vehicle speed interval in which the low-speed warning tone needs to be generated and a sound source parameter range meeting national standard requirements, dividing the vehicle speed interval and the sound source parameter range into M fine sub-domains, the subdivided vehicle speed is mapped with the sound source parameters, and a sound source parameter updating period range is preset; a target vehicle speed is obtained through a vehicle CAN bus, and corresponding accelerations are calculated based on the multiple time windows; weighting and calculating an acceleration factor according to the system initial value or a plurality of time window accelerations, and calculating a sound source parameter updating period according to the acceleration factor; calculating a target sound source parameter corresponding to the current vehicle speed, and controlling the sound to smoothly transition from the current sound source parameter to the target sound source parameter; and repeatedly calculating the sound source parameter updating period and controlling the sound to smoothly transition to the target sound source parameter to realize real-time following of the sound source parameter and the vehicle speed.

Description

Technical Field

[0001] This invention relates to the field of vehicle electronic control technology, and in particular to a smooth control method, system, device and medium for a vehicle low-speed warning sound. Background Technology

[0002] Electric vehicles pose a safety hazard because the noise from their drive motors is relatively low when traveling at low speeds, which may not effectively alert pedestrians. Therefore, regulations in many countries require electric vehicles to be equipped with an Audio Low-Speed ​​Warning System (AVAS).

[0003] The low-speed warning sound in electric vehicles is intended to alert pedestrians to safety, but its effectiveness significantly impacts driving quality. Existing low-speed warning sound systems often employ simple pitch shifting or linear mapping strategies to change the tone with vehicle speed. This results in issues such as abrupt pitch changes, inconsistencies with actual vehicle acceleration dynamics, and a harsh auditory experience. Static control strategies cause the warning sound to lag significantly behind actual speed changes, leading to a disconnect between the warning sound and the vehicle's dynamic behavior. Therefore, a new low-speed warning sound control method is urgently needed to address these technical shortcomings and improve the quality of the warning sound while providing safety reminders.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This invention provides a method, system, device, and medium for smooth control of low-speed warning sounds for vehicles, thereby effectively solving the problems in the prior art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a smooth control method for low-speed warning sounds in vehicles, comprising the following steps:

[0007] The system presets the vehicle speed range for which a low-speed warning sound needs to be generated and the range of sound source parameters that meet national standards. It then divides the vehicle speed range and the range of sound source parameters into M sub-domains and maps the subdivided vehicle speeds to the sound source parameters. The system also presets the range of sound source parameter update cycles.

[0008] The target vehicle speed is obtained through the vehicle's CAN bus, and the corresponding acceleration is calculated based on several time windows.

[0009] The acceleration factor is calculated based on the system initial value or several time windows with acceleration weighting, and the sound source parameter update period is calculated based on the acceleration factor.

[0010] Calculate the target sound source parameters corresponding to the current vehicle speed, and control the sound to smoothly transition from the current sound source parameters to the target sound source parameters;

[0011] The system repeatedly calculates the update cycle of the sound source parameters and controls the smooth transition of the sound to the target sound source parameters, thereby achieving real-time tracking of the sound source parameters and vehicle speed.

[0012] Furthermore, the step of dividing the vehicle speed range and the sound source parameter range into M sub-domains and mapping the subdivided vehicle speeds to the sound source parameters includes:

[0013] Vehicle speed range [ [and the range of audio source output parameters] Subdivided into The parameters are mapped so that each subdivision of the vehicle speed corresponds one-to-one with the audio source output parameters.

[0014] Furthermore, the vehicle speed range and the sound source parameter range are divided into M sub-domains:

[0015] .

[0016] Furthermore, the calculation of the corresponding acceleration based on several time windows includes:

[0017] Calculate the acceleration within three different time windows, from smallest to largest. , and ;

[0018] acceleration It is obtained by differential calculation of continuously sampled vehicle speeds.

[0019] Furthermore, the acceleration factor is calculated by weighting the acceleration over the aforementioned several time windows. ,include:

[0020] ;

[0021] In the formula, For instantaneous acceleration, Accelerating the trend, Accelerating history , , The adaptive weighting coefficients satisfy the following conditions: , .

[0022] Furthermore, the step of calculating the sound source parameter update period based on the acceleration factor... ,include:

[0023] ;

[0024] In the formula, K is the system's preset gain coefficient, and its reaction acceleration factor affects the update cycle of the sound source parameters.

[0025] Furthermore, the calculation of the target sound source parameters corresponding to the current vehicle speed... ,include:

[0026] ;

[0027] In the formula, For the current vehicle speed, [ [ represents the vehicle speed range,] [] represents the range of audio source output parameters.

[0028] The present invention also includes a smooth control system for a vehicle low-speed warning sound, using the method described above, wherein the system includes:

[0029] The preset unit is used to preset the vehicle speed range that needs to generate a low-speed warning sound and the range of sound source parameters that meet national standards. The vehicle speed range and the range of sound source parameters are divided into M sub-domains, and the subdivided vehicle speeds are mapped to the sound source parameters. The preset sound source parameter update cycle range is also set.

[0030] The acquisition unit is used to acquire the target vehicle speed through the vehicle's CAN bus and calculate the corresponding acceleration based on several time windows.

[0031] The update cycle calculation unit is used to calculate the acceleration factor based on the system initial value or several time windows with acceleration weighting, and to calculate the sound source parameter update cycle based on the acceleration factor.

[0032] The sound source parameter update unit is used to calculate the target sound source parameters corresponding to the current vehicle speed and control the sound to smoothly transition from the current sound source parameters to the target sound source parameters.

[0033] The control unit is used to repeatedly calculate the update cycle of the sound source parameters and control the smooth transition of the sound to the target sound source parameters, so as to realize the real-time tracking of the sound source parameters and the vehicle speed.

[0034] The present invention also includes a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the method described above.

[0035] The present invention also includes a storage medium storing a computer program that, when executed by a processor, implements the method described above.

[0036] The beneficial effects of this invention are: by continuously receiving vehicle status information, it also continuously updates the target sound source parameters. The control cycle ensures that the vehicle's low-speed warning sound changes in sync with the vehicle's status. This target-guided, progressive update mechanism ensures that even at the target speed... and corresponding Because the CAN signal changes frequently due to updates, the actual output sound is also a continuous, smooth, and stepless gradual change, which fundamentally eliminates the abruptness of the prompt tone. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart of the method in Example 1;

[0039] Figure 2 This is a schematic diagram of the system structure in Example 1;

[0040] Figure 3 This is a flowchart of the method in Example 2;

[0041] Figure 4 This is the sound source parameter-velocity mapping diagram in Example 2;

[0042] Figure 5 This is the control cycle-acceleration factor mapping diagram in Example 2;

[0043] Figure 6 This is a schematic diagram of the structure of the computer device of the present invention. Detailed Implementation

[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0045] Example 1:

[0046] like Figure 1 As shown: A smooth control method for a vehicle low-speed warning sound, comprising the following steps:

[0047] The system presets the vehicle speed range for which a low-speed warning sound needs to be generated and the range of sound source parameters that meet national standards. It divides the vehicle speed range and the range of sound source parameters into M sub-domains and maps the subdivided vehicle speeds to the sound source parameters. It also presets the range of sound source parameter update cycles.

[0048] The target vehicle speed is obtained through the vehicle's CAN bus, and the corresponding acceleration is calculated based on several time windows.

[0049] The acceleration factor is calculated based on the system initial value or several time windows with acceleration weighting, and the sound source parameter update period is calculated based on the acceleration factor.

[0050] Calculate the target sound source parameters corresponding to the current vehicle speed, and control the sound to smoothly transition from the current sound source parameters to the target sound source parameters;

[0051] The system repeatedly calculates the update cycle of the sound source parameters and controls the smooth transition of the sound to the target sound source parameters, thereby achieving real-time tracking of the sound source parameters and vehicle speed.

[0052] By continuously receiving vehicle status information, the target audio source parameters are also continuously updated. The control cycle ensures that the vehicle's low-speed warning sound changes in sync with the vehicle's status. This target-guided, progressive update mechanism ensures that even at the target speed... and corresponding Because the CAN signal changes frequently due to updates, the actual output sound is also a continuous, smooth, and stepless gradual change, which fundamentally eliminates the abruptness of the prompt tone.

[0053] In this embodiment, the vehicle speed range and the sound source parameter range are divided into M sub-domains, and the subdivided vehicle speeds are mapped to the sound source parameters, including:

[0054] Vehicle speed range [ [and the range of audio source output parameters] Subdivided into The parameters are mapped so that each subdivision of the vehicle speed corresponds one-to-one with the audio source output parameters.

[0055] The vehicle speed range and the audio source parameter range are divided into M sub-domains:

[0056] .

[0057] As a preferred embodiment of the above, the acceleration is calculated based on several time windows, including:

[0058] Calculate the acceleration within three different time windows, from smallest to largest. , and ;

[0059] acceleration It is obtained by differential calculation of continuously sampled vehicle speeds.

[0060] Acceleration factor is calculated using acceleration weighting over several time windows. ,include:

[0061] ;

[0062] In the formula, For instantaneous acceleration, Accelerating the trend, Accelerating history , , The adaptive weighting coefficients satisfy the following conditions: , .

[0063] In this embodiment, the sound source parameter update period is calculated based on the acceleration factor. ,include:

[0064] ;

[0065] In the formula, K is the system's preset gain coefficient, and its reaction acceleration factor affects the update cycle of the sound source parameters.

[0066] Among them, the target sound source parameters corresponding to the current vehicle speed are calculated. ,include:

[0067] ;

[0068] In the formula, For the current vehicle speed, [ [ represents the vehicle speed range,] [] represents the range of audio source output parameters.

[0069] like Figure 2 As shown, this embodiment also includes a smooth control system for a vehicle low-speed warning sound, using the method described above. The system includes:

[0070] The preset unit is used to preset the vehicle speed range that needs to generate a low-speed warning sound and the range of sound source parameters that meet the national standard requirements. It divides the vehicle speed range and the range of sound source parameters into M sub-domains, maps the subdivided vehicle speeds to the sound source parameters, and presets the sound source parameter update cycle range.

[0071] The acquisition unit is used to acquire the target vehicle speed through the vehicle's CAN bus and calculate the corresponding acceleration based on several time windows.

[0072] The update cycle calculation unit is used to calculate the acceleration factor based on the system initial value or several time windows with acceleration weighting, and to calculate the sound source parameter update cycle based on the acceleration factor.

[0073] The sound source parameter update unit is used to calculate the target sound source parameters corresponding to the current vehicle speed and control the sound to smoothly transition from the current sound source parameters to the target sound source parameters.

[0074] The control unit is used to repeatedly calculate the update cycle of the sound source parameters and control the smooth transition of the sound to the target sound source parameters, so as to realize the real-time tracking of the sound source parameters and the vehicle speed.

[0075] Example 2:

[0076] like Figure 3 As shown, this embodiment includes a smooth control method for low-speed warning sounds in electric vehicles, comprising the following steps:

[0077] S1: Parameter initialization, preset the speed range where a low-speed warning sound is required. ] and the range of sound source parameters that meet national standards[ ], dividing the two into Each sub-domain is further subdivided, and the subdivided vehicle speed corresponds one-to-one with the audio source output parameters.

[0078] S2: Obtain the target vehicle speed via the vehicle's CAN bus. And calculate the acceleration within different time windows. , and ;

[0079] S3: Acceleration factor is determined based on initial system values ​​or recent vehicle speed information. The acceleration factor is calculated using a multi-timescale weighted algorithm. Directly determines the audio source parameter update cycle ;

[0080] S4: Calculate the audio source parameters corresponding to the current vehicle speed The system controls the sound to change from the current parameters. Achieve a fast and smooth transition.

[0081] S5: As the vehicle speed information is continuously and rapidly updated, repeat steps S2 to S4 to achieve real-time tracking of the system's output audio source parameters with respect to speed.

[0082] like Figure 4 As shown, in step S1, the sound source parameters include information such as the output gain and frequency of the sound. Generally, different vehicle speeds have a mapping relationship with their sound gain and frequency; therefore, the sound source parameter F is used uniformly. The preset system control cycle T range is defined as the sound source parameter update cycle. This value reflects the minimum period of change in vehicle sound when the vehicle's state changes.

[0083] Different vehicle speeds have different audio source output parameters, speed range [ ] and audio source output parameters[ Subdivided into Map the copies, where This ensures a smooth transition of the low-speed warning sound with vehicle speed. The national standard specifies a vehicle speed range of 0-20 km / h, and also has corresponding requirements for frequency shift and sound pressure level. The preset sound source parameters already meet the national standard requirements.

[0084] In step S2, the acceleration It is obtained by differential calculation of continuously sampled vehicle speeds. It reflects the latest and most local trend of vehicle speed change, but is sensitive to noise. and These are vehicle accelerations calculated within short-term and long-term time windows, respectively. They reflect the vehicle's recent stable acceleration or deceleration intentions and characterize the vehicle's average acceleration state over a longer period, reflecting the overall driving style.

[0085] In step S3, the acceleration factor Its essence is an estimate of vehicle acceleration, an acceleration factor. The calculation formula is obtained through a multi-time-scale weighted algorithm:

[0086] ;

[0087] in For instantaneous acceleration, Accelerating the trend, Historical acceleration is obtained by calculating the difference between the current vehicle speed and the vehicle speed in the previous sampling period, which is derived from the speed difference between the two most recent consecutive sampling points. Trend acceleration is obtained by linearly fitting vehicle speed data over a slightly longer intermediate time window, using the slope of the fitted line as an estimate of the acceleration. Historical acceleration is obtained in a similar way to trend acceleration, but using a longer time window. , , The adaptive weighting coefficients satisfy the following conditions: The weighting coefficients are dynamically adjusted based on the intensity of the current acceleration; the greater the absolute value of the acceleration, the higher the instantaneous weight. The higher the percentage.

[0088] The acceleration factor is calculated using this weighted method. By integrating instantaneous, trend and historical acceleration information, it is essentially a filter that can intelligently smooth out instantaneous abnormal values ​​of vehicle speed. This avoids the problem of warning tone tremors or noise caused by the amplification of noise in the traditional differential method, ensuring the stability of the output signal and alleviating the contradiction between response speed and smoothness in the control system.

[0089] like Figure 5 As shown, in step S3, the acceleration factor Directly determines the audio source parameter update cycle Calculate according to the following formula:

[0090] ;

[0091] Where K is the system's preset gain coefficient, and its reaction acceleration factor affects the update cycle of the sound source parameters. It is also used to clamp the results. By limiting the results, it prevents abnormal results caused by problems such as signal acquisition or calculation, and effectively prevents sudden changes in sound during the control process.

[0092] In step S4, the target vehicle speed Corresponding audio source output parameters :

[0093] ;

[0094] During subsequent sound parameter adjustments, use the sound source parameters corresponding to the current vehicle speed. This serves as the system's control objective, and this objective continuously changes with vehicle speed. Throughout the system's operation, it constantly receives vehicle status information and updates it. With a control cycle T, the vehicle's low-speed warning sound changes in sync with changes in the vehicle's status. This "target-guided, progressive" update mechanism ensures that even at the target speed... and corresponding Because the CAN signal changes frequently due to updates, the actual output sound is also a continuous, smooth, and stepless gradual change, which fundamentally eliminates the abruptness of the prompt tone.

[0095] Please see Figure 6 The diagram shows a structural schematic of a computer device provided in an embodiment of this application. An embodiment of this application provides a computer device 400, including a processor 410 and a memory 420. The memory 420 stores a computer program executable by the processor 410, and when the computer program is executed by the processor 410, it performs the method described above.

[0096] This application embodiment also provides a storage medium 430, on which a computer program is stored, and the computer program is executed by a processor 410 to perform the above method.

[0097] The storage medium 430 can 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 Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0098] In the description of this invention, 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 number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0099] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0102] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0103] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0104] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0105] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A smooth control method for a vehicle low-speed warning sound, characterized in that, Includes the following steps: The system presets the vehicle speed range for which a low-speed warning sound needs to be generated and the range of sound source parameters that meet national standards. It then divides the vehicle speed range and the range of sound source parameters into M sub-domains and maps the subdivided vehicle speeds to the sound source parameters. The system also presets the range of sound source parameter update cycles. The target vehicle speed is obtained through the vehicle's CAN bus, and the corresponding acceleration is calculated based on several time windows. The acceleration factor is calculated based on the system initial value or several time windows with acceleration weighting, and the sound source parameter update period is calculated based on the acceleration factor. Calculate the target sound source parameters corresponding to the current vehicle speed, and control the sound to smoothly transition from the current sound source parameters to the target sound source parameters; The system repeatedly calculates the update cycle of the sound source parameters and controls the smooth transition of the sound to the target sound source parameters, thereby achieving real-time tracking of the sound source parameters and vehicle speed.

2. The smooth control method for low-speed warning sounds of vehicles according to claim 1, characterized in that, The step of dividing the vehicle speed range and the sound source parameter range into M sub-domains and mapping the subdivided vehicle speeds to sound source parameters includes: Vehicle speed range [ [and the range of audio source output parameters] Subdivided into The parameters are mapped so that each subdivision of the vehicle speed corresponds one-to-one with the audio source output parameters.

3. The smooth control method for low-speed warning sounds of vehicles according to claim 2, characterized in that, The vehicle speed range and sound source parameter range are divided into M sub-domains: 。 4. The smooth control method for low-speed warning sounds of vehicles according to claim 1, characterized in that, The calculation of the corresponding acceleration based on several time windows includes: Calculate the acceleration within three different time windows, from smallest to largest. , and ; acceleration It is obtained by differential calculation of continuously sampled vehicle speeds.

5. The smooth control method for low-speed warning sounds of vehicles according to claim 4, characterized in that, The acceleration factor is calculated by weighting the acceleration over several time windows. ,include: ； In the formula, For instantaneous acceleration, Accelerating the trend, Accelerating history , , The adaptive weight coefficients satisfy the following conditions: , .

6. The smooth control method for low-speed warning sounds of vehicles according to claim 5, characterized in that, The sound source parameter update cycle is calculated based on the acceleration factor. ,include: ； In the formula, K is the system's preset gain coefficient, and its reaction acceleration factor affects the update cycle of the sound source parameters.

7. The smooth control method for low-speed warning sounds of vehicles according to claim 1, characterized in that, The calculation of the target sound source parameters corresponding to the current vehicle speed ,include: ； In the formula, For the current vehicle speed, [ [ represents the vehicle speed range,] [] represents the range of audio source output parameters.

8. A smooth control system for a low-speed warning sound in a vehicle, characterized in that, Using the method of any one of claims 1 to 7, the system comprises: The preset unit is used to preset the vehicle speed range that needs to generate a low-speed warning sound and the range of sound source parameters that meet national standards. The vehicle speed range and the range of sound source parameters are divided into M sub-domains, and the subdivided vehicle speeds are mapped to the sound source parameters. The preset sound source parameter update cycle range is also set. The acquisition unit is used to acquire the target vehicle speed through the vehicle's CAN bus and calculate the corresponding acceleration based on several time windows. The update cycle calculation unit is used to calculate the acceleration factor based on the system initial value or several time windows with acceleration weighting, and to calculate the sound source parameter update cycle based on the acceleration factor. The sound source parameter update unit is used to calculate the target sound source parameters corresponding to the current vehicle speed and control the sound to smoothly transition from the current sound source parameters to the target sound source parameters. The control unit is used to repeatedly calculate the update cycle of the sound source parameters and control the smooth transition of the sound to the target sound source parameters, so as to realize the real-time tracking of the sound source parameters and the vehicle speed.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-7.

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