Vehicle control method and device based on intelligent driving scene, storage medium and program product

Abstract

The invention provides a vehicle control method and device based on an intelligent driving scene, a storage medium and a program product. The method comprises the steps of obtaining a current driving route of a vehicle; generating at least one candidate parking place for display based on the driving route; and obtaining a selection instruction of a passenger for a target location in the at least one candidate parking location, and controlling the vehicle to run to the target location according to the selection instruction to complete parking.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving of vehicles, and in particular to a vehicle control method, storage medium and program product based on intelligent driving scenarios. Background Technology

[0002] With the rapid development of intelligent driving technology, autonomous vehicles have been commercially applied in various scenarios. Driven by industry safety standards, vehicle intelligent driving systems are now required to have the ability to respond to passenger parking requests. This requirement has prompted OEMs and related technology suppliers to actively explore how to achieve a more natural and convenient human-vehicle collaborative parking mechanism while ensuring driving safety, thereby promoting the continuous optimization of intelligent, safe, and compliant parking interaction solutions.

[0003] In related technologies, parking control typically relies on users actively selecting parking spots on electronic maps, with the system then dispatching vehicles to the location. Although this solution can be expanded to support passenger adjustments to pick-up and drop-off locations and the addition of waypoints, it still essentially requires passengers to manually locate and confirm the parking position on the map. The system is only responsible for executing navigation instructions, resulting in a cumbersome interaction process and insufficient intelligence. Summary of the Invention

[0004] In view of this, the present invention provides a vehicle control method, device, storage medium and program product based on intelligent driving scenarios to address the shortcomings of related technologies.

[0005] Specifically, this specification is implemented through the following technical solution: According to a first aspect of this specification, a vehicle control method based on an intelligent driving scenario is provided, the method comprising: Obtain the vehicle's current driving route; At least one candidate parking location will be generated based on the driving route for display; Obtain the passenger's selection instruction for a target location among the at least one candidate parking locations, and control the vehicle to drive to the target location to complete parking according to the selection instruction.

[0006] According to a second aspect of this specification, a vehicle control device based on an intelligent driving scenario is provided, the device comprising: The route acquisition unit is used to acquire the vehicle's current driving route; A location generation unit is used to generate at least one candidate parking location based on the driving route for display. The vehicle control unit is configured to acquire a passenger's selection instruction for a target location among the at least one candidate parking locations, and control the vehicle to drive to the target location to complete parking according to the selection instruction.

[0007] According to a third aspect of this specification, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0008] According to a fourth aspect of this specification, a computer program product includes a computer program / instructions that, when executed by a processor, implement the steps of the method described in the first aspect.

[0009] The vehicle described in this manual can obtain its current driving route and proactively generate multiple candidate parking locations based on that route, enabling the vehicle control system to intelligently predict parking opportunities and recommend locations. Passengers do not need to manually search and locate on the map; they only need to select a target from the candidate locations provided by the system, and the system will control the vehicle to proceed and park accordingly. This process transforms the interaction from "passengers searching for locations" to "the system providing the location and the passenger confirming it," solving the problems of cumbersome operation and reliance on manual location in existing technologies. It significantly improves the response efficiency and ease of operation for parking requests, achieving a more natural human-vehicle collaboration. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the present invention, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0011] Figure 1 This is a schematic flowchart illustrating a vehicle control method based on an intelligent driving scenario, as shown in an embodiment of the present invention. Figure 2 This is a schematic diagram illustrating a method for generating candidate parking locations based on a road segment of interest, as shown in an embodiment of the present invention. Figure 3 This is a schematic flowchart illustrating another vehicle control method based on an intelligent driving scenario, as shown in the disclosed embodiment of the present invention. Figure 4 This is a schematic structural diagram of an electronic device according to an embodiment of the present invention; Figure 5 This is a block diagram illustrating a vehicle control device based on an intelligent driving scenario, as shown in an embodiment of the present invention. Detailed Implementation

[0012] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present invention.

[0013] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0014] It should be understood that although the terms first, second, third, etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of this invention, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0015] Figure 1 This is a flowchart illustrating an exemplary embodiment of the present invention regarding a vehicle control method based on an intelligent driving scenario. The method may specifically include the following steps: Step S102: Obtain the vehicle's current driving route.

[0016] This method is executed by the vehicle control system (hereinafter referred to as the system). As the core execution entity of this specification, the system first obtains the vehicle's current driving route. This step provides the necessary path context input for the subsequent intelligent generation of parking locations.

[0017] Specifically, the vehicle described in this specification operates in an intelligent driving scenario, meaning its intelligent driving system conforms to the technical definition of Conditional Automation (Level 3) or higher, and is capable of continuously executing all dynamic driving tasks within the set operating conditions. In this scenario, the aforementioned driving route can be generated by the vehicle's intelligent driving system based on the destination, real-time traffic conditions, road regulations, and high-precision map information. Essentially, it is a macroscopic lane-level path planning result. In other words, this route reflects the system's current driving intention and navigation strategy, serving as the basis for the vehicle's longitudinal and lateral control.

[0018] The aforementioned vehicle control system can obtain the driving route information from the intelligent driving system in real time through predefined interfaces between systems. Of course, the vehicle control system referred to in this specification, and the intelligent driving system responsible for path planning and vehicle control, can be architecturally inclusive or collaborative: it can be integrated as a functional subsystem or module within the intelligent driving system, or it can operate as an independent upper-level decision-making module within the vehicle. In short, the two interact through predetermined in-vehicle communication protocols such as Controller Area Network with Flexible Data-Rate (CAN FD), Ethernet, or inter-domain communication middleware to ensure reliable transmission of commands and status. Furthermore, the functions of the aforementioned vehicle control system can be deployed in one or more Electronic Control Units (ECUs), in-vehicle computing platforms, domain controllers, or even partially run on a backend server in a vehicle-cloud collaborative manner, depending on actual needs. This specification does not limit its specific implementation architecture.

[0019] Step S104: Generate at least one candidate parking location based on the driving route for display.

[0020] Based on the acquired driving route, the vehicle control system can generate one or more candidate parking locations. These candidate parking locations are presented directly to the passenger for selection, eliminating the need for the passenger to actively search for them, thus significantly reducing the passenger's operational burden and decision-making complexity.

[0021] In one embodiment, the vehicle control system can acquire the vehicle's current location information and determine the segment of interest based on the location information and the obtained driving route. Then, according to a preset location generation rule, it generates at least one candidate parking location within the segment of interest. The segment of interest is located within a preset spatial range referenced by the location information. The system can acquire the vehicle's precise location information in real time using onboard positioning units such as Global Navigation Satellite System (GNSS), inertial navigation system, and fusion positioning module, as the basis for subsequent spatial calculations. Furthermore, in generating one or more candidate parking locations, a reasonable spatial search range, i.e., a preset spatial range, needs to be defined, and the segment of interest is determined within this range. This preset spatial range can be divided into several types to adapt to diverse road scenarios and passenger needs.

[0022] 1. Range based on path distance: This method uses spatial length as a constraint, that is, starting from the vehicle's current position, it extracts a preset path length, such as a range of 1 to 3 kilometers, along the planned path direction of the current driving route. Those skilled in the art will understand that "forward" here can refer to the vehicle extending along the expected direction of the aforementioned driving route, or it can be extended to the direction of the branch road segments mentioned below, thereby forming a strip-shaped or tree-shaped search area along the corresponding route direction.

[0023] 2. Range Based on Journey Duration: This method uses time as a constraint, starting from the vehicle's current location and predicting the geographical area covered by the vehicle's possible trajectory within a preset time period, such as 2 to 5 minutes, based on current road conditions, traffic status, and vehicle motion models. This range can be a dynamically generated, irregular area that typically extends along the corresponding route. Similar to the previous method, its search area can be limited to the driving route or include branch road segments that can be accessed within the predicted time.

[0024] It is worth noting that the aforementioned road sections of concern can specifically include at least one of the following: at least a portion of the aforementioned travel route, and at least one branch road section connected to the aforementioned travel route. This branch road section can be directly connected to the aforementioned travel route, or it can be indirectly connected through other branch road sections, thus forming a tree-like connected structure in the actual road network with the aforementioned travel route as the main branch. Including such connected branch road sections in the consideration provides passengers with more parking options. For example, before reaching their destination on the main road, passengers can choose to enter the auxiliary road or a smaller road extending from the auxiliary road to park, thereby better adapting to the diverse parking needs in actual travel scenarios.

[0025] In summary, after determining the preset spatial range, the vehicle control system extracts one or more road segments entirely within that range and defines them as segments of interest. This ensures that the parking location generated by the system is both within an acceptable short-term reach for the passenger and closely integrated with the vehicle's current driving intentions and road network connectivity.

[0026] Finally, after identifying the aforementioned road segments of interest, the vehicle control system can automatically generate one or more candidate parking locations on those road segments based on preset location generation rules. These rules can be based on a set and include one or more rules to ensure the rationality, safety, and personalization of the parking locations.

[0027] In one embodiment, when the location generation rule includes a distance rule, the vehicle control system can generate candidate parking locations along the aforementioned road segment of interest at preset distance intervals; and / or, along the aforementioned road segment of interest, determine road feature points at a specific distance from the vehicle's current location as candidate parking locations. The distance rule is used to generate locations with a certain spatial distribution pattern on the road segment of interest; for example, a candidate parking location can be generated at intervals of 200 meters or 500 meters to achieve uniform coverage of the road segment. Simultaneously, the system can also directly propose feature points such as the next intersection, bus stop, gas station entrance, or residential area entrance closest to the vehicle's current location on the road segment of interest as candidate parking locations. These two methods can be used individually or in combination.

[0028] In another embodiment, when the location generation rules include safety rules, the vehicle control system can identify areas on the road segment of interest that meet safe parking conditions within a preset spatial range, for example, from the vehicle's perception data or map data, and determine these areas as candidate parking locations. The safety rules can be used to ensure that the generated parking locations comply with road traffic safety regulations and real-time environmental constraints. These safe parking conditions may include, but are not limited to, sufficient space, compliance with relevant laws and regulations, and good visibility. For example, the system can use an onboard camera or radar to detect in real time a section of roadside space with no parked vehicles and sufficient length, and mark it as a candidate area. Simultaneously, the system can also query a high-precision map to confirm that the area is not marked as a no-parking zone or a bus-only zone, and that the lane markings allow for temporary parking, thus ultimately determining it as a safe candidate parking location.

[0029] In another embodiment, when the location generation rules include preference rules, the vehicle control system can identify candidate parking locations as positions within a preset spatial range that match preset custom parking locations on a road segment of interest. These preference rules can incorporate personalized factors to make recommended locations more aligned with user habits or specific scenario needs. This means matching positions within the road segment of interest with preset user or scenario preference models and identifying positions with high matching scores as candidate locations. For example, the system can generate candidate parking locations based on the user's historical parking data in similar areas frequently used by the user. Alternatively, the user can manually preset frequently used locations, which the system will prioritize generating when passing through these areas. Furthermore, the system can associate general recommended areas based on destination attributes. For instance, when the destination is a hospital, candidate parking locations near the emergency room entrance are prioritized; when the destination is a transportation hub, candidate parking locations corresponding to the departure level of a specific terminal are prioritized, and so on.

[0030] When the location generation rules include multiple rules, which may generate the same or different locations, the system can filter and prioritize candidate locations, selectively presenting the highest-priority ones to the user. This improves interaction efficiency and avoids user confusion or interface clutter caused by displaying too many options. The priority setting can be based on different principles, including but not limited to: 1. Rule Hit Count: Locations hit by multiple rules have higher priority. 2. Rule Hierarchy Weight: The inherent priority between rules can be preset, for example, security rules > preference rules > distance rules, meaning safety and compliance are the primary prerequisite, followed by personalization and convenience, and finally distribution patterns. 3. Comprehensive Score: A weight is assigned to each rule, and a comprehensive score is calculated for each location, then they are sorted by score.

[0031] After determining the candidate parking locations and completing the above priority ranking, the vehicle control system can present the generated candidate parking locations to the passenger through one or more of the following methods to complete the subsequent selection and confirmation.

[0032] I. Visual Display: The aforementioned candidate parking locations can be displayed on the vehicle's smart cockpit screen, such as the central control screen, passenger screen, or head-up display, or in a passenger mobile terminal application associated with the vehicle, using a graphical interface. The display typically includes a map clearly marking the location of each candidate parking location with icons or markers. Furthermore, for each candidate location, the interface can display its name, such as "Southeast corner of the intersection of Xinhua Road and Heping Street," or "Gate 3, Departure Level, Terminal 3, International Airport," along with its real-time distance to the vehicle, estimated arrival time, and alternatively, a street view image of the location for a more intuitive reference.

[0033] II. Voice Announcement: The vehicle control system can announce candidate parking location information via the in-vehicle audio system or passenger terminal. The announcement content typically includes, but is not limited to: the location name, its location and distance relative to the vehicle, and its sequence number in the option list. This allows passengers to understand the candidate parking location corresponding to the currently announced content without having to look at the screen. The option list contains location information for each candidate parking location.

[0034] Meanwhile, regardless of the display method, the system offers an "Immediate Stop" option to address passengers' urgent or immediate parking needs. Selecting this option will automatically select and navigate to the nearest available parking location, centered on the current vehicle location and while adhering to safety rules, greatly simplifying the decision-making process.

[0035] The following is based on Figure 2 Taking a specific example, this paper introduces a process for generating a road segment of interest and its corresponding candidate parking locations. Figure 2 As shown, the occupants used the intelligent driving system to set an autonomous driving trip of approximately 50 kilometers from location A to location B. The system generated a complete driving route on a panoramic map. Figure 2 The left side. When the vehicle reaches the middle of the journey, in response to potential stopping needs from passengers, the vehicle control system first uses the vehicle's current position as the starting point and, along the planned path of the current driving route, intercepts a 3-kilometer segment as the focus section. This segment is clearly displayed within the preset space area of ​​the panoramic map. Figure 2 The middle section is then described. Subsequently, it is assumed that the vehicle control system can automatically generate candidate parking locations on this section of road based on distance rules: for example, generating six options from parking location 1 to parking location 6 at fixed intervals of approximately 500 meters, each with a corresponding selection button. All this location information and routes are integrated and displayed on the vehicle's central control screen. Simultaneously, to meet immediate parking needs, the interface also provides an "Immediate Parking" option and a "Cancel Parking" option to cancel the parking action. This design allows occupants to intuitively understand available parking locations ahead and conveniently trigger subsequent parking control procedures by clicking the corresponding buttons or options.

[0036] Furthermore, this manual may incorporate passenger identification functionality to further enhance the personalized and accessible experience of the interaction, and dynamically adjust the interaction strategy accordingly. This passenger identification functionality involves at least the passenger's identity information and corresponding preference profile. The timing and method of creating this preference profile can be flexible: it can be a profile that the passenger proactively creates and sets detailed preferences for themselves through the vehicle configuration system or mobile application; or it can be a basic or temporary preference profile automatically created by the vehicle system in real time based on sensor information or associated devices after the passenger boards the vehicle. For example, when the in-vehicle camera identifies an elderly passenger, the system may automatically create a temporary profile and associate it with preset interaction preferences such as "large font, strong voice guidance." This design ensures that the system can provide a suitable interactive experience to a certain extent for both registered users and temporary passengers.

[0037] In one embodiment, the vehicle control system can acquire passenger identity information and determine a target interaction strategy matching the passenger based on the identity information. The interaction strategy is used to define the display method of the at least one candidate parking location and / or the acquisition method of the selection instruction. The identity information may include at least one of the following: the passenger's physiological or behavioral characteristics, preset passenger preference information, and information about the terminal device held by the passenger.

[0038] Meanwhile, the identification of the aforementioned identity information can be achieved in various ways, such as: passengers logging into the vehicle information system or associated mobile applications through their personal accounts; the system using sensors such as in-vehicle cameras for facial recognition or voiceprint recognition; and the system detecting and pairing with mobile devices held and bound by passengers, such as smartphones and smartwatches. The acquired identity information can be uniquely linked to a specific passenger's preset preference profile. Subsequently, the system queries the associated passenger preference database based on the identity information to obtain personalized configurations pre-set for that passenger or generated by the system through learning historical interaction behaviors, thereby determining the appropriate interaction strategy for the current scenario.

[0039] Returning to the interaction strategy itself, it is mainly used to personalize the display of candidate parking locations and / or the acquisition of selection instructions, where: The way candidate parking locations are displayed refers to adjusting the form and details of information presentation based on passengers' visual preferences, operating habits, or physical conditions. For example, a high-contrast, large-font interface is automatically used for passengers with poor eyesight or elderly passengers, and voice prompts are prioritized; a concise list view with higher information density, including real-time traffic conditions and estimated travel time, is provided for efficiency-conscious business passengers; and a detailed interface with guiding instructions and animated demonstrations may be provided for first-time users.

[0040] Regarding the method of obtaining selection instructions, this refers to the interaction channel adapted to passenger preferences to receive their selection instructions. For example, for passengers accustomed to traditional operations, the selection method is mainly provided through touch screen or physical buttons; for passengers who seek convenience or have hand disabilities, the voice command reception function is enhanced; or, where permitted, remote confirmation via the passenger's mobile device is supported.

[0041] In summary, the process of determining the target interaction strategy based on identity information can be further refined into patterned matching based on preset conditions, providing basic interaction assurance, especially when dealing with passengers or special groups whose detailed personalized settings are not recorded. Specifically: When the aforementioned identity information meets the first preset condition, the vehicle control system can determine the voice interaction strategy as the target interaction strategy. The first preset condition may include, but is not limited to: recognizing the passenger as a child, visually impaired person, elderly person, or the system determining the user to be a first-time user and not detecting a clear preference for graphical interaction. Based on the instructions of this voice interaction strategy, the display of the candidate parking locations will primarily be in the form of voice announcements, and / or, the passenger's selection instructions in subsequent steps will be determined by acquiring and parsing their voice input. For example, when the system recognizes the passenger as a child, it may announce in a slower, clearer child's voice: "There is a park entrance 500 meters ahead where you can park. Do you need to park here?"

[0042] When the aforementioned identity information meets the second preset condition, the vehicle control system can determine the graphical interaction strategy as the target interaction strategy. Compared to the first preset condition, the second preset condition can correspond to a more general use case, such as recognizing the passenger as a young or middle-aged person, or their identity information not triggering the first preset condition and historical data showing their preferred graphical interface. Based on the instruction of the graphical interaction strategy, the display of the candidate parking locations is mainly through visualization on graphical user interfaces such as the vehicle's central control screen and mobile terminal applications, and / or, in subsequent steps, the passenger's selection instruction is determined by obtaining their touch input to the graphical user interface. For example, for commuting business people, the screen may simply display 2-3 optimal locations, along with the arrival time and estimated walking distance.

[0043] It's important to note that the target interaction strategy determined based on preset conditions does not conflict with the personalized customization in the passenger's preference profile; rather, they constitute two levels of interaction configuration. That is, the vehicle control system can prioritize the passenger's explicitly customized settings; if these are not present, it will revert to the preset strategy based on the passenger's identity group characteristics. For example, a passenger with poor eyesight may be identified as an "elderly person" and initially matched with a voice strategy, but they might prefer a "large font text mode" in their profile. In this case, the system will prioritize the latter when displaying candidate parking locations. This ensures that from special groups to general users, and from new users to experienced users, everyone can obtain an initially usable and subsequently finely tuned interactive experience within the same vehicle control scenario.

[0044] Unlike the aforementioned methods for determining interaction strategies based on identity information, this specification also introduces a mechanism for directly determining the target interaction strategy based on trip attributes. That is, the vehicle control system can quickly determine the interaction strategy directly based on the inherent attributes or metadata of the current trip, without relying entirely on real-time passenger biometric identification or device binding. This simplifies the process and saves on related computing power while ensuring the interaction requirements of specific scenarios.

[0045] The aforementioned trip attributes are labels or information that abstractly define the category, purpose, or passenger group characteristics of the trip served by the current driving route. These can include: 1. Service order associated attributes: In third-party service scenarios such as ride-hailing and freight, this attribute can be directly derived from the service order's metadata. For example, the order information can be explicitly marked as "Minor passenger order," "Accessible travel order (wheelchair user)," or "Valuables escort order," etc. 2. Private trip preset attributes: In private car travel scenarios, this attribute can be preset or associated by the car owner or passenger before the trip begins through vehicle settings, mobile applications, or calendar events. For example, in family-shared vehicles, the car owner can preset the "child mode" attribute for a regular trip "picking up and dropping off school children"; or mark the trip as "high risk of fatigued driving" before embarking on a long-distance self-driving trip.

[0046] Once the vehicle control system obtains the aforementioned attribute information of the current trip, it can directly map it to the predefined target interaction strategy. For example, if the system detects that the order associated with the trip is an "order for a minor passenger," even if the passenger's age is not identified through the camera, it will directly activate an interaction and monitoring strategy that includes rules such as "enhanced voice broadcast throughout the trip," "disabling parking in unsafe locations," and "triggering a background guardian notification upon arrival."

[0047] In summary, the strategy determination mechanism based on the above-mentioned trip attributes can be applied in parallel, complementaryly, or preferentially with the aforementioned passenger identification-based method. The system can set corresponding rules for both, for example: when the trip attributes are clear, the attribute mapping strategy is used first to ensure the core requirements of the scenario; when the attributes are unclear or are general attributes, passenger identification is used as a supplement for personalized fine-tuning.

[0048] Step S106: Obtain the passenger's selection instruction for the target location among the at least one candidate parking locations, and control the vehicle to drive to the target location to complete parking according to the selection instruction.

[0049] The aforementioned vehicle control system can display the generated candidate parking locations to passengers. Passengers only need to select the target location from the list. After receiving the corresponding selection instruction, the system can plan a local route to the location and autonomously control the vehicle's steering, acceleration, and braking to safely and accurately drive to the target location and complete the parking process, ensuring that the entire parking control process is smoother and more efficient.

[0050] As mentioned above, the method of obtaining the above selection instructions can be pre-specified by the vehicle control system, or adaptively configured based on the determined target interaction strategy. Taking the latter as an example, if the system determines that the voice interaction strategy is used, the selection instructions can be received through natural language voice input; if the system determines that the graphical interaction strategy is used, the instructions can be received through touch or click input.

[0051] In scenarios where intelligent driving and mobility services are deeply integrated, the purpose of a vehicle's intelligent driving journey can be closely linked to third-party service orders such as ride-hailing, freight, and food delivery. Therefore, this method can be further extended to achieve information synchronization and collaboration between vehicle control and external service systems.

[0052] Specifically, the driving route may be associated with one or more third-party service orders. This association is typically established at the start of the vehicle's current journey; for example, the vehicle begins executing this autonomous driving task in response to an order dispatched by a ride-hailing platform. The aforementioned third-party service orders at least contain destination information for this journey, which is usually the target location initially set by the order initiator, such as the passenger or the shipper.

[0053] In the aforementioned steps—that is, as the passenger selects a target location from the candidate parking locations, and the vehicle control system accordingly directs the vehicle to proceed and park—the system can use the passenger's selected target location as the updated destination information. Subsequently, the vehicle control system can send this change information to the corresponding third-party service platform, such as the ride-hailing company's dispatch server, via the onboard communication module to update the order information of the original third-party service order.

[0054] Taking the ride-hailing scenario as an example again, suppose a passenger decides to change their drop-off location midway through the trip. The passenger can select a new roadside parking spot as their destination through the aforementioned interaction process. While controlling the vehicle to move to that spot, the system automatically synchronizes this new location as the "destination" of the trip to the ride-hailing platform. The platform can then update the corresponding order information to correct, for example, the fare calculation method, and provide accurate location references for possible follow-up services, such as helping passengers find return transportation.

[0055] This extended feature ensures that when a trip is adjusted according to the passenger's real-time needs, the information of the relevant service orders can be kept synchronized in real time and accurately, thereby improving the overall efficiency of the service process and the user experience.

[0056] Building upon the aforementioned third-party service orders, this manual further expands and supports deep integration and collaboration for specially customized service orders. These specially customized service orders are typically received through travel service platforms, i.e., the aforementioned third-party service platforms. Essentially, they are process monitoring and assurance tasks tailored to specific passenger groups such as minors or people with disabilities, or for special scenarios such as escorting high-value goods or medical transport. When the vehicle control system obtains the driving route associated with such orders, it will activate the corresponding enhanced control logic and backend collaboration mechanism.

[0057] First, passengers, or those commissioning the service, such as parents or guardians, can initiate service requests with specific requirements through a pre-set service application. This request is sent to the platform's backend operations system, where professional operations personnel review and refine the rationality and feasibility of the request, generating a customized service order with detailed process constraints. For example, the order for "destination delivery and full-process monitoring of minors" would specify, in addition to the origin and destination locations, that the vehicle maintain a real-time connection with the backend during the journey and enable in-vehicle monitoring to ensure passenger safety. After the order is generated, it will be dispatched to an autonomous vehicle with the corresponding service capabilities. Subsequently, after the vehicle control system obtains and associates such orders, it will automatically adjust or enhance relevant control strategies and vehicle status according to the pre-set constraints in the order. For example: For the "escort of minors" service, the system can force the activation of real-time audio and video monitoring throughout the entire journey and maintain a data stream connection with the backend, allowing maintenance personnel or task commissioners to view remotely; at the same time, it can activate the "child lock during the journey" policy to restrict the vehicle doors from being opened from the inside before arriving at the verified destination.

[0058] For the "transportation of people with mobility impairments" service, the system can automatically park the vehicle at the gentlest curb and activate deployed automatic retractable ramps or connecting stairs to assist passengers, such as wheelchair users, in getting on and off the vehicle. Meanwhile, the interior space and securing devices can be pre-configured according to order requirements.

[0059] For "multi-node shuttle" type services, such as "automatically picking up minors traveling together at another location", after the vehicle completes the first leg of the journey, the system can automatically generate a driving route to the next shuttle point according to the order instructions and continue to execute the above-mentioned supervision process.

[0060] Of course, to support the aforementioned customized services, the autonomous vehicles described in this manual may include corresponding supporting designs. For example, the vehicle may be equipped with a multi-angle camera array for comprehensive process recording and real-time safety monitoring; the vehicle body may integrate an automatically retractable ramp or low-floor entrance design to facilitate the entry and exit of wheelchairs, strollers, etc.; and the door locking system may be linked to the order status to achieve automatic unlocking capability when, for example, the order status indicates that the vehicle has reached the designated safe area.

[0061] In addition to allowing passengers to actively select candidate parking locations, this manual can further introduce a dynamic recommendation mechanism based on the environment and vehicle status to improve the real-time adaptability and contextual intelligence of parking suggestions.

[0062] In one embodiment, environmental information surrounding the vehicle and / or the vehicle's driving status information can be acquired. Based on this environmental information and / or driving status information, one or more recommended parking locations are determined from at least one candidate parking location. Finally, parking suggestions are generated based on the determined recommended parking locations for display. The environmental information can be obtained in real-time from an onboard perception system, such as cameras, radar, or weather sensors, of the vehicle's surrounding environment or nearby areas. This includes, but is not limited to, weather conditions, lighting conditions, road conditions, surrounding traffic density, real-time traffic accidents, pedestrian activity intensity, and specific area attributes, such as school zones or construction zones. The driving status information is obtained from the vehicle bus or control system and may include, but is not limited to, current vehicle speed, remaining driving range, vehicle malfunction indicator light status, and the current confidence level or comfort level of the autonomous driving system.

[0063] The recommended parking locations mentioned above can be determined through preset evaluation algorithms or rule engines. The core logic lies in selecting the most suitable parking location from the previously identified candidate locations, taking into account the current real-time conditions and vehicle status. This manual does not restrict the specific implementation method. For example, in heavy rain, the system can prioritize recommending candidate locations with canopies, underground parking garage entrances, or near building entrances to reduce passengers' exposure to rain. When the system detects low remaining driving range, it can prioritize recommending candidate locations near charging stations or gas stations. At night or in low-light environments, the system can prioritize recommending candidate locations with good street lighting or near 24-hour businesses to ensure passenger safety and convenience. If the autonomous driving system reports unusually complex traffic conditions and decreased confidence, the system can proactively recommend candidate locations on relatively quiet, less disruptive side streets to seek safer and smoother parking opportunities.

[0064] Finally, the vehicle control system can also generate parking suggestions based on the identified recommended parking locations for display. These suggestions can be integrated into the aforementioned display process for candidate parking locations through visual emphasis such as highlighting, pinning, adding a "Recommended" label, or prioritizing voice announcements. Furthermore, the suggestions can include brief reasons for the recommendation; for example, on the smart cockpit screen, the interface originally displaying candidate parking locations might show the text "Recommended: Covered Parking Area (Away from Rain)" for the corresponding location, thus providing passengers with intuitive decision-making assistance.

[0065] In summary, this dynamic recommendation mechanism enables parking suggestions to not only be based on static map rules and historical preferences, but also to actively respond to real-time travel scenarios and vehicle status, thereby further enhancing the system's usability and passenger experience. It is important to emphasize that this recommendation step can be viewed as an intelligent sorting and labeling of the candidate location list, and does not affect the core steps of location generation and vehicle control.

[0066] Finally, this manual can be further enhanced with parking cancellation and resumption functions to address situations where passengers change their minds or find the selected location unsuitable, thereby increasing the flexibility and fault tolerance of the intelligent parking process.

[0067] In one embodiment, during the process of controlling the vehicle to travel to the target location, or during a preset waiting period after parking, the vehicle control system can continuously monitor and maintain its responsiveness to parking cancellation operations triggered by passengers. Once the system detects such an operation, it will immediately interrupt the current parking execution process and control the vehicle to continue traveling along the aforementioned route. Specifically, the triggering of the parking cancellation operation includes two stages: 1. En route to the target location: When the vehicle is heading towards the selected parking spot but has not yet arrived, the passenger can issue a cancellation command through a preset interaction method, such as voice command, cancellation button on the central control screen, or mobile application operation. 2. During the waiting period after parking: After the vehicle arrives at the target location and completes parking, the system can enter a preset waiting period. During this period, if the passenger deems the location unsuitable or changes their plans, they can still trigger a cancellation operation, indicating that the vehicle does not need to continue waiting or that the current stop should be ended.

[0068] In response to the aforementioned cancellation, the vehicle can further follow the following execution logic during the response process: First, if the vehicle is already in motion, it can replan its route based on its current location, smoothly and safely merging back into the original driving route and resuming autonomous driving along the original path. Conversely, if the vehicle has already come to a stop and is waiting, it can restart without violating traffic safety regulations and plan a route back to the original driving route. Furthermore, the candidate location list and selection status generated during this parking process can be cleared or reset, allowing the system to become ready again, awaiting the passenger's next parking request.

[0069] For example, in a ride-hailing scenario, if a passenger accidentally selects the wrong location, they can cancel the ride en route, and the vehicle will resume its original navigation route to the initial destination. Alternatively, if a passenger encounters an acquaintance at the destination, they can choose to stop for a brief conversation and then cancel the ride immediately afterward, efficiently and conveniently controlling the vehicle to resume its original route to the correct destination.

[0070] The following is combined Figure 3 Using a continuous ride-hailing scenario as an example, this paper introduces a flowchart of another vehicle control method based on intelligent driving scenarios. Figure 3 As shown, the method includes the following steps: In step S302, the passenger initiates the trip through a mobile terminal application.

[0071] In one embodiment, suppose a passenger uses a ride-hailing app on their smartphone and enters the starting address "Building A" and the destination address "Airport B". After the passenger confirms the call, the smartphone sends a trip request containing the start and end information to the ride-hailing platform's backend server via the network. Upon receiving the request, the server generates a third-party service order with a unique order ID. This order data structure explicitly records the origin coordinates, destination coordinates, passenger ID, and initial fare rules. Subsequently, the ride-hailing platform's backend server uses an algorithm to match and dispatch the order to an idle vehicle with Level 4 autonomous driving capabilities.

[0072] Step S304: The vehicle begins its journey and candidate parking locations are generated.

[0073] In one embodiment, the onboard communication module of the aforementioned autonomous vehicle receives an order instruction from the platform. The vehicle's intelligent driving system immediately activates, using its current location as the starting point and "Airport B" in the order as the destination, and utilizes a high-precision map and real-time traffic information to plan an optimal route. The system controls the vehicle to autonomously drive to "Building A" to pick up the passenger. After the passenger boards the vehicle and verifies their identity via the app, the vehicle begins its journey to the destination. Simultaneously, or during subsequent travel, the vehicle control system can operate as an independent upper-level decision-making module. It continuously obtains the current driving route from the intelligent driving system and the real-time vehicle location from the positioning system. Based on a preset strategy of "providing optional parking spots for ride-hailing orders," the system uses a path distance range of 200 meters behind and 1.5 kilometers ahead as a preset spatial range. Within this range, it automatically generates a list of candidate parking locations on main roads and connecting auxiliary roads, based on safety rules (excluding locations such as bus stops and intersections) and distance rules (approximately one location every 400 meters). This list of location data is then synchronized in real-time to the ride-hailing application backend on the passenger's smartphone via the vehicle's connection to the cloud.

[0074] Step S306: Recommend candidate parking locations based on environmental information.

[0075] In one embodiment, after the candidate location list has been displayed to the passenger, it is assumed that the vehicle sensors detect the onset of heavy rain. The vehicle control system can immediately initiate an environmental analysis subprocess: it can acquire environmental information from the onboard weather sensors and cameras, re-evaluate all candidate parking locations, and quickly calculate and filter locations with rain shelters, such as building eaves or underground parking garage entrances. After filtering, the vehicle control system can immediately generate a higher-priority update command and push it to the passenger's smartphone application. The application interface then dynamically refreshes, highlighting eligible candidate locations, such as "XX Shopping Mall Underground Parking Garage G Entrance," with a highlighted "Recommended" label, thereby assisting the passenger in making a better choice in step S306.

[0076] Step S308: Passengers view and select their target parking location.

[0077] In one embodiment, while the vehicle is in motion, suppose a passenger wishes to end their trip early for some reason. The passenger can then unlock their smartphone and open a ride-hailing app. Assuming that a scenario is presented... Figure 2 On the application interface shown, the navigation map area clearly overlays several candidate parking location markers generated and synchronized in step S304, assuming they are represented as pin icons with different serial numbers. Each marker is accompanied by brief information, such as "800 meters ahead, XX Shopping Mall drop-off area." After browsing, the passenger decides to get off at "West Gate of XX Park" and taps the corresponding marker or selection button on the screen. Upon detecting this touch event, the application on the smartphone immediately generates a structured selection instruction, which encapsulates the latitude and longitude coordinates, location ID, and timestamp of the selected location, and sends the instruction back to the vehicle control system via the mobile network.

[0078] In step S310, the vehicle control system processes the command and controls the vehicle to complete the parking process.

[0079] In one embodiment, the vehicle control system receives selection commands from a passenger's smartphone via an onboard gateway. The system first parses the command to confirm the precise coordinates of the target location. Then, it invokes the route planning engine to plan a safe and traffic-compliant local route, starting from the vehicle's current precise location and ending at the target location. This route may involve lane changes, merging into auxiliary roads, etc. After planning, the vehicle control system sends this local route as the highest priority navigation command to the intelligent driving system. The intelligent driving system then takes over vehicle control, manipulating the steering wheel, drive motor, and braking system to automatically drive along the local route and ultimately stop at the designated roadside area at "XX Park West Gate".

[0080] Step S312: Whether the passenger triggers a parking cancellation operation during the parking process.

[0081] In one embodiment, when the vehicle is changing lanes and preparing to drive towards "the west gate of XX Park", the passenger can click the parking cancellation option through the aforementioned ride-hailing application, thereby triggering a parking cancellation operation for the vehicle control system. Correspondingly, during the execution of step S310, the vehicle control system can determine whether the passenger has triggered the parking cancellation operation. If so, step S314 is executed; otherwise, step S316 is executed.

[0082] Step S314: The vehicle performs a parking cancellation operation.

[0083] In one embodiment, assuming a passenger changes their mind, they can click the prominent "Cancel Parking" button on their smartphone application. The smartphone immediately generates and sends a "Cancel Instruction." Upon receiving the instruction, the vehicle control system immediately issues a command to the intelligent driving system to "Abort the current partial route and resume the original main route." The intelligent driving system executes a safe abort procedure, controlling the vehicle to cancel the lane change or smoothly merge back into the original main road traffic flow, continuing along the planned route to the initial destination "Airport B" as described in step S304, while ensuring safety. Simultaneously, the vehicle control system sends a cancellation notification to the platform, clears the temporary state related to this parking, and finally returns to step S304.

[0084] In step S316, the vehicle control system synchronizes the new destination to the service platform and updates the order status.

[0085] In one embodiment, as the vehicle begins to move towards the destination or after it comes to a complete stop, the vehicle control system automatically uses the coordinates of "West Gate of XX Park" as the actual destination of the trip. Through the onboard T-Box communication module, using Vehicle-to-Everything (V2X) or a mobile network, it sends a "destination update" message to the ride-hailing platform's backend server. Upon receiving the message, the server recalculates the mileage and fare based on the new location, updates the billing information and status log for the order, and pushes a trip completion confirmation message back to the passenger's smartphone application.

[0086] Figure 4 This is a schematic structural diagram of an electronic device according to an exemplary embodiment. Please refer to... Figure 4At the hardware level, the electronic device includes a processor 402, an internal bus 410, a network interface 404, memory 406, and non-volatile memory 408, and may also include other necessary hardware. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it, forming a vehicle control device based on the intelligent driving scenario at the logical level. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0087] Figure 5 This invention illustrates a block diagram of a vehicle control device based on an intelligent driving scenario. Please refer to... Figure 5 The device includes: The route acquisition unit 502 is used to acquire the current driving route of the vehicle; Location generation unit 504 is used to generate at least one candidate parking location based on the driving route for display; The vehicle control unit 506 is used to acquire a passenger's selection instruction for a target location among the at least one candidate parking locations, and to control the vehicle to drive to the target location to complete parking according to the selection instruction.

[0088] Optionally, the location generation unit 504 is specifically used for: Obtain the current location information of the vehicle; Based on the vehicle's current location information and the driving route, a road segment of interest is determined, wherein the road segment of interest is located entirely within a preset spatial range with reference to the location information, and includes the main road segment of the driving route and / or at least one branch road segment that is connected to the driving route. Based on preset location generation rules, at least one candidate parking location is generated for the road segment of interest.

[0089] Optionally, the at least one candidate parking location includes at least one of the following: The locations along the road segment of interest are defined at preset distance intervals. The road feature points along the section of road of interest that are at a specific distance from the current position of the vehicle; Within the preset space, the area that meets the conditions for safe parking; Within the preset space, the location that matches the preset custom parking spot.

[0090] Optionally, the device further includes: The interaction strategy determination unit is used to obtain the passenger's identity information; Determine a target interaction strategy that matches the passenger based on the identity information; The interaction strategy is used to define the display method of the at least one candidate parking location and / or the acquisition method of the selection instruction.

[0091] Optionally, the interaction strategy determination unit is specifically used for: If the identity information meets the first preset condition, the voice interaction strategy is determined as the target interaction strategy; wherein, based on the voice interaction strategy, the display method is voice broadcast, and / or, the selection instruction is determined by obtaining the passenger's voice input; If the identity information meets the second preset condition, the graphical interaction strategy is determined as the target interaction strategy; wherein, based on the graphical interaction strategy, the display method is to display on the graphical user interface associated with the vehicle, and / or, the selection instruction is determined by obtaining touch input to the graphical user interface.

[0092] Optionally, the driving route is associated with a third-party service order, which includes destination information; the device further includes: The third-party platform update unit is used to send the target location as updated destination information to the third-party service platform to update the order information of the third-party service order.

[0093] Optionally, the device further includes: The parking location recommendation unit is used to obtain environmental information around the vehicle and / or the vehicle's driving status information; Based on the environmental information and / or the driving status information, determine one or more recommended parking locations from the at least one candidate parking location; Parking suggestions are generated and displayed based on the identified recommended parking locations.

[0094] Optionally, during the process of controlling the vehicle to travel to the target location, or during a preset waiting period after parking, the device further includes: The parking cancellation unit is used to control the vehicle to resume driving along the route in response to a parking cancellation operation triggered by a passenger.

[0095] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0096] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0097] Based on the same concept as the methods described above, this specification also provides a computer-readable storage medium having computer instructions stored thereon that, when executed by a processor, implement the steps of the methods as described in any of the above embodiments.

[0098] Based on the same concept as the methods described above, this specification also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the methods as described in any of the above embodiments.

[0099] The embodiments of the subject matter and functional operation described in this specification can be implemented in the following ways: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0100] The processing and logic flow described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output. The processing and logic flow can also be executed by dedicated logic circuitry—such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the device can also be implemented as dedicated logic circuitry.

[0101] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a GPS receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0102] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0103] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0104] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0105] Therefore, specific embodiments of the subject matter have been described. Furthermore, the processes depicted in the figures are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0106] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A vehicle control method based on intelligent driving scenarios, characterized in that, The method includes: Obtain the vehicle's current driving route; At least one candidate parking location will be generated based on the driving route for display; Obtain the passenger's selection instruction for a target location among the at least one candidate parking locations, and control the vehicle to drive to the target location to complete parking according to the selection instruction.

2. The method according to claim 1, characterized in that, The process of generating at least one candidate parking location based on the driving route includes: Obtain the current location information of the vehicle; Based on the vehicle's current location information and the driving route, a road segment of interest is determined, wherein the road segment of interest is located entirely within a preset spatial range with reference to the location information, and includes the main road segment of the driving route and / or at least one branch road segment that is connected to the driving route. Based on preset location generation rules, at least one candidate parking location is generated for the road segment of interest.

3. The method according to claim 2, characterized in that, The at least one candidate parking location includes at least one of the following: The locations along the road segment of interest are defined at preset distance intervals. The road feature points along the section of road of interest that are at a specific distance from the current position of the vehicle; Within the preset space, the area that meets the conditions for safe parking; Within the preset space, the location that matches the preset custom parking spot.

4. The method according to claim 1, characterized in that, The method further includes: Obtain passenger identification information; Determine a target interaction strategy that matches the passenger based on the identity information; The interaction strategy is used to define the display method of the at least one candidate parking location and / or the acquisition method of the selection instruction.

5. The method according to claim 4, characterized in that, The step of determining a target interaction strategy matching the passenger based on the identity information includes: If the identity information meets the first preset condition, the voice interaction strategy is determined as the target interaction strategy; wherein, based on the voice interaction strategy, the display method is voice broadcast, and / or, the selection instruction is determined by obtaining the passenger's voice input; If the identity information meets the second preset condition, the graphical interaction strategy is determined as the target interaction strategy; wherein, based on the graphical interaction strategy, the display method is to display on the graphical user interface associated with the vehicle, and / or, the selection instruction is determined by obtaining touch input to the graphical user interface.

6. The method according to claim 1, characterized in that, The driving route is associated with a third-party service order, and the third-party service order contains destination information; the method further includes: The target location is sent as updated destination information to the third-party service platform to update the order information of the third-party service order.

7. The method according to claim 1, characterized in that, The method further includes: Obtain environmental information surrounding the vehicle and / or the vehicle's driving status information; Based on the environmental information and / or the driving status information, determine one or more recommended parking locations from the at least one candidate parking location; Parking suggestions are generated and displayed based on the identified recommended parking locations.

8. The method according to claim 1, characterized in that, During the process of controlling the vehicle to travel to the target location, or within a preset waiting period after parking, the method further includes: In response to a passenger-triggered stop cancellation, the vehicle is controlled to resume its journey along the stated route.

9. A vehicle control device based on intelligent driving scenarios, characterized in that, The device includes: The route acquisition unit is used to acquire the vehicle's current driving route; A location generation unit is used to generate at least one candidate parking location based on the driving route for display. The vehicle control unit is configured to acquire a passenger's selection instruction for a target location among the at least one candidate parking locations, and control the vehicle to drive to the target location to complete parking according to the selection instruction.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method as described in any one of claims 1 to 8.

11. A computer program product, characterized in that, Includes a computer program / instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1 to 8.

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