Airbag ignition control method, chip, electronic device, storage medium, and computer program product

Abstract

This application relates to a method, chip, electronic device, storage medium, and computer program product for controlling airbag deployment. The method includes: determining the deployment transient window for each airbag circuit to be deployed; marking sampled data, labeling sampled data falling within the deployment transient window as contaminated data and vice versa; performing deterministic processing on contaminated data to obtain clean data, and leaving contaminated data unprocessed if deterministic processing is not possible or sampling continuity needs to be preserved; performing collision identification processing based on clean data or unprocessed contaminated data to obtain a collision discrimination result; performing deployment consistency verification based on the value of the safety island monitoring signal and the upper and lower limits of the expected disturbance amplitude of that value; and generating an airbag deployment control command based on the collision discrimination result and the deployment consistency verification result. This application effectively addresses the problem of false or missed airbag deployment caused by the lack of electrical isolation in integrated chips.

Description

Technical Field

[0001] This application relates to the field of automotive passive safety electronic technology, specifically to an airbag deployment control method, chip, electronic device, storage medium, and computer program product. Background Technology

[0002] Traditional airbag control units employ a dual-chip architecture consisting of a general-purpose microcontroller and an airbag base chip: the collision recognition algorithm runs on the general-purpose microcontroller, while the detonation actuator resides on the base chip. Physically, these two chips are separate, thus naturally providing electrical isolation. To reduce system cost, minimize board space, and reduce cross-chip communication latency, the collision recognition algorithm and detonation actuator are now integrated onto the same silicon chip, forming a unified airbag control chip. However, while this integration achieves these goals, it introduces a fundamental problem: the detonation actuator and the sensing and decision-making circuitry reside on the same silicon substrate and share power and ground, lacking electrical isolation between them. Furthermore, modern airbag restraint systems generally require multi-stage ignition, sequential deployment of multiple restraint devices, and continuous monitoring in rollover or secondary collision scenarios. This means that while the primary deployment occurs, the collision identification algorithm and safety monitoring unit still need to sample and make decisions on sensor signals from subsequent stages or other circuits. This creates a concurrent decision-making window where the deployment action and subsequent sensing decisions overlap in time. Because the integrated chip lacks electrical isolation within this concurrent decision-making window, strong transient disturbances generated by the deployment action can directly intrude into the sampling and monitoring signals currently being processed within this window via the substrate, power supply, ground, and on-chip coupling paths. This contaminates the data upon which subsequent stage decisions are based, potentially leading to false or missed airbag deployments. To address noise interference during airbag deployment, existing technologies often employ passive suppression methods such as electromagnetic compatibility design, power supply decoupling, substrate isolation rings, and protection rings. These methods essentially perform passive filtering of noise generated during the detonation process afterward. They neither distinguish the source of the noise nor identify the time of its arrival, treating all noise according to a uniform filtering or isolation rule. Therefore, they cannot accurately distinguish the noise caused by airbag deployment from the actual collision signal in terms of time. It is evident that such passive suppression methods still cannot solve the fundamental problem caused by the lack of electrical isolation in the integrated chip. That is, within the concurrent decision window, the self-detonation noise directly contaminates the sampling and monitoring signals, causing the airbag to face the risk of false deployment or missed deployment at the moment of severe collision when reliable protection is most needed.

[0003] Therefore, providing a method for controlling the detonation of airbags that can effectively address the issues of accidental or missed detonation caused by the lack of electrical isolation in integrated chips and the use of passive noise filtering after the fact is a technical problem that needs to be solved. Summary of the Invention

[0004] The technical problem solved by this application is to provide a method, chip, electronic device, storage medium and computer program product for controlling the deployment of airbags, which can effectively address the problem of false or missed deployment of airbags caused by the lack of electrical isolation in integrated chips.

[0005] According to a first aspect of the embodiments of this application, a method for controlling the deployment of an airbag is provided, comprising: Based on the real-time acquisition of the ignition command and ignition time of each airbag circuit to be deployed, the corresponding deployment transient window is determined. For real-time acquired sampling data, if its timestamp falls within the detonation transient window, it is marked as contaminated data; if its timestamp does not fall within the detonation transient window, it is marked as valid data; the sampling data is a physical quantity signal representing the vehicle collision intensity and collision pattern; The contaminated data is subjected to deterministic processing to obtain clean data, and no processing is performed on the contaminated data if deterministic processing is not possible or if it is necessary to preserve sampling continuity; the deterministic processing involves replacing the contaminated data with valid data; Collision identification processing is performed based on the clean data or unprocessed contaminated data to obtain a collision discrimination result; when the data on which the collision identification processing is based is contaminated data, a weight coefficient is assigned to the contaminated data during the collision identification processing, and the value of the weight coefficient is less than the value of the weight coefficient of the effective data and greater than or equal to zero. Within each of the aforementioned detonation transient windows, safety island monitoring signals are acquired, and detonation consistency is verified based on the value of the safety island monitoring signal and the upper and lower limits of the expected disturbance amplitude of that value. Based on the collision discrimination result and the result of the detonation consistency verification, an airbag detonation control command is generated.

[0006] Compared to existing technologies, this application no longer passively filters out noise generated during the detonation process afterward. Instead, it performs deterministic processing on noise generated during its occurrence time. Specifically, this application determines the detonation transient window based on the ignition command and ignition time. Within this detonation transient window, contaminated data polluted by self-noise is deterministically processed. For contaminated data that cannot be deterministically processed, its weight coefficient is reduced during collision identification processing. Through this processing, contaminated data can be replaced or weakened into estimated values ​​or values ​​after real-time sampling that do not contain self-noise. This ensures that the input data stream for subsequent collision identification processing no longer contains self-noise. Therefore, the collision identification result obtained based on this input data stream can effectively prevent false airbag deployment due to self-noise exceeding the detonation threshold, and can also effectively prevent missed deployments due to self-noise cancellation falling below the detonation threshold. Furthermore, this application also performs detonation consistency verification based on the safety island monitoring signal within the detonation transient window to avoid misjudging normal disturbances within the detonation transient window as real anomalies and causing false airbag deployments. Finally, this application combines the results of the detonation consistency verification and the collision identification results to generate airbag deployment control commands, achieving dual-path confirmation of airbag deployment and further avoiding the problems of false and missed deployments. In summary, this application, by performing targeted processing on the data contaminated by self-noise within the deployment transient window before collision identification processing, and introducing dual-path confirmation of the detonation consistency verification results and collision identification results, effectively avoids the problems of false or missed airbag deployments caused by the lack of electrical isolation and the use of post-event passive noise filtering methods in integrated chips.

[0007] In one implementation, determining the corresponding detonation transient window includes: For the airbag's detonation circuit, the circuit current amplitude and coupling characteristic parameters within the airbag detonation control chip are obtained. Based on these parameters, a first duration and a second duration are determined. The first duration is a time window before the ignition moment, covering the pre-charge disturbance period before the detonation circuit is turned on. The pre-charge disturbance period is the time from the moment the ignition current is injected into the detonation circuit until the moment the detonation control switch is turned on. The second duration is a time window after the ignition moment, covering the conduction transient of the detonation circuit. The terms "transient conduction period" and "continuous conduction period" are defined as follows: the transient conduction period is the time from when the detonation control switch is turned on until the current in the circuit to be detonated reaches its peak value; the continuous conduction period is the time from when the current in the circuit to be detonated reaches its peak value until the detonation control switch is turned off; and the continuous conduction period is the time from when the detonation control switch is turned off until the current in the circuit to be detonated decays to zero. The coupling characteristic parameters include the coupling strength and delay of the ignition current of the circuit to be detonated coupled to the sampling path of the algorithm engine via the substrate, power network, and ground network of the airbag detonation control chip. The detonation transient window is determined based on the ignition time, the first duration, and the second duration. The starting point of the detonation transient window is the time corresponding to the difference between the ignition time and the first duration, and the ending point of the detonation transient window is the time corresponding to the sum of the ignition time and the second duration.

[0008] Through the above implementation methods, this application dynamically determines the first duration and the second duration by obtaining the actual current amplitude of the circuit to be detonated and the internal coupling characteristics of the chip, so that the detonation transient window can be adaptively adjusted according to changes in hardware parameters, aging and temperature, thereby covering the complete physical process of pre-charge disturbance, conduction transient and follow current release, so as to achieve accurate identification of transient detonation events, and further achieve effective identification of data contaminated by detonation self-noise in the integrated chip.

[0009] In one embodiment, the method further includes: when the ignition times corresponding to multiple circuits to be detonated are within the same ignition batch, based on the ignition time of each circuit to be detonated, if the difference between the ignition times of any two circuits to be detonated is greater than a preset value, then phase-shifting conduction is performed within that ignition batch; the phase-shifting conduction is: applying a delay to the ignition time of each detonation circuit within the same ignition batch so that the detonation transient windows corresponding to each ignition time do not overlap; the preset value is greater than the sum of the first duration and the second duration. When the ignition times of multiple circuits to be detonated are within the same ignition batch, and the difference between the ignition times of any two circuits to be detonated is less than or equal to a preset value, a slew rate control is applied to the circuits to be detonated whose conduction transient time falls within the subsequent stage concurrent decision window; the slew rate control is to limit the current change rate of the corresponding circuit to be detonated; the subsequent stage concurrent decision window includes at least one of the following windows: the subsequent stage ignition decision window of a dual-stage or multi-stage airbag, the subsequent stage circuit decision window in the sequential detonation of a multi-constraint device, and the continuous monitoring window after the first detonation under rollover or secondary collision conditions; If the difference between the ignition times of any two circuits to be detonated is greater than a preset value, and the corresponding detonation transient window depth needs to be compressed, then phase-shifting conduction is performed, and slew rate control is applied to the circuits to be detonated that fall within the subsequent concurrent decision window during the conduction transient period.

[0010] In one implementation, after the phase-shifting and / or slew rate control is performed, the ignition timing and the sampling timing corresponding to the sampling data are coordinated to reduce the amount of contaminated data.

[0011] In one implementation, the delay is greater than the sum of the first duration and the second duration, and less than the offset margin of the allowable ignition time of the corresponding detonation circuit.

[0012] Through the above-described implementation methods, this application can confine contaminated data to a dispersed or compressed instantaneous window of detonation, thereby ensuring that a sufficient number of uncontaminated valid samples are retained in the subsequent concurrent decision window for accurate detonation determination in subsequent safe detonation stages.

[0013] In one implementation, the deterministic processing is one of the following: hidden line preservation, interpolation reconstruction, and resampling; The blanking retention process involves selecting the valid data closest to the start time of the detonation transient window before the detonation transient window as replacement data; and using the replacement data to replace the contaminated data within the detonation transient window. The interpolation reconstruction is as follows: First, valid data closest to the start time of the detonation transient window is selected as the first interpolation data; second, valid data closest to the end time of the detonation transient window is selected as the second interpolation data. For contaminated data within the detonation transient window, replacement data is generated based on the first and second interpolation data using an interpolation method, according to the timestamps of the contaminated data and the two interpolation data. The replacement data is then used to replace the contaminated data within the detonation transient window. Resampling involves discarding all contaminated data within the detonation transient window and, after the detonation transient window terminates, replacing the corresponding contaminated data with valid data of the same data type.

[0014] In one implementation, the detonation consistency verification includes: For each detonation circuit, its ignition current amplitude and pulse shaping parameters are obtained. Based on the ignition current amplitude and pulse shaping parameters, the upper and lower limits of the expected disturbance amplitude of the safety island monitoring signal of the corresponding detonation circuit are calibrated. The safety island monitoring signal includes the power rail level signal, the ground level signal, and the critical node level signal. Within the detonation transient window, the value of the safety island monitoring signal is compared point by point with the upper and lower limits of the expected disturbance amplitude. If the safety island monitoring signal falls within the upper and lower limits of the expected disturbance amplitude, it is determined to be a normal disturbance, and the result of the detonation consistency verification is that detonation is not allowed. Conversely, if the result is not found, it is determined to be a genuine anomaly, and the result of the detonation consistency verification is that detonation is permitted.

[0015] In this embodiment, the value of the collected safety island monitoring signal is compared point by point with the expected upper and lower limits of the corresponding value within the detonation transient window, thereby ensuring that the safety island in the integrated chip is not disturbed by the detonation self-noise and thus does not cause the problem of false triggering of the power-disabled device.

[0016] According to a second aspect of the embodiments of this application, a safety airbag deployment control chip is provided. The chip includes a deployment timing generator, a deployment driver block, an algorithm engine, and a safety island integrated on the same silicon wafer. The deployment timing generator, the algorithm engine, and the safety island are connected via hardwiring. The algorithm engine includes a lockstep dual-core. When the chip is working, the following steps are executed: The detonation timing generator sends the ignition command and ignition time of each airbag circuit to be detonated to the algorithm engine, which then determines the corresponding detonation transient window. The algorithm engine receives real-time acquired sampling data. If the timestamp of the sampling data falls within the detonation transient window, it is marked as contaminated data; otherwise, it is marked as valid data. The contaminated data is subjected to deterministic processing to obtain clean data, and no processing is performed on the contaminated data if deterministic processing is not possible or if it is necessary to preserve the sampling continuity. The algorithm engine utilizes a lockstep dual-core architecture to perform collision identification processing based on the clean data or unprocessed contaminated data, obtaining collision discrimination results. Furthermore, when the data used for collision identification processing is contaminated data, a weight coefficient is assigned to the contaminated data that is less than the valid data and greater than or equal to zero during the collision identification process. The deterministic processing involves replacing the contaminated data with valid data. The sampled data consists of physical quantity signals representing the vehicle collision intensity and collision pattern. The safety island receives the detonation transient window determined by the algorithm engine, and performs a detonation consistency check between the value of the safety island monitoring signal and the upper and lower limits of the expected disturbance amplitude of the value within each detonation transient window. The detonation drive block generates airbag detonation control commands based on the collision discrimination result and the detonation consistency verification result.

[0017] In the integrated chip provided in this application, the detonation timing generator, algorithm engine, and safety island are connected by hardwire, thereby ensuring that the ignition command and ignition time generated by the detonation timing generator can be acquired and used by the algorithm engine and safety island with zero delay. This ensures that the algorithm engine can perform forward-looking and deterministic processing on contaminated data, thereby avoiding the algorithm engine issuing false detonation commands due to self-noise at the most severe collision moment or missing the detonation at the detonation moment. At the same time, it also enables the safety island to perform detonation consistency verification of the ignition event with zero delay, avoiding the safety island from being falsely disabled or falsely enabled under detonation disturbances.

[0018] In one embodiment, the algorithm engine further includes a voter, which is used to determine lockstep mismatch when the lockstep dual-core is running, and the mismatch determination conditions of the voter are boundedly relaxed when determining lockstep mismatch. The bounded relaxation operation is as follows: The number of consecutive inconsistency cycles required for the mismatch determination of the lockstep dual-core is temporarily increased to exceed the duration of the detonation transient window; Alternatively, within the detonation transient window, the mismatch determined by the voting device is temporarily suspended from reporting, and the number of mismatch cycles is accumulated; when the detonation transient window ends, a check is immediately performed; if the mismatch is determined to be a preset number of cycles after the detonation transient window ends, or the accumulated number of mismatch cycles exceeds the threshold, then the mismatch within the detonation transient window is supplemented and reported.

[0019] Because the airbag's detonation transients, coupled to the lockstep dual-core via power and ground, may cause momentary inconsistencies in the two cores during certain cycles, these inconsistencies caused by external transients are temporary and disappear as the transient subsides. However, inconsistencies caused by genuine, permanent internal faults persist. To avoid false lockstep dual-core faults caused by these transients, this application introduces a bounded relaxation operation. Specifically, regarding the bounded relaxation operation of temporarily extending the mismatch judgment period, this application ensures that transient transients lasting only one or two cycles do not reach the relaxed confirmation threshold, thus avoiding being judged as mismatches and preventing false lockstep faults. Under this operation, persistent inconsistencies caused by genuine faults will still exceed the relaxed threshold and be confirmed, so no missed detections will occur due to the relaxation. Regarding the mismatch reporting operation within the delayed detonation transient window, because the cycles judged as mismatches during detonation are accumulated, and when the number reaches a threshold, the mismatch will still be reported, ensuring no missed detections even with this operation.

[0020] According to a third aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor, wherein the memory is used to store a computer program executable by the processor; and the processor is used to execute the computer program in the memory to implement the method described above.

[0021] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, can implement the above-described method.

[0022] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described method. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating an airbag deployment control method according to an exemplary embodiment; Figure 2 This is a schematic diagram of a sampled data stream after deterministic processing, according to an exemplary embodiment. Figure 3 This is a schematic diagram of the detonation transient window after phase misconduct and slew rate control processing, according to an exemplary embodiment. Figure 4 This is a schematic diagram of an airbag deployment control chip structure according to an exemplary embodiment; Figure 5 This is a schematic diagram of an airbag deployment control chip structure according to another exemplary embodiment; Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0024] Unless otherwise defined, the technical or scientific terms used in this specification and claims shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. Specific embodiments of this application will be described below in conjunction with the accompanying drawings. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. Without departing from the spirit and scope of this application, those skilled in the art can modify and substitute the embodiments of this application, and the resulting embodiments are also within the protection scope of this application.

[0025] The integrated airbag deployment control chip has the following problems: 1) Airbag deployment is a strong transient event, meaning there is a very high rate of current change at the instant the airbag deployment circuit is turned on. This generates strong transient disturbances such as power drop, ground bounce, substrate noise injection, and electromagnetic interference. Regarding this strong transient interference, due to the lack of electrical isolation between the various modules in the integrated airbag deployment control chip, if this strong transient disturbance overlaps with the sampling being performed by the algorithm engine, a false fluctuation not originating from a real collision will be superimposed on the sampled sensor signal. This false fluctuation may be misidentified as a collision feature by the algorithm engine during collision identification processing (filtering, integration, and threshold determination), causing false deployment, or it may counteract the real collision feature, causing it to fall below the determination threshold, resulting in missed deployment. 2) Modern restraint systems generally have the following requirements: the secondary ignition decision of dual- or multi-stage airbags can be delayed to tens of milliseconds after the primary ignition; in severe collisions, multiple restraint devices, such as multiple airbags, multiple pretensioners, and high-voltage cutoff, need to be detonated sequentially; in rollover and secondary collision conditions, continuous sampling and monitoring are still required after the initial detonation. Therefore, while a detonation action occurs, the collision identification algorithm and safety monitoring are often still sampling and making decisions for subsequent stages or other circuits. In an integrated chip architecture, because the previous strong transient disturbance source and the sampling and decision circuit are located on the same silicon substrate, share the same power supply and ground, and have no electrical isolation, the detonation transient will be directly coupled into the ongoing sampling and decision circuit through the substrate, power supply, and ground. This causes the strong transient of the former to become the interference source of the latter, which should be independent of the driving action and the sensing and decision process. As a result, within the concurrent decision window, the sampling data relied upon by the subsequent stages is contaminated, ultimately leading to false detonation or missed detonation of the subsequent stages.

[0026] To address the aforementioned issues caused by the lack of electrical isolation between components in an integrated architecture, existing technologies typically limit themselves to passive suppression methods such as general-level electromagnetic compatibility design, power supply decoupling, substrate isolation rings, and protection rings. These methods do not differentiate between the noise source and the time of its generation, treating them uniformly. Therefore, these methods cannot distinguish between the disturbance caused by detonation and the actual collision signal in time. Consequently, although existing technologies filter the collected data, they still cannot avoid the problems of false detonation or missed detonation.

[0027] To address the aforementioned technical problems, this application proposes an airbag deployment control method, chip, electronic device, storage medium, and computer program product, which can effectively address the issues of accidental or missed airbag deployment caused by the lack of electrical isolation in integrated chips and the use of passive noise filtering methods after the fact.

[0028] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] One embodiment of this application provides a method for controlling the deployment of an airbag. This airbag deployment control method can be applied to electronic devices such as processors. Please refer to... Figure 1 The airbag deployment control method may include the following steps 101 to 106: Step 101: Based on the real-time acquired ignition command and ignition time of each airbag circuit to be detonated, determine the corresponding detonation transient window.

[0030] The aforementioned ignition command is used to determine which circuit detonates when the airbag deploys, and the ignition timing is used to determine the timing of the corresponding detonation circuit. The ignition command determines the subsequent transient parameters differentiated by circuit, and the ignition timing determines the position of the transient window on the time axis, thereby achieving the determination of the detonation transient window.

[0031] In one embodiment, determining the corresponding detonation transient window includes: Step 1011: For the airbag to be detonated circuit, obtain its circuit current amplitude and the coupling characteristic parameters inside the airbag detonation control chip, and determine the first duration and the second duration based on the circuit current amplitude and coupling characteristics.

[0032] Specifically, the first duration is a time window before the ignition moment, and this time window covers the pre-charge disturbance period before the detonation circuit is turned on; the pre-charge disturbance period is the period from the moment the detonation circuit is injected with ignition current until the moment the self-detonation control switch is turned on.

[0033] The second duration is a time window after the ignition moment, and this time window covers the conduction transient period, continuous conduction period, and follow current release period of the circuit to be detonated. The conduction transient period is the period from the moment the detonation control switch is turned on until the moment the current in the circuit to be detonated reaches its peak value. The continuous conduction period is the period from the moment the current in the circuit to be detonated reaches its peak value until the moment the detonation control switch is turned off. The follow current release period is the period from the moment the detonation control switch is turned off until the moment the current in the circuit to be detonated decays to zero.

[0034] The coupling characteristic parameters include the coupling strength and delay of the ignition current of the circuit to be detonated coupled to the sampling path of the algorithm engine via the substrate, power network and ground network of the airbag detonation control chip.

[0035] Step 1012: Determine the detonation transient window based on the ignition time, the first duration, and the second duration. The starting point of the detonation transient window is the time corresponding to the difference between the ignition time and the first duration, and the ending point of the detonation transient window is the time corresponding to the sum of the ignition time and the second duration. Therefore, the finally determined detonation transient window can be represented as... , Indicates the ignition time. Indicates the first duration. Indicates the second duration.

[0036] Step 102: For real-time acquired sampling data, if its timestamp falls within the detonation transient window, it is marked as contaminated data; otherwise, it is marked as valid data.

[0037] The above-mentioned sampling data are physical quantity signals representing the vehicle collision intensity and collision pattern.

[0038] Because the self-noise caused by the airbag deployment only appears within the known time interval of the deployment transient window, the sampled data falling into this deployment transient window will be contaminated by self-noise and needs to be de-noised.

[0039] Step 103: Perform deterministic processing on contaminated data to obtain clean data, and do not process contaminated data if deterministic processing is not possible or if it is necessary to preserve sampling continuity.

[0040] In this step, deterministic processing involves replacing contaminated data with valid data.

[0041] In some embodiments, the deterministic processing is one of hidden line preservation, interpolation reconstruction, and resampling.

[0042] The detailed operations for hidden line removal, interpolation reconstruction, and resampling are as follows: 1) Hidden shadow removal and preservation.

[0043] This operation is typically performed when only one sampling data point is covered within the detonation transient window. The specific steps are as follows: Step 103-A1: Select the closest [timeframe] before the detonation transient window. The effective data at the start of the detonation transient window is used as replacement data.

[0044] Step 103-A2: Replace the contaminated data within the detonation transient window with replacement data.

[0045] 2) Interpolation reconstruction.

[0046] This operation is typically performed when the detonation transient window covers at least two sampling data points and valid data exists both before and after the window. The specific steps are as follows: Step 103-B1: Select the moment closest to the start time of the detonation transient window. The valid data is used as the first interpolation data, and the time closest to the end time of the detonation transient window is selected after the detonation transient window. The valid data is used as the second interpolation data.

[0047] Step 103-B2: For the contaminated data within the detonation transient window, based on its timestamp and the timestamps of the two interpolated data, replacement data is generated using the interpolation method based on the first interpolated data and the second interpolated data.

[0048] The interpolation method used in this step is either linear interpolation or polynomial interpolation.

[0049] Step 103-B3: Replace the contaminated data within the detonation transient window with replacement data.

[0050] 3) Re-extraction.

[0051] This operation is typically performed when subsequent decision-making requires high accuracy of the actual sampled data at the detonation transient window, and the timing margin allows for re-sampling after the transient subsides. The specific steps are as follows: Step 103-C1: Discard all contaminated data within the detonation transient window, at the end of the detonation transient window. Then, valid data of the same type as the contaminated data is collected to replace the corresponding contaminated data.

[0052] The common goal of the above three deterministic processing methods is to replace the sampled data contaminated by the detonation self-noise with the estimated value that does not contain the self-noise, so that the data used in the collision identification process is clean data that is not contaminated by strong transient disturbances and does not cause misjudgment of the collision identification results.

[0053] For ease of understanding, this embodiment provides, as follows: Figure 2The sampling data stream processing flow shown is as follows: There is an ignition pulse of 33V, which contains a first-stage ignition window. The detonation transient window identified in the time window corresponding to the ignition pulse is the part outlined by the dashed line. It is obvious that the sampling data points in the detonation transient window in the original sampling data stream are contaminated by detonation self-noise. After performing deterministic processing on the original sampling data stream, the deterministically processed sampling data stream shown in the figure is obtained. It can be seen that the contaminated data in the detonation transient window has been replaced with valid data.

[0054] Step 104: Perform collision identification processing based on clean data or unprocessed contaminated data to obtain collision discrimination results.

[0055] It should be emphasized that the aforementioned unprocessed contaminated data refers to contaminated data that cannot be processed deterministically or that needs to retain sampling continuity. For such data, this application assigns a weight coefficient to the contaminated data during the collision identification process. The value of this weight coefficient is less than the weight coefficient value of the valid data and is greater than or equal to zero.

[0056] In this embodiment, the collision identification process mentioned is implemented based on collision identification algorithms commonly used by those skilled in the art. The aforementioned collision identification algorithm includes integration and decision operations. The integration operation refers to the accumulation operation of velocity integration, displacement integration, and energy integration on the sampled sequence, while the decision operation refers to the operation of comparing the integration result with a decision threshold to determine whether to detonate.

[0057] By assigning a weight coefficient smaller than that of valid data to unprocessed contaminated data during the collision identification process, the contribution of contaminated samples to the integration and decision results is reduced according to the degree of contamination. This ensures that the self-induced transient generated by the explosion of this film will not be misjudged as a collision signal or contaminate the velocity, displacement and energy integral of subsequent stages.

[0058] It should be noted that the aforementioned subsequent stage refers to a stage or circuit that, relative to the circuit currently being ignited, is determined to be incomplete and still requires an ignition decision based on subsequent sampling in a multi-stage or multi-circuit detonation sequence. For example, the remaining circuits that have not yet ignited in the second stage of a dual-stage airbag or in a sequential detonation.

[0059] Through steps 103 and 104, the contaminated sampled data within the detonation transient window is replaced with estimated or actual supplementary sampled values ​​free of self-noise. Alternatively, the contaminated data is weakened during collision identification, ensuring that the sampled data stream used for velocity integration, displacement integration, energy integration, and decision-making no longer contains the self-noise component. Since integration is the accumulation of the sampled sequence, and decision-making is the comparison of the integration result with a threshold, the input sequence no longer contains self-noise. Therefore, the accumulation and comparison results will not exceed the threshold due to self-noise, thus preventing false detonations or detonations below the threshold due to self-noise cancellation, thereby preventing missed detonations. Consequently, the subsequent stages of discrimination remain intact.

[0060] In some embodiments, the provided airbag deployment control method further includes, for multiple detonation circuits within the same ignition batch: Step A: When the ignition times of multiple circuits to be detonated are within the same ignition batch, the difference between the ignition times of any two circuits to be detonated is greater than a preset value, and the phase reversal is performed within the ignition batch.

[0061] It should be noted that the preset value is greater than the sum of the first duration and the second duration; and the phase-shifting conduction mentioned above is: applying a delay to the ignition time of each initiation circuit within the same ignition batch, so that the initiation transient windows corresponding to each ignition time do not overlap.

[0062] Step B: When the ignition times of multiple circuits to be detonated are within the same ignition batch, and the difference between the ignition times of any two circuits to be detonated is less than or equal to a preset value, then slew rate control is applied to the circuits to be detonated whose conduction transient time segment falls within the subsequent concurrent decision window.

[0063] It should be noted that the slew rate control in this step refers to limiting the rate of change of current in the corresponding circuit to be initiated. The mentioned subsequent stage concurrent decision window includes at least one of the following windows: the subsequent stage ignition decision window for dual-stage or multi-stage airbags, the subsequent stage circuit decision window in the sequential initiation of multi-constraint devices, and the continuous monitoring window after the first initiation in rollover or secondary collision conditions.

[0064] Step C: If the difference between the ignition times of any two circuits to be detonated is greater than a preset value, and the corresponding detonation transient window depth needs to be compressed, then phase-shifting conduction is performed, and slew rate control is applied to the circuits to be detonated whose conduction transient time segment falls within the subsequent concurrent decision window.

[0065] For the scenario described in step C, provide, as follows Figure 3 The scene shown is in Figure 3 The ignition batch shown requires the simultaneous detonation of three circuits to be detonated. The corresponding window is shown in the upper part of the figure. After phase reversal conduction and slew rate control, the result is obtained. Figure 3 As shown in the lower half, the wide contamination window caused by synchronous conduction is compressed and dispersed into multiple narrow initiation transient windows.

[0066] In some embodiments, after performing phase-out conduction and / or slew rate control, the ignition timing and the sampling timing corresponding to the sampling data are coordinated to reduce the amount of contaminated data.

[0067] In some embodiments, the delay is greater than the sum of the first duration and the second duration, and less than the offset margin of the allowable ignition time of the corresponding initiation circuit.

[0068] Through the above processing, the contaminated data is confined to a compressed and / or dispersed time window, so that enough uncontaminated and valid data are retained in the concurrent decision window for subsequent stages to accurately determine the detonation state.

[0069] Step 105: Collect safety island monitoring signals within each detonation transient window, and perform detonation consistency verification based on the value of the safety island monitoring signal and the upper and lower limits of the expected disturbance amplitude of that value.

[0070] It should be noted that there is no fixed order between steps 105 and steps 102 to 104.

[0071] In some embodiments, the detonation consistency check includes: Step 1051: For each detonation circuit, obtain its ignition current amplitude and pulse shaping parameters, and calibrate the upper and lower limits of the expected disturbance amplitude of the safety island monitoring signal of the corresponding detonation circuit based on the ignition current amplitude and pulse shaping parameters.

[0072] In this embodiment, the safety island monitoring signals include power rail level signals, ground level signals, and critical node level signals.

[0073] Step 1052: Within the detonation transient window, the value of the safety island monitoring signal is compared point by point with the upper and lower limits of the expected disturbance amplitude. If the safety island monitoring signal falls within the upper and lower limits of the expected disturbance amplitude, it is determined to be a normal disturbance, and the result of the detonation consistency verification is that detonation is not allowed; otherwise, it is determined to be a real anomaly, and the result of the detonation consistency verification is that detonation is allowed.

[0074] Step 106: Generate airbag deployment control command based on the collision discrimination result and the result of the initiation consistency verification.

[0075] In this step, the collision judgment result and the detonation consistency verification result are combined by a logical AND relationship. Only when the collision judgment result is detonation and the detonation consistency verification result is detonation allowed, the generated airbag detonation control command is for airbag detonation; if either result is no detonation or detonation is not allowed, the generated airbag detonation control command is for airbag not to detonate.

[0076] The above-mentioned airbag deployment scheme, which requires dual-path confirmation, ensures accurate deployment control while maintaining the independence of the safety island in the chip, preventing false or missed deployments.

[0077] In summary, the airbag deployment control method provided in this application has the following advantages: 1) Based on the ignition command and timing, a detonation transient window is defined. Within the window, data contaminated by self-noise is deterministically replaced or weakened to ensure that the collision identification input is free of self-noise, thus avoiding false detonation and missed detonation.

[0078] 2) The window duration is dynamically calculated based on the actual current amplitude and chip coupling characteristics, so that it adapts to changes in hardware parameters, aging and temperature, fully covering the entire process of pre-charging, conduction transient and freewheeling release, and accurately identifying data contaminated by self-noise.

[0079] 3) Constrain contaminated data within a compressed and narrowed detonation transient window to ensure that subsequent concurrent decision windows retain a sufficient number of uncontaminated valid samples, thereby guaranteeing the accuracy of detonation determination.

[0080] 4) Within the instantaneous window of detonation, the monitoring signal of the safety island is compared point by point with the upper and lower limits of the expected disturbance to prevent the safety island from being falsely triggered due to the self-noise of detonation.

[0081] Another embodiment of this application provides an airbag deployment control chip, the structure of which can be found in [reference needed]. Figure 4 The airbag deployment control chip includes a deployment timing generator 301, a deployment drive block 303, an algorithm engine 302, and a safety island 304 integrated on the same silicon chip.

[0082] The detonation timing generator 301, algorithm engine 302, and safety island 304 are connected via hardwiring, and the algorithm engine 302 includes a lockstep dual-core; when the chip is working, the following steps are executed: Step 201: The detonation timing generator 301 sends the ignition command and ignition time of each airbag circuit to be detonated to the algorithm engine 302, and the algorithm engine 302 determines the corresponding detonation transient window.

[0083] In this step, the process of determining the detonation transient window is similar to that in step 101, and will not be repeated here.

[0084] Step 202: Algorithm engine 302 receives real-time collected sampling data. For sampling data, if its timestamp falls within the detonation transient window, it is marked as contaminated data; otherwise, it is marked as valid data. Contaminated data is subjected to deterministic processing to obtain clean data, and contaminated data is not processed if deterministic processing cannot be performed or if it is necessary to preserve the sampling continuity.

[0085] In this step, the steps and types of deterministic processing are similar to those in steps 102 to 103, and will not be repeated here.

[0086] Step 203: Algorithm engine 302 uses lockstep dual-core to perform collision identification processing based on clean data or unprocessed contaminated data to obtain collision discrimination results; and when the data on which the collision identification processing is based is contaminated data, the contaminated data is assigned a weight coefficient that is less than the effective data and greater than or equal to zero during the collision identification processing.

[0087] It should be noted that deterministic processing involves replacing contaminated data with valid data, and the sampled data consists of physical quantity signals representing the intensity and morphology of vehicle collisions.

[0088] This step is similar in type and manner to step 104, and will not be repeated here.

[0089] Step 204: Safety island 304 receives the detonation transient window determined by algorithm engine 302, and performs detonation consistency verification between the value of the monitoring signal of safety island 304 and the upper and lower limits of the expected disturbance amplitude of the value within each detonation transient window.

[0090] In this step, the detonation consistency verification process is similar to that in step 105, and will not be repeated here.

[0091] Step 205: The detonation drive block 303 generates an airbag detonation control command based on the collision discrimination result and the detonation consistency verification result.

[0092] In this step, the steps for generating the airbag deployment control command are similar to those in step 106, and will not be repeated here.

[0093] In another embodiment, the airbag deployment control chip also includes a sensor interface 305, in which case the chip's structure and data interaction are as follows: Figure 5 As shown, the sensor interface 305 is used to receive the sampled data output by the sensor analog front end and transmit it to the algorithm engine 302. The sampled data is obtained by amplifying, filtering and digital-to-analog conversion of the collision sensor signal. By setting the sensor interface 305, the airbag deployment control command chip can collect the sampled data, so that the sampling of the algorithm engine 302 and the subsequent deterministic processing of the contaminated data are completed on the same silicon chip.

[0094] In some embodiments, the algorithm engine 302 further includes a voter, which is used to determine lockstep mismatch when the dual-core system is running. During lockstep mismatch determination, the voter's mismatch determination conditions are subject to a bounded relaxation operation. The bounded relaxation operation is as follows: The number of consecutive inconsistency cycles required for mismatch determination in the lockstep dual-core system is temporarily increased to exceed the duration of the detonation transient window. This operation limits the inconsistencies that can be relaxed and ignored to a bounded range, preventing the relaxation from being infinitely amplified and missing real faults. At the same time, it allows the existence of transient spikes within the detonation transient window to avoid false lockstep faults.

[0095] Alternatively, within the detonation transient window, mismatches determined by the voting device are temporarily withheld from reporting, and the number of mismatch cycles is accumulated. Upon the end of the detonation transient window, a check is immediately performed. If a preset number of cycles continue to be judged as mismatches after the detonation transient window ends, or if the accumulated number of mismatch cycles exceeds a threshold, then the mismatches within the detonation transient window are reported retroactively. This operation ensures that transient spikes within the detonation transient window are not judged as mismatches, while also guaranteeing that genuine faults are not missed because mismatches outside the detonation transient window and exceeding the bounded relaxation threshold are still captured according to the original criteria.

[0096] In summary, the airbag deployment control chip provided in this application utilizes the inherent zero-delay prior ignition command of its integrated architecture that combines sensing and actuation on the same chip. This transforms concurrent decision-making under self-noise contamination on the same chip from passive suppression to deterministic protection. By performing forward-looking deterministic processing on contaminated data, the integrity of multi-level or multi-loop deployment decisions is fundamentally guaranteed, thereby eliminating false and missed deployments caused by self-noise at the most severe collision moment. Furthermore, the chip provided in this application avoids false lock-step failures induced by deployment transients through lock-step dual-core redundancy and bounded relaxation operation. This ensures that transient spikes do not trigger false alarms, while real faults are still reliably captured, improving system availability while ensuring safety. Through deployment consistency verification based on known ignition events, false activation of the safety island is effectively prevented, ensuring that the safety island neither falsely disables protection leading to missed protection nor falsely enables protection leading to false deployment under deployment disturbances.

[0097] The method embodiments and chip embodiments of this application can complement each other.

[0098] Embodiments of this application also propose an electronic device, including a processor and a memory; the memory is used to store a computer program executable by the processor; the processor is used to execute the computer program in the memory to implement the airbag deployment control method described in any of the above embodiments.

[0099] Embodiments of this application also propose a computer-readable storage medium that, when an executable computer program in the storage medium is executed by a processor, enables the implementation of the airbag deployment control method described in any of the above embodiments.

[0100] Embodiments of this application also propose a computer program product, including a computer program that, when executed by a processor, implements the airbag deployment control method of any of the above embodiments.

[0101] Embodiments of this application also provide an electronic device 600, such as... Figure 6 As shown, the electronic device 600 includes a memory 601 and a processor 602. The memory 601 is used to store computer programs executable by the processor 602; the processor 602 is used to execute the computer programs in the memory 601 to implement the airbag detonation control method provided in any of the above embodiments.

[0102] The electronic device 600 also includes a communication interface 603. The processor 602, memory 601, and communication interface 603 are connected via a communication bus and communicate with each other.

[0103] Processor 602 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of programs in the above scheme.

[0104] Communication interface 603 is used to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Networks (WLAN), etc.

[0105] The memory 601 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0106] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0107] The above description of the embodiments is intended to enable those skilled in the art to understand and apply this application. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without creative effort. Therefore, this application is not limited to the embodiments described herein, and any improvements and modifications made by those skilled in the art based on the disclosure of this application without departing from the scope and spirit of this application are within the scope of this application.

Claims

1. A method for controlling the deployment of an airbag, characterized in that, include: Based on the real-time acquisition of the ignition command and ignition time of each airbag circuit to be deployed, the corresponding deployment transient window is determined. For real-time acquired sampling data, if its timestamp falls within the detonation transient window, it is marked as contaminated data; if its timestamp does not fall within the detonation transient window, it is marked as valid data; the sampling data is a physical quantity signal representing the vehicle collision intensity and collision pattern; The contaminated data is subjected to deterministic processing to obtain clean data, and no processing is performed on the contaminated data if deterministic processing is not possible or if it is necessary to preserve sampling continuity; the deterministic processing involves replacing the contaminated data with valid data; Collision identification processing is performed based on the clean data or unprocessed contaminated data to obtain a collision discrimination result; when the data on which the collision identification processing is based is contaminated data, a weight coefficient is assigned to the contaminated data during the collision identification processing, and the value of the weight coefficient is less than the value of the weight coefficient of the effective data and greater than or equal to zero. Within each of the aforementioned detonation transient windows, safety island monitoring signals are acquired, and detonation consistency is verified based on the value of the safety island monitoring signal and the upper and lower limits of the expected disturbance amplitude of that value. Based on the collision discrimination result and the result of the detonation consistency verification, an airbag detonation control command is generated.

2. The airbag deployment control method as described in claim 1, characterized in that, Determining the corresponding detonation transient window includes: For the airbag's detonation circuit, the circuit current amplitude and coupling characteristic parameters within the airbag detonation control chip are obtained. Based on these parameters, a first duration and a second duration are determined. The first duration is a time window before the ignition moment, covering the pre-charge disturbance period before the detonation circuit is turned on. The pre-charge disturbance period is the time from the moment the ignition current is injected into the detonation circuit until the moment the detonation control switch is turned on. The second duration is a time window after the ignition moment, covering the conduction transient of the detonation circuit. The terms "transient conduction period" and "continuous conduction period" are defined as follows: the transient conduction period is the time from when the detonation control switch is turned on until the current in the circuit to be detonated reaches its peak value; the continuous conduction period is the time from when the current in the circuit to be detonated reaches its peak value until the detonation control switch is turned off; and the continuous conduction period is the time from when the detonation control switch is turned off until the current in the circuit to be detonated decays to zero. The coupling characteristic parameters include the coupling strength and delay of the ignition current of the circuit to be detonated coupled to the sampling path of the algorithm engine via the substrate, power network, and ground network of the airbag detonation control chip. The detonation transient window is determined based on the ignition time, the first duration, and the second duration. The starting point of the detonation transient window is the time corresponding to the difference between the ignition time and the first duration, and the ending point of the detonation transient window is the time corresponding to the sum of the ignition time and the second duration.

3. The airbag deployment control method as described in claim 2, characterized in that, Also includes: When the ignition times of multiple circuits to be detonated are within the same ignition batch, based on the ignition time of each circuit to be detonated, if the difference between the ignition times of any two circuits to be detonated is greater than a preset value, then phase-shifting conduction is performed within that ignition batch; the phase-shifting conduction means: applying a delay to the ignition time of each circuit in the same ignition batch so that the detonation transient windows corresponding to each ignition time do not overlap; the preset value is greater than the sum of the first duration and the second duration. When the ignition times of multiple circuits to be detonated are within the same ignition batch, and the difference between the ignition times of any two circuits to be detonated is less than or equal to a preset value, a slew rate control is applied to the circuits to be detonated whose conduction transient time falls within the subsequent stage concurrent decision window; the slew rate control is to limit the current change rate of the corresponding circuit to be detonated; the subsequent stage concurrent decision window includes at least one of the following windows: the subsequent stage ignition decision window of a dual-stage or multi-stage airbag, the subsequent stage circuit decision window in the sequential detonation of a multi-constraint device, and the continuous monitoring window after the first detonation under rollover or secondary collision conditions; If the difference between the ignition times of any two circuits to be detonated is greater than a preset value, and the corresponding detonation transient window depth needs to be compressed, then phase-shifting conduction is performed, and slew rate control is applied to the circuits to be detonated that fall within the subsequent concurrent decision window during the conduction transient period.

4. The airbag deployment control method as described in claim 3, characterized in that, After performing the phase-shifting conduction and / or slew rate control, the ignition time and the sampling time corresponding to the sampling data are coordinated to reduce the amount of contaminated data.

5. The airbag deployment control method as described in claim 3, characterized in that, The delay is greater than the sum of the first duration and the second duration, but less than the offset margin of the allowable ignition time of the corresponding detonation circuit.

6. The airbag deployment control method as described in claim 1, characterized in that, The deterministic processing described is one of the following: hidden line removal and preservation, interpolation reconstruction, and resampling; The blanking retention process involves selecting the valid data closest to the start time of the detonation transient window before the detonation transient window as replacement data; and using the replacement data to replace the contaminated data within the detonation transient window. The interpolation reconstruction is as follows: First, valid data closest to the start time of the detonation transient window is selected as the first interpolation data; second, valid data closest to the end time of the detonation transient window is selected as the second interpolation data. For contaminated data within the detonation transient window, replacement data is generated based on the first and second interpolation data using an interpolation method, according to the timestamps of the contaminated data and the two interpolation data. The replacement data is then used to replace the contaminated data within the detonation transient window. Resampling involves discarding all contaminated data within the detonation transient window and, after the detonation transient window terminates, replacing the corresponding contaminated data with valid data of the same data type.

7. The airbag deployment control method as described in claim 1, characterized in that, The aforementioned detonation consistency verification includes: For each detonation circuit, its ignition current amplitude and pulse shaping parameters are obtained. Based on the ignition current amplitude and pulse shaping parameters, the upper and lower limits of the expected disturbance amplitude of the safety island monitoring signal of the corresponding detonation circuit are calibrated. The safety island monitoring signal includes the power rail level signal, the ground level signal, and the critical node level signal. Within the detonation transient window, the value of the safety island monitoring signal is compared point by point with the upper and lower limits of the expected disturbance amplitude. If the safety island monitoring signal falls within the upper and lower limits of the expected disturbance amplitude, it is determined to be a normal disturbance, and the result of the detonation consistency verification is that detonation is not allowed. Conversely, if the result is not found, it is determined to be a genuine anomaly, and the result of the detonation consistency verification is that detonation is permitted.

8. A safety airbag deployment control chip, characterized in that, The chip includes a detonation timing generator, a detonation driver block, an algorithm engine, and a safety island integrated on the same silicon wafer; the detonation timing generator, algorithm engine, and safety island are connected via hardwiring; the algorithm engine includes a lockstep dual-core; when the chip is working, it executes the following steps: The detonation timing generator sends the ignition command and ignition time of each airbag circuit to be detonated to the algorithm engine, which then determines the corresponding detonation transient window. The algorithm engine receives real-time acquired sampling data. If the timestamp of the sampling data falls within the detonation transient window, it is marked as contaminated data; otherwise, it is marked as valid data. The contaminated data is subjected to deterministic processing to obtain clean data, and no processing is performed on the contaminated data if deterministic processing is not possible or if it is necessary to preserve the sampling continuity. The algorithm engine utilizes a lockstep dual-core architecture to perform collision identification processing based on the clean data or unprocessed contaminated data, obtaining collision discrimination results. Furthermore, when the data used for collision identification processing is contaminated data, a weight coefficient is assigned to the contaminated data that is less than the valid data and greater than or equal to zero during the collision identification process. The deterministic processing involves replacing the contaminated data with valid data. The sampled data consists of physical quantity signals representing the vehicle collision intensity and collision pattern. The safety island receives the detonation transient window determined by the algorithm engine, and performs a detonation consistency check between the value of the safety island monitoring signal and the upper and lower limits of the expected disturbance amplitude of the value within each detonation transient window. The detonation drive block generates airbag detonation control commands based on the collision discrimination result and the detonation consistency verification result.

9. The airbag deployment control chip as described in claim 8, characterized in that, The algorithm engine also includes a voter, which is used to determine the mismatch of the lockstep dual-core when the lockstep dual-core is running, and the mismatch determination conditions of the voter are boundedly relaxed when determining the mismatch of the lockstep dual-core. The bounded relaxation operation is as follows: The number of consecutive inconsistency cycles required for the mismatch determination of the lockstep dual-core is temporarily increased to exceed the duration of the detonation transient window; Alternatively, within the detonation transient window, the mismatch determined by the voting device is temporarily suspended from reporting, and the number of mismatch cycles is accumulated; when the detonation transient window ends, a check is immediately performed; if the mismatch is determined to be a preset number of cycles after the detonation transient window ends, or the accumulated number of mismatch cycles exceeds the threshold, then the mismatch within the detonation transient window is supplemented and reported.

10. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory is used to store a computer program executable by the processor; and the processor is used to execute the computer program in the memory to implement the method as described in any one of claims 1 to 7.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the executable computer program in the storage medium is executed by a processor, it can implement the method as described in any one of claims 1 to 7.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1 to 7.

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