Road adding method and device, electronic equipment and computer readable storage medium

Abstract

The present disclosure relates to the technical field of map database, and provides a road adding method and device, electronic equipment and computer readable storage medium. The road adding method comprises: obtaining a set of trajectory points selected by a user, wherein the trajectory points in the set of trajectory points are position points obtained by using a road collecting device to collect positions on a target road; performing continuity analysis on the trajectory points in the set of trajectory points, dividing the trajectory points with continuous collecting sequence and / or spatial position into the same group to form a continuous trajectory point group; generating a new road line element according to the continuous trajectory point group; and determining a topological association relationship between the new road line element and road node elements of the start point coordinate position and the end point coordinate position of the new road line according to the start point coordinate position and the end point coordinate position of the new road line and existing road node elements. The road adding scheme of the present disclosure can improve the efficiency of road line production.

Description

Technical Field

[0001] This disclosure relates to the field of map database technology, and in particular to a method, apparatus, electronic device, and computer-readable storage medium for adding roads. Background Technology

[0002] In map data production, drawing road lines is time-consuming. Each road line requires operators to select and draw each road point individually, resulting in slow production speed and low efficiency. After the road lines are drawn, topological relationships also need to be constructed.

[0003] Specifically, when selecting a road line to construct a topological relationship, the road drawing function needs to be started on the software interface. Select a point as the starting point of the road line, select road shape points one by one according to the shape of the road to connect them into a road line, and then select the ending point of the road line to complete the drawing of the road line and construct the topological relationship of the drawn road line.

[0004] In the above operations, it is often necessary to manually select road alignment points one by one, and the accuracy of the selected data must be ensured. Otherwise, it is necessary to reselect the road alignment points or correct the positions of the road alignment points, which will affect the efficiency of road line production. Summary of the Invention

[0005] In view of this, embodiments of the present disclosure provide a method, apparatus, electronic device, and computer-readable storage medium for adding roads, in order to solve the problem of low efficiency in road line creation in the prior art.

[0006] A first aspect of this disclosure provides a method for adding a road, comprising: acquiring a set of trajectory points selected by a user, wherein the trajectory points in the set are location points obtained by using a road acquisition device to acquire positions on a target road; performing continuity analysis on the trajectory points in the set, dividing trajectory points with continuous acquisition order and / or spatial location into the same group to form a continuous trajectory point group; generating new road line elements based on the continuous trajectory point groups; and determining the topological association between the new road line elements and the road node elements at the start and end coordinate positions based on the starting and ending coordinate positions of the new road line and existing road node elements.

[0007] A second aspect of this disclosure provides a road addition device, comprising: an acquisition module for acquiring a set of trajectory points selected by a user, wherein the trajectory points in the set are location points obtained by location acquisition on a target road using a road acquisition device; an analysis module for performing continuity analysis on the trajectory points in the set, dividing trajectory points with continuous acquisition order and / or spatial location into the same group to form a continuous trajectory point group; a generation module for generating new road line elements based on the continuous trajectory point group; and an association module for determining the topological association relationship between the new road line elements and the road node elements at the start and end coordinate positions based on the start and end coordinate positions of the new road line and existing road node elements.

[0008] A third aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0009] A fourth aspect of this disclosure provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0010] The beneficial effects of this disclosed embodiment compared with the prior art are as follows: after obtaining a continuous trajectory point group by performing continuity analysis on the trajectory points in the user-selected trajectory point set, new road line elements are generated based on the continuous trajectory point group, and a topological association relationship is established between the new road line elements and the road node elements at the endpoints of the new road lines. This realizes the automatic generation of new road lines and the automatic construction of topological relationships, reduces the waste of manpower, and improves the efficiency of road line production. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic flowchart of a method for adding roads provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the selection of trajectory points provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the generated road line provided in an embodiment of this disclosure; Figure 4 This is a flowchart illustrating another method for adding roads provided in this embodiment of the disclosure; Figure 5 This is a schematic diagram of the structure of a road addition device provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0013] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of the embodiments of this disclosure. However, those skilled in the art will understand that this disclosure may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this disclosure with unnecessary detail.

[0014] The method and apparatus for adding roads according to embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0015] Figure 1 This is a schematic flowchart illustrating a method for adding roads according to an embodiment of this disclosure. The method provided in this embodiment can be executed by any electronic device with computer processing capabilities, such as a terminal, computer, or server. This electronic device is equipped with map data creation or GIS (Geographic Information System) processing software.

[0016] like Figure 1 As shown, the road addition method in this embodiment includes: Step S101: Obtain the set of trajectory points selected by the user. The trajectory points in the set are location points obtained by using a road data acquisition device on the target road. Since the trajectory points are point data collected by the acquisition device on the road, they are located on the road.

[0017] Step S102: Perform continuity analysis on the trajectory points in the trajectory point set, grouping trajectory points with continuous acquisition sequence and / or spatial location into the same group to form continuous trajectory point groups. The lines connecting continuous trajectory points in a continuous trajectory point group are consistent with the direction of the road line. The higher the density of the acquired trajectory point data, the higher the similarity between the lines connecting continuous trajectory points and the road line. All trajectory point data in a continuous trajectory point group are continuous.

[0018] Step S103: Generate new road line elements based on continuous trajectory point groups. Specifically, by selecting trajectory point data and using the trajectory points as shape points of the road line, the road line is generated by connecting each continuous trajectory point in the selected trajectory points.

[0019] Step S104: Based on the starting and ending coordinates of the new road line and existing road node elements, determine the topological relationship between the new road line elements and the road node elements at the starting and ending coordinates. This step automatically constructs the topological relationship by generating the starting and ending points of the road line.

[0020] In step S102, one, two, or more consecutive trajectory point groups may be generated. If two or more consecutive trajectory point groups may be generated in step S102, then steps S103 and S104 are executed cyclically, processing one consecutive trajectory point group in each cycle, until all consecutive trajectory point groups have been processed.

[0021] The technical solution of this disclosure optimizes the road line creation process by automatically calculating and generating road lines and performing topology relationship construction. Specifically, the technical solution of this disclosure integrates the two time-consuming steps of road line drawing and topology relationship construction, which are separate in traditional map production, into an automated process. The user only needs to select the original trajectory data once, and the system can automatically complete the entire chain of production from discrete trajectory points to complete road line elements and their topology relationships. This fundamentally reduces the manual selection of road points. During operation, users only need to select trajectory points on the software interface, which significantly improves the efficiency and automation level of road data addition.

[0022] In step S102, when performing continuity analysis on the trajectory points in the trajectory point set, trajectory points that are time-continuous and / or whose distance is within a preset threshold can be determined as continuous trajectory points and divided into the same group based on the acquisition timestamp sequence of the trajectory points and / or the spatial distance between adjacent trajectory points.

[0023] This scheme provides a reliable and flexible basis for continuous grouping. By combining time and space criteria, it can accurately cluster trajectory points representing the same road segment together, effectively handling potential discontinuities or noise in the collected data. This lays a solid foundation for the accurate generation of individual road lines and improves the method's robustness to real-world collected data.

[0024] Before generating new road line elements based on continuous trajectory point groups in step S103, it is necessary to determine that the number of trajectory points in the continuous trajectory point group is greater than or equal to 2.

[0025] This solution filters out isolated trajectory point groups that do not form lines, thus avoiding meaningless processing and the generation of erroneous data. It ensures that system resources are focused on the production of effective data, making the entire automation process more robust and reliable.

[0026] In step S103, when generating new road line elements based on continuous trajectory point groups, each group of continuous trajectory point data is used as the shape point of the road line to automatically generate the road line. Specifically, the first trajectory point of the continuous trajectory point group is used as the starting shape point of the road line. Following the original order of the continuous trajectory point group, each trajectory point in the continuous trajectory point group is connected as the subsequent shape point of the road line, and the last trajectory point of the group is used as the ending shape point of the road line to generate a new road line element. The starting shape point and the ending shape point correspond to the starting coordinate position and the ending coordinate position of the new road line, respectively.

[0027] This solution seamlessly converts the original continuous trajectory points into road line shape points, ensuring that the generated road line geometry is highly consistent with the direction of the collected trajectory. While improving efficiency, it also guarantees the positional accuracy and shape authenticity of the newly added road data.

[0028] In this embodiment of the disclosure, the shape point coordinates of the newly added road line element are directly inherited from the coordinates of each trajectory point in the continuous trajectory point group.

[0029] This scheme clarifies the data inheritance relationship. Since the road shape points are directly derived from the coordinates of the trajectory points collected with high precision, this scheme can eliminate the subjective errors introduced by manual drawing, preserve the accuracy of the original collected data to the greatest extent, and make the newly added road data have a reliable source and quality assurance.

[0030] In step S104, when determining the topological association between the newly added road line element and the road node elements at the start and end coordinate positions, a topological relationship is constructed at the start and end points of the newly added road line based on their coordinates. Specifically, it can be determined whether existing road node elements exist at the start and end coordinate positions of the newly added road line; if not, new road node elements are created; and a topological association between the newly added road line element and the corresponding road node elements at the start and end coordinate positions is established.

[0031] This solution can automatically identify the node status at road endpoints and intelligently decide whether to create new nodes or associate existing nodes, thereby automatically establishing the correct network connection relationship. This completely avoids omissions and errors that may occur when manually constructing the topology, ensuring the topological correctness and completeness of the road network data.

[0032] In this embodiment of the disclosure, after determining whether there are existing road node elements at the starting coordinate position and the ending coordinate position of the new road line, if there are existing road node elements at the starting coordinate position and / or the ending coordinate position, a topological association relationship is directly established between the corresponding endpoints of the new road line element and the existing road node elements.

[0033] This approach enhances the method's adaptability and data consistency. When a new road connects to an existing road network, it can automatically reuse existing road node elements, avoiding the creation of duplicate nodes in the same location. This ensures the uniqueness and cleanliness of the road network topology and reduces data redundancy.

[0034] In such Figure 2 In the trajectory point data shown, arrows indicate the direction of the trajectory point data. In this embodiment of the disclosure, after the user selects the trajectory point data for which a road line is to be generated, the selected trajectory point data is automatically divided into three groups according to continuity. Figure 2 The starting and ending points of each group of trajectory points have been identified. Specifically, the starting point of group one, the ending point of group one, the starting point of group two, the ending point of group two, the starting point of group three, and the ending point of group three. For example... Figure 3 As shown, the three sets of trajectory point data will automatically generate three road lines formed by connecting the trajectory points, and automatically construct topological relationships at the beginning and end nodes of each road line.

[0035] like Figure 4 One method for adding roads, as shown, includes the following steps: Step S401: Obtain trajectory point data.

[0036] Step S402: Group the selected trajectory point data according to their continuity.

[0037] Step S403: Determine if there is a group with more than 1 trajectory points. If yes, proceed to step S404; otherwise, end the process.

[0038] Step S404: Automatically generate road lines for groups with more than 1 trajectory points.

[0039] Step S405: Construct topological relationships based on the coordinates of the beginning and end points of the road line.

[0040] The technical solution of this disclosure aims to overcome the problems of low efficiency, cumbersome operation, and easy error in traditional map data production, which involves manually drawing road lines and subsequently constructing topological relationships. The specific solution is as follows: It fully utilizes trajectory point data acquired by road acquisition equipment that accurately reflects road directions, and through an intelligent data processing flow, automatically converts user-selected discrete trajectory points into structurally complete road network data. This process integrates three key steps: automatic identification and grouping of trajectory point continuity, automatic generation of road line elements, and automatic construction of topological relationships. It achieves a semi-automatic leap from raw data to usable map elements, greatly improving operational efficiency and data quality.

[0041] Following step S401, on the software interface, the operator (user) uses selection tools such as box selection, point selection, or other selection tools to select a batch of trajectory points from the loaded trajectory data layer to generate new roads. These trajectory points are a sequence of location points with latitude and longitude coordinates or other coordinates, as well as timestamps, pre-collected on the target road by road acquisition devices such as vehicle-mounted GPS (Global Positioning System) and mobile acquisition devices.

[0042] In step S402, the timestamp of each trajectory point is first read and sorted chronologically. Then, adjacent trajectory points are checked sequentially. If two trajectory points are consecutive in the time series and their spatial distance, such as the Euclidean distance, is less than a preset threshold, then the two trajectory points are determined to be consecutive and belong to the same potential road. The threshold can be set according to the frequency of the acquisition device and the road shape; for example, the threshold can be set to 5-10 meters.

[0043] Based on the aforementioned continuity determination rules, the entire selected set of trajectory points can be divided into several groups of continuous trajectory points. The trajectory points within each group are collected continuously along the road, while there are clear discontinuities in time or space between groups, ensuring the accuracy of grouping and adaptability to real-world data.

[0044] In step S403, a simple check is performed on each continuous trajectory point group: it is determined whether the number of trajectory points in the group is greater than or equal to 2. If the number is 1, the group contains only one isolated point and cannot form a meaningful road line. The system will ignore this group and not process it, thereby improving the robustness of the process.

[0045] In step S404, when automatically generating road line elements based on continuous trajectory point groups, the system performs an automatic line formation operation for each continuous trajectory point group that passes verification. The specific generation rules are as follows: The first trajectory point in the continuous trajectory point group is determined as the starting point of the road line to be generated. Strictly following the original order of the trajectory points in the group, i.e., the acquisition order, the second, third, ... up to the second-to-last trajectory point in the group are connected sequentially as intermediate points of the road line. The last trajectory point in the group is determined as the ending point of the road line.

[0046] The system invokes the line feature creation function to connect this series of ordered shape points—the starting point, several intermediate points, and the ending point—to create a new road line feature in the spatial database. The geometry of this new feature, i.e., the coordinates of all its shape points, is completely inherited from the coordinates of each trajectory point in the continuous trajectory point group it is based on. This process requires no manual intervention in plotting points, making it efficient and accurate.

[0047] In step S405, topological relationships are automatically constructed at the endpoints of the new road line features. After the road lines are generated, they need to be connected to the existing road network, i.e., topological relationships are constructed. This step is performed independently for each newly generated road line feature and is fully automated.

[0048] Obtain the starting and ending point coordinates of the new road feature. Search the current map database or a specific topology layer for existing road node features that coincide with these two coordinates or are within a certain tolerance range, such as 0.5 meters. If no existing node exists, automatically create a new road node feature at the exact coordinates of the starting / ending point. This node represents the intersection or endpoint of the road network.

[0049] If a node already exists, the existing road node element is reused directly. This usually happens when a new road intersects with or connects with an existing road.

[0050] Regardless of whether a node is newly created or already exists, a topological association will eventually be established between the newly generated road line feature and the road node features at its starting point and ending point. This association is usually reflected in the data model as recording "line feature A is connected to node B and node C".

[0051] Through the process described in this embodiment, the operator only needs to perform the first step of selection; all subsequent complex and repetitive data processing tasks are automatically completed by the system. Compared to the traditional method of point-by-point drawing and manual topology construction, the technical solution of this embodiment compresses multiple manual steps into an automated chain. This not only increases the operation speed several times over, but also significantly reduces data position deviations and topology errors caused by human error by directly using high-precision trajectory point coordinates and automated topology logic, achieving a dual improvement in efficiency and quality.

[0052] According to the road addition method of this disclosure, after performing continuity analysis on the trajectory points in the user-selected trajectory point set to obtain a continuous trajectory point group, a new road line element is generated based on the continuous trajectory point group, and a topological association relationship is established between the new road line element and the road node element at the endpoint of the new road line. This realizes the automatic generation of new road lines and the automatic construction of topological relationships, reduces the waste of manpower, and improves the efficiency of road line production.

[0053] like Figure 5 As shown, the road addition device provided in this disclosure includes: The acquisition module 501 is used to acquire the set of trajectory points selected by the user. The trajectory points in the set are the location points obtained by using the road acquisition device to collect location data on the target road.

[0054] Analysis module 502 is used to perform continuity analysis on trajectory points in the trajectory point set, and to divide trajectory points with continuous acquisition sequence and / or spatial location into the same group to form a continuous trajectory point group.

[0055] The generation module 503 is used to generate new road line elements based on continuous trajectory point groups.

[0056] The association module 504 is used to determine the topological association between the new road line elements and the road node elements at the starting and ending coordinate positions, based on the starting and ending coordinate positions of the new road line and the existing road node elements.

[0057] This device achieves all the beneficial effects of the aforementioned methods through modular design, encapsulating the innovative semi-automatic road addition process into a complete system function. The modules have clear division of labor and work collaboratively, enabling users to easily complete a one-click conversion from trajectory data to road features with topology, greatly simplifying the operational complexity of map production tools and improving the integration and usability of the entire production system.

[0058] Since the functional modules of the road addition device in the example embodiments of this disclosure correspond to the steps of the road addition method in the example embodiments described above, for details not disclosed in the device embodiments of this disclosure, please refer to the embodiments of the road addition method described above.

[0059] According to the road addition device of this disclosure, after performing continuity analysis on the trajectory points in the user-selected trajectory point set to obtain a continuous trajectory point group, a new road line element is generated based on the continuous trajectory point group, and a topological association relationship is established between the new road line element and the road node element at the endpoint of the new road line. This realizes the automatic generation of new road lines and the automatic construction of topological relationships, reduces the waste of manpower, and improves the efficiency of road line production.

[0060] Figure 6 This is a schematic diagram of the electronic device 6 provided in an embodiment of this disclosure. Figure 6 As shown, the electronic device 6 of this embodiment includes a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601. When the processor 601 executes the computer program 603, it implements the steps in the various method embodiments described above. Alternatively, when the processor 601 executes the computer program 603, it implements the functions of each module in the various device embodiments described above.

[0061] Electronic device 6 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 6 may include, but is not limited to, processor 601 and memory 602. Those skilled in the art will understand that... Figure 6This is merely an example of electronic device 6 and does not constitute a limitation on electronic device 6. It may include more or fewer components than shown, or different components.

[0062] The processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0063] The memory 602 can be an internal storage unit of the electronic device 6, such as a hard disk or RAM of the electronic device 6. The memory 602 can also be an external storage device of the electronic device 6, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 6. The memory 602 can also include both internal and external storage units of the electronic device 6. The memory 602 is used to store computer programs and other programs and data required by the electronic device.

[0064] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0065] If the integrated module is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium may be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0066] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be included within the protection scope of this disclosure.

Claims

1. A method for adding new roads, characterized in that, include: Obtain the set of trajectory points selected by the user, wherein the trajectory points in the set are location points obtained by using a road acquisition device to collect location data on the target road; A continuity analysis is performed on the trajectory points in the trajectory point set, and trajectory points with continuous acquisition order and / or spatial location are divided into the same group to form a continuous trajectory point group; New road line elements are generated based on the continuous trajectory point group; Based on the starting and ending coordinates of the new road line and the existing road node elements, determine the topological association between the new road line elements and the road node elements at the starting and ending coordinates.

2. The method for adding roads according to claim 1, characterized in that, New road line features are generated based on the continuous trajectory point group, including: Using the first trajectory point of the continuous trajectory point group as the starting point of the road line, and following the original order of the continuous trajectory point group, each trajectory point in the continuous trajectory point group is connected as the subsequent points of the road line, and the last trajectory point of the group is used as the ending point of the road line to generate a new road line element. The starting point and the ending point correspond to the starting coordinate position and the ending coordinate position of the new road line, respectively.

3. The method for adding roads according to claim 2, characterized in that, Determining the topological association between the newly added road line features and the road node features at the starting point coordinates and the ending point coordinates includes: Determine whether existing road node elements exist at the starting and ending coordinate positions of the newly added road line; If it does not exist, create a new road node feature; Establish the topological association between the newly added road line elements and the corresponding road node elements at the starting and ending coordinate positions.

4. The method for adding roads according to claim 3, characterized in that, After determining whether existing road node elements exist at the starting and ending coordinate positions of the newly added road line, the method further includes: If a road node element already exists at the starting point coordinate position and / or the ending point coordinate position, then the corresponding endpoint of the new road line element is directly associated with the existing road node element in a topological relationship.

5. The method for adding roads according to claim 1, characterized in that, Continuity analysis is performed on the trajectory points in the set of trajectory points, including: Based on the acquisition timestamp sequence of trajectory points and / or the spatial distance between adjacent trajectory points, trajectory points that are temporally continuous and / or within a preset threshold distance are determined as continuous trajectory points and grouped into the same group.

6. The method for adding roads according to claim 1 or 2, characterized in that, Before generating new road line features based on the continuous trajectory point group, the method further includes: The number of trajectory points in the continuous trajectory point group is determined to be greater than or equal to 2.

7. The method for adding roads according to claim 1, characterized in that, The shape point coordinates of the newly added road line element are directly inherited from the coordinates of each trajectory point in the continuous trajectory point group.

8. A road addition device, characterized in that, include: The acquisition module is used to acquire a set of trajectory points selected by the user, wherein the trajectory points in the set are location points obtained by using a road acquisition device to collect locations on the target road. The analysis module is used to perform continuity analysis on the trajectory points in the trajectory point set, and to divide the trajectory points with continuous acquisition order and / or spatial location into the same group to form a continuous trajectory point group; The generation module is used to generate new road line elements based on the continuous trajectory point group; The association module is used to determine the topological association between the new road line elements and the road node elements at the starting and ending coordinate positions, based on the starting and ending coordinate positions of the new road line and the existing road node elements.

9. An electronic 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 steps of the method as described in any one of claims 1 to 7.

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

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