Method, computer program product, computer-readable storage medium, and electronic computer device for generating a drivable area for a vehicle operated at least semi-autonomously

Abstract

The invention relates to a method for generating a drivable area (6) for an at least semi-autonomously operated motor vehicle (1), comprising the steps of: defining a drivable trajectory (10) formed by a sequence of trajectory points (16); defining a first boundary (11) for a travel envelope (13) in the form of a first boundary point sequence (16), the first boundary (11) having a first lateral distance (A1) from the drivable trajectory (10) and formed on a first side of the drivable trajectory (10); defining a second boundary (12) for the travel envelope (13) in the form of a second boundary point sequence (17), the second boundary (12) having a second lateral distance (A2) from the drivable trajectory (10) and formed on a second side of the drivable trajectory (10); and generating the drivable area (6) by the drivable trajectory (10), the first boundary (11) and the second boundary (12). The invention also relates to a computer program product, a computer readable storage medium and an electronic computer device (5, 14).

Description

[Technical Field]

[0001] The present invention relates to a method for generating a drivable area for a vehicle operated at least semi-autonomously or fully autonomously, and further relates to a method, a computer program product, a computer-readable storage medium, and an electronic computer device for at least semi-autonomous operation of a vehicle operated at least semi-autonomously within an at least semi-autonomously drivable area. [Background technology]

[0002] Driving areas for at least semi-autonomously operated or fully autonomously operated vehicles are already known from the prior art. For this purpose, for example, a driving area is defined that is generated based on objects within the driving area. These areas are often defined as polygons that surround these objects. In particular, the boundaries of the driving area are defined via corresponding polygons within which the vehicle can move.

[0003] DE 10 2011 082 478 A1 discloses detecting the relative position of a predetermined fixedly mounted mark in a reference system by means of a simple 2D video system and examining images of the mark for distance and perspective. Once the position of the mark in the reference system is known, self-localization of the vehicle can be performed. Summary of the Invention

[0004] It is an object of the present invention to provide a method, a computer program product, a computer-readable storage medium, and an electronic computer device that allow for the efficient generation of a drivable area for a vehicle that is operated at least semi-autonomously.

[0005] This object is achieved by a method, a computer program product, a computer-readable storage medium and an electronic computer device as set forth in the independent claims. Advantageous embodiments are specified in the dependent claims.

[0006] One aspect of the present invention relates to a method for generating a drivable area for a vehicle operated at least semi-autonomously or fully autonomously, comprising: defining a drivable trajectory formed by a sequence of trajectory points; defining a first boundary for a potentially usable traveling tube, the first boundary being a first lateral distance to the drivable trajectory and being formed on a first side of the drivable trajectory; defining a second boundary for the potentially usable traveling tube, the second boundary being a second lateral distance to the drivable trajectory and being formed on a second side of the drivable trajectory opposite the first side; and defining the drivable area for the potentially usable traveling tube, the drivable trajectory having the first boundary and the second boundary.

[0007] Thus, the drivable area for the vehicle can be generated in a particularly resource-efficient manner. In particular, for example, for this purpose, a drivable area, for example in the form of a parking lot, can include an electronic computer device designed to generate the drivable area, in particular to generate a potentially usable driving tube. In particular, an electronic map is generated as the drivable area, whereby a drivable trajectory, in particular a confirmation, calculation, or determination of the drivable trajectory, is defined. The electronic map is understood to be, in particular, a digital environment map, through which the vehicle can navigate at least semi-autonomously. Here, the digital environment map includes, in particular, information about the surrounding environment, such as surrounding buildings and / or walls, as well as roads, tracks, or other drivable surfaces for the vehicle.

[0008] In particular, the method can be used to provide journey guidance through a drivable area that can be performed without using satellite-aided navigation, e.g., GPS navigation, which is particularly advantageous when, for example, a corresponding GPS signal cannot be received in the drivable area.

[0009] The drivable trajectory may be defined as a curve. Furthermore, the first boundary and / or the second boundary may also be defined as respective curves. Furthermore, it may be assumed that the drivable trajectory is defined according to the center of the vehicle as seen in the main direction of travel of the vehicle.

[0010] In particular, the proposed method overcomes the problems of the prior art, namely that boundaries or polygons are often large and do not contain further information, making it difficult to determine, for example, whether a vehicle is located on the correct side of these boundaries. By defining the drivable trajectory, the first boundary, and the second boundary, a drivable driving tube is generated, and the vehicle receives information about which side it is traveling on or whether it is traveling correctly within the drivable area.

[0011] In particular, the drivable area including the trajectory is transmitted to the vehicle in this way, in particular as an electronic map of the drivable area. In this example, an efficient approach is proposed that requires little memory and computational resources, in particular on the vehicle side. An electronic map or other map format of the drivable area transmitted to the vehicle is proposed that in particular only includes a first curve or a first sequence of points representing a theoretical trajectory for the vehicle, a second curve or a second sequence of points representing a boundary of the drivable area on one side of the trajectory, and a third curve or a third sequence of points representing a further boundary of the drivable area on the other side of the trajectory.

[0012] The motor vehicle in particular comprises a corresponding assistance system, which enables at least semi-autonomous operation, in particular fully autonomous operation, and for this purpose the assistance system can be engaged, for example, with a longitudinal acceleration device and / or a lateral acceleration device of the motor vehicle in order to perform at least semi-autonomous or fully autonomous operation of the motor vehicle. According to one advantageous embodiment, the drivable area is transmitted from an external device to the vehicle, which is operated at least semi-autonomously or fully autonomously. The external device, in particular here, can correspond to an electronic computer device. For example, the drivable area can include an electronic computer device for this purpose. The electronic map can then be transmitted to the vehicle, for example, upon entering the drivable area. Thus, upon entering the drivable area, the vehicle can navigate within the drivable area at least semi-autonomously, in particular fully autonomously.

[0013] In a further advantageous embodiment, a single boundary point of the first boundary point sequence and a single boundary point of the second boundary point sequence are assigned to each trajectory point of the trajectory point sequence. Thus, a potentially usable travel tube can be generated and transmitted to the vehicle in a simple and resource-saving manner. Thus, navigation of the vehicle within the drivable area can be performed in a resource-saving manner and with little computational power.

[0014] Furthermore, it has been found to be advantageous if the trajectory points and the boundary points assigned to the trajectory points, particularly those on the linear portions of the trajectory, lie on lines extending perpendicular to the direction of travel of the vehicle. Thus, a travel tube along which the vehicle can travel can be reliably generated. In particular, the generation of the corresponding assigned boundary points saves a large amount of computational power, since generating corresponding boundary points perpendicular to the direction of travel requires very little computational power.

[0015] In a further advantageous embodiment, an electronic map is provided for a drivable area designed as a parking area. For example, the parking area may be a parking area with a so-called valet parking. In a valet parking, it may be envisaged that the vehicle's occupant or user will hand over the vehicle, for example, at the entrance area of ​​the parking area, and then the vehicle will park autonomously within the parking area. This is particularly time-saving and convenient for the user. The vehicle may be autonomously maneuvered within the parking area. For example, for this purpose, the vehicle may have a SLAM (self-localization and mapping) algorithm, which allows the vehicle to locate itself within the parking area.

[0016] Furthermore, it has been found to be advantageous if an electronic map is provided for a drivable area designed as a covered parking lot. In particular, parking lots often lack GPS signals for automobiles. The covered parking lot can be reliably navigated by the automobile self-locating based on the electronic map or based on potentially available driving tubes within the drivable area. For this purpose, it can be envisioned, for example, that the parking lot has corresponding landmarks or codes, for example, on the walls of the parking lot, and the automobile can locate itself within the covered parking lot by detecting these landmarks or codes. In this way, excellent at least semi-autonomous or fully autonomous navigation of the automobile within the covered parking lot can be achieved.

[0017] Furthermore, it has proven advantageous if the first boundary is defined in a first lateral distance range of 1.25 m to 1.75 m relative to the drivable track, the constant distance relative to the first boundary being defined in a particularly straight, in particular at least essentially straight, section of the drivable track.

[0018] In particular, the distance between the drivable trajectory and the first and second boundaries may be within a certain range along at least 40%, 50%, 60%, 70%, 80%, 90%, or 100% of the trajectory. In particular, the corresponding outer diameter dimensions of the vehicle may also be taken into account. The vehicle may move freely within this area and may also be free to avoid, for example, objects or objects. In this way, targeted guidance of the vehicle within the drivable area and even avoidance of the vehicle against objects in the potentially usable travel tube may be achieved.

[0019] It is also advantageous if the second boundary is defined in a second lateral distance range of 2 m to 2.75 m relative to the drivable track, the constant distance relative to the first boundary being defined in a particularly straight, in particular at least essentially straight, section of the drivable track.

[0020] It is also advantageous if the drivable trajectory and / or the first boundary and / or the second boundary are determined as a function of the vehicle's specified dimensions. For example, the vehicle's standard dimensions can be specified as the specified dimensions. Here, the vehicle can be described using, for example, two or, in particular, four circles. The vehicle can then be virtually generated via the two or, in particular, four circles. Potentially usable travel tubes are thereby generated as a function thereof. In particular, for example, the drivable trajectory can be defined as a function of the vehicle's center as seen in the main direction of travel of a standard vehicle. Thus, an electronic map can be generated for a large number of vehicles. For example, standard dimensions for vehicles can be defined based on an average of a large number of vehicles. However, for example, "worst-case" dimensions can also be assumed. For example, the maximum vehicle dimensions relative to the drivable area can be used, and the travel tube can be determined as the standard dimensions based thereon. This allows safe navigation within the drivable area for all potential vehicles.

[0021] It is also advantageous if the drivable trajectory and / or the first boundary and / or the second boundary are determined as a function of the specific dimensions of the vehicle. In particular, in this way, the vehicle-specific dimensions of the vehicle can be taken into account. Therefore, a safer operation of the specific vehicle within the drivable area can be implemented.

[0022] It has further been found to be advantageous if the specific dimensions are transmitted from the vehicle to an electronic computing device external to the vehicle as the vehicle enters the drivable area. For example, the vehicle can transmit its corresponding dimensions to an electronic computing device of the drivable area by means of a communication device. The drivable area or the electronic computing device external to the vehicle then determines a drivable trajectory, a first boundary, and a second boundary as a function of the transmitted dimensional specifications of the vehicle. Potentially usable travel tubes resulting therefrom are then transmitted from the electronic computing device external to the vehicle to the vehicle.

[0023] It has further been found to be advantageous if the specific dimension is determined by a detection device for the drivable area when the vehicle enters the drivable area. In particular, the drivable area may include, for example, a camera. Additional sensors, such as radar, ultrasonic, or lidar sensors, are also possible. The drivable area can be determined by the detection device based on the dimensions of the vehicle. The drivable trajectory, first boundary, and second boundary are then determined in an electronic computer device external to the vehicle for the drivable area as a function of the detected dimensions. Potentially usable travel tubes are then transmitted to the vehicle. In this way, potentially usable travel tubes can be generated in a vehicle-specific manner.

[0024] Furthermore, it has proven advantageous if the vehicle is located in the drivable area. This can be performed by the drivable area itself or by the vehicle itself. For example, the vehicle can locate itself based on a corresponding detection device of the vehicle. Alternatively or additionally, this can be performed based on odometer data, for example. Furthermore, the vehicle's location can be performed by a camera in the drivable area or by an additional sensor device. In this way, the position of the vehicle in the drivable area is always known.

[0025] It is also advantageous if the vehicle is located in the drivable area based on odometer data of the vehicle, in particular, for example, the odometer data may be related to the speed and steering wheel angle of the vehicle, so that the vehicle can locate itself in the drivable area in a simple manner.

[0026] It is further advantageous if the vehicle is located in the drivable area based on landmarks in the drivable area. In particular, these landmarks can be, for example, codes. These landmarks or codes can be detected by a camera on the vehicle or by a lidar sensor device. Based on this detection, the vehicle can then be located in the drivable area, in particular in a parking lot.

[0027] The present invention also relates to a method for at least semi-autonomous operation of a vehicle operated at least semi-autonomously within an at least semi-autonomously drivable area. An electronic map with a drivable trajectory is received by the vehicle. The drivable trajectory is transmitted together with first and second boundaries defining a potentially drivable travel tube. An independent travel trajectory of the vehicle is then determined as a function of the potentially drivable travel tube. In particular, in this way, semi-autonomous driving in a parking lot can be proposed. The parking lot can be designed, for example, as a valet parking lot. It is particularly envisioned that the vehicle plans its own trajectory based on a certain number of trajectory points and boundary points.

[0028] Furthermore, it has been found to be advantageous if the vehicle autonomously avoids potentially drivable objects within the travel tube. Thus, for example, if an object is detected within the travel tube, the vehicle can independently avoid it. In this manner, the vehicle plans an avoidance trajectory within the drivable travel tube.

[0029] According to a further advantageous embodiment, if driving maneuvering within the first and second boundaries is not possible, the vehicle performs a potential driving beyond the first and / or second boundaries. In particular, this potential driving is monitored. In particular, the surrounding environment can be additionally detected, and, for example, when driving beyond the first and / or second boundaries, it can be checked whether safe navigation of the vehicle is possible outside these boundaries. Thus, for example, when avoiding an object, the vehicle can reliably avoid and navigate autonomously within the drivable area. In particular, after the avoidance, the vehicle can again maneuver at least semi-autonomously in the driving tube.

[0030] The presented methods are in particular computer-implemented methods. To this end, it is envisaged in particular to provide a computer program product comprising program code means which, when processed by an electronic computer device, causes it to carry out the method according to the above-mentioned aspects. To this end, a further aspect of the invention relates to a computer-readable storage medium comprising a computer program product.

[0031] A further aspect of the present invention relates to an electronic computing device designed to implement the method according to the above-mentioned aspect. In particular, the method is implemented by the electronic computing device. To this end, the electronic computing device in particular comprises a circuit, in particular an integrated circuit, a processor, and further electronic components capable of implementing the corresponding method. Here, the electronic computing device may be arranged inside and / or outside the vehicle. In particular, a system may be provided consisting of a drivable area and a vehicle, which communicate with each other at least in part, for example using respective electronic computing devices.

[0032] Advantageous embodiments of the method are to be regarded as advantageous embodiments of a computer program product, a computer-readable storage medium and an electronic computer device, which to this end have specific features that enable the method or advantageous embodiments thereof to be carried out.

[0033] Further features of the present invention emerge from the claims, the drawings, and the description of the drawings. Features and combinations of features set forth in the above description, and in the following description of the drawings, and / or shown only in the drawings, may be utilized in other combinations as well as in the combinations shown, without departing from the scope of the present invention. Accordingly, the present invention is intended to be considered to comprise embodiments that are not explicitly shown or described in the drawings, but which may arise from and be produced by a separate combination of features from the described embodiments. Accordingly, embodiments and combinations of features that do not possess all the features of the originally formulated independent claims should also be considered disclosed. Furthermore, embodiments and combinations of features that go beyond or differ from the combinations of features set forth in the later references to the claims should also be considered disclosed, particularly by the embodiments described above.

[0034] The invention will now be explained in more detail using preferred exemplary embodiments and with reference to the accompanying drawings. [Brief explanation of the drawings]

[0035] [Figure 1] FIG. 1 shows a schematic side view of a vehicle entering a drivable area, specifically designated as a parking area. [Figure 2] FIG. 2 shows a schematic top view of a runnable running tube according to an embodiment of the present method. DETAILED DESCRIPTION OF THE INVENTION

[0036] In the drawings, identical or functionally identical elements are marked with the same reference numbers.

[0037] FIG. 1 shows a schematic side view of an embodiment of a motor vehicle 1. The motor vehicle 1 is designed to be at least semi-autonomous, in particular fully autonomous. To this end, the motor vehicle 1 may include an assistance system 2 designed for at least semi-autonomous or fully autonomous operation of the motor vehicle 1. The assistance system 2 may be engageable, for example, with a longitudinal acceleration device and / or a lateral acceleration device of the motor vehicle 1 for autonomous operation. To this end, the assistance system 2 may include, for example, a detection device 3 for detecting the surrounding environment 4 of the motor vehicle 1. Furthermore, for example, the assistance system 2 may include an electronic computer device 5 for evaluation, in particular formed inside the motor vehicle.

[0038] 1 further shows a drivable area 6. In this example, the drivable area 6 is particularly designed as a parking area. In this example, the parking area, i.e., the drivable area 6, is particularly designed as a covered parking lot. In particular, within the parking lot, the vehicle 1 cannot detect satellite-based position signals, e.g., GPS signals.

[0039] For example, the drivable area 6 may include landmarks 7, which may be formed, for example, as codes, so that the vehicle 1, which is operated at least semi-autonomously, can locate itself within the drivable area 6. In the drivable area 6, in particular so-called valet parking may be provided. The user of the vehicle 1 may hand over the vehicle 1, for example, upon entering the drivable area 6 at 8, after which the vehicle 1 may be parked autonomously within the drivable area 6. In particular, odometer data of the vehicle 1 may be used to navigate the vehicle 1 within the drivable area 6. Furthermore, the landmarks 7 may be used accordingly to locate the vehicle 1 within the drivable area 6. Furthermore, the localization may also be performed, for example, by the so-called SLAM (self-localization and mapping) method.

[0040] Thus, in one form, the present invention relates to the autonomous operation of a vehicle 1 that is operated at least semi-autonomously within a drivable area 6. An electronic map 9 ( FIG. 2 ) is received that includes a drivable trajectory 10 having a first boundary 11 and a second boundary 12, where the first boundary 11 and the second boundary 12 define a potentially drivable travel tube 13. For example, this may be performed by an electronic computer device 14 of the drivable area 6, e.g., external to the vehicle. A unique travel trajectory 15 for the vehicle 1 is then determined as a function of the potentially drivable travel tube 13. It is possible to envision the vehicle 1 autonomously avoiding objects within the potentially drivable travel tube 13 within the travel tube 13. Furthermore, if maneuvering within the first boundary 11 and the second boundary 12 is not possible, potential travel beyond the first boundary 11 and / or the second boundary 12 may be performed by the vehicle 1.

[0041] FIG. 2 shows a schematic top view of a travel tube 13 generated by one embodiment of the method. Accordingly, FIG. 2 illustrates a method for generating a drivable area 6, particularly as a so-called electronic map 9, for at least semi-autonomous or fully autonomous operation of a vehicle 1. A drivable trajectory 10 formed by a sequence of trajectory points 16 is defined. For the potentially usable travel tube 13, a first boundary 11 formed by a first sequence of boundary points 17 is defined having a first lateral distance A1 to the drivable trajectory 10 on a first side of the drivable trajectory 10. For the potentially usable travel tube 13, a second boundary 12 formed by a second sequence of boundary points 18 is defined having a second lateral distance A2 to the drivable trajectory 10 on a second side opposite the first side of the drivable trajectory 10. A drivable area 16, i.e., an electronic map 9 having a drivable trajectory 10 with both the first boundary 11 and the second boundary 12, is generated for the potentially usable travel tube 13.

[0042] The drivable area 6, in particular the electronic map 9, is transmitted to the motor vehicle 1, in particular from an external device, in this example for example from an electronic computer device 14 outside the motor vehicle.

[0043] 2, a single boundary point of the first boundary point sequence 17 and a single boundary point of the second boundary point sequence 18 may be assigned to each trajectory point of the trajectory point sequence 16. In particular, the trajectory points and the boundary points assigned to the trajectory points that lie on the linear portions of the trajectory 10 will lie on a line that extends perpendicular to the direction of travel.

[0044] For example, the first boundary 11 may be defined within a first lateral distance range A1 of 1.25 m to 1.75 m relative to the drivable track, and the second boundary 12 may be defined within a second lateral distance range A2 of 2 m to 2.75 m relative to the drivable track.

[0045] It may further be envisaged that the drivable trajectory 10 and / or the first boundary 11 and / or the second boundary 12 are determined as a function of specific dimensions of the vehicle 1. The specific dimensions may be transmitted from the vehicle 1 to an electronic computer device 14 external to the vehicle, for example, when the vehicle 1 enters 8 the drivable area 6. Alternatively, the specific dimensions may be determined by a detection device 19 of the drivable area 6 when the vehicle 1 enters 8 the drivable area 6. In a further alternative, the determined dimensions of the vehicle 1 may also be determined, for example, as standard dimensions for the vehicle 1.

[0046] In particular, an electronic map 9 is thus proposed as a drivable area 6, in particular for a parking lot. The electronic map 9 is transmitted to the vehicle 1. In particular, the electronic map 9 comprises only a drivable trajectory 10, a first boundary 11, and a second boundary 12. The trajectory 10 is in particular a single sequence of points. Furthermore, the first boundary 11 is also a sequence of points. The second boundary 12 is also a single sequence of points. The distance between the trajectory 10 and the first boundary 11 is in particular 1.25 m to 1.75 m. The distance between the trajectory 10 and the second boundary 12 is, for example, 2 m to 2.75 m. The distance may be in a defined range along at least 40%, 50%, 60%, 70%, 80%, 90%, or 100% of the trajectory 10.

[0047] In particular, it can be assumed that the vehicle 1 plans its own trajectory 15 within a certain number of trajectory points and boundary points. Then, if an obstacle is detected, for example, the vehicle 1 plans an avoidance trajectory within the drivable area, and thus within the travel tube 13. Here, collisions between the vehicle 1 and the boundaries 11, 12 and the vehicle 1 are checked.

Claims

1. A method for generating a drivable area (6) designed as a parking area in which a vehicle (1) operated at least semi-autonomously or fully autonomously can drive, comprising: - defining a drivable trajectory (10) formed by a sequence of trajectory points (16); - defining a first boundary (11) formed as a first boundary point sequence (17) for the available travel tube (13), said first boundary (11) being: a step having a first lateral distance (A1) to the drivable track (10) and formed on a first side of the drivable track (10); - defining a second boundary (12) formed as a second boundary point sequence (18) for the usable running tube (13), the second boundary (12) having a second lateral distance (A2) to the drivable track (10) and formed on a second side of the drivable track (10) opposite the first side; - generating the drivable area (6) having the first boundary (11) and the drivable track (10) having the second boundary (12) as the usable traveling tube (13); Equipped with the drivable trajectory (10) and / or the first boundary (11) and / or the second boundary (12) are determined as a function of specific dimensions of the vehicle (1), The specific dimensions are transmitted from the vehicle (1) to an electronic computer device (14) outside the vehicle (1) when the vehicle (1) enters the drivable area (6) (8). method.

2. The drivable area (6) is transmitted from an external device to the vehicle (1) which is operated at least semi-autonomously or fully autonomously.

2. The method of claim 1 .

3. a boundary point of the first boundary point sequence (17) and a boundary point of the second boundary point sequence (18) are assigned to each trajectory point of the trajectory point sequence (16); 3. The method according to claim 1 or 2.

4. The trajectory points and the boundary points assigned to the trajectory points are on a line extending perpendicular to the direction of travel of the vehicle (1).

4. The method of claim 3.

5. An electronic map (9) is provided of the drivable area (6).

3. The method according to claim 1 or 2.

6. an electronic map (9) is provided of the parking area, which is designed as a covered parking area; 3. The method according to claim 1 or 2.

7. The first boundary (11) is defined in a first lateral distance range of 1.25 m to 1.75 m relative to the drivable track (10).

3. The method according to claim 1 or 2.

8. The second boundary (12) is defined in a second lateral distance range of 2 m to 2.75 m relative to the drivable track (10).

3. The method according to claim 1 or 2.

9. The vehicle (1) is located in the drivable area (6).

3. The method according to claim 1 or 2.

10. The vehicle (1) is located in the drivable area (6) based on odometer data of the vehicle (1); 10. The method of claim 9.

11. The vehicle (1) is located in the drivable area (6) based on landmarks (7) within the drivable area (6).

10. The method of claim 9.

12. 1. A method for at least semi-autonomous operation of a vehicle (1) operated at least semi-autonomously in at least a semi-autonomously drivable area (6) designed as a parking area, comprising: receiving an electronic map (9) having a drivable trajectory (10) with a first boundary (11) and with a second boundary (12), said first boundary (11) and said second boundary (12) defining a drivable travel tube (13); - determining a unique travel trajectory (15) of said vehicle (1) as a function of said travel tube (13) that can be traveled; Equipped with the drivable trajectory (10) and / or the first boundary (11) and / or the second boundary (12) are determined as a function of specific dimensions of the vehicle (1), The specific dimensions are transmitted from the vehicle (1) to an electronic computer device (14) outside the vehicle (1) when the vehicle (1) enters (8) the semi-autonomous driving area (6). method.

13. The vehicle (1) autonomously avoids objects in the traveling tube (13) while in the traveling tube (13).

13. The method of claim 12.

14. If driving maneuvers within the first boundary (11) and the second boundary (12) are not possible, driving beyond the first boundary (11) and / or the second boundary (12) is performed by the vehicle (1).

14. The method according to claim 12 or 13.

15. A computer program product having program code means which, when processed by an electronic computer device (5, 14), causes it to carry out the method according to claim 1 or 2.

16. 16. A computer readable storage medium having at least one computer program product according to claim 15.

17. An electronic computer device (5, 14) designed to carry out the method according to claim 1 or 2.

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