In-vehicle navigation protection method and apparatus, device, and storage medium

Abstract

An in-vehicle navigation protection method and apparatus, a device, and a storage medium. The method is applied to an on-board unit, and the method comprises: when a monitor on the on-board unit detects that a first virtual machine on the on-board unit is running abnormally, sending a first notification message to a second virtual machine on the on-board unit, wherein the first notification message is used for indicating that the first virtual machine is running abnormally, and an operating system of the first virtual machine and an operating system of the second virtual machine are each provided with a navigation service (S201); according to the received first notification message, the second virtual machine locally acquiring a navigation destination from the second virtual machine, wherein the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts to perform navigation (S202); and the second virtual machine starting a navigation service according to the navigation destination (S203).

Description

Vehicle navigation protection method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 14, 2023, with application number 202310705292.8. The entire contents of the above application are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of smart cockpit technology, for example, to a vehicle navigation protection method, device, equipment and storage medium. Background Art

[0003] In-car navigation uses the vehicle's Global Positioning System (GPS) in conjunction with electronic maps to provide navigation services. It can conveniently and accurately tell the driver the shortest or fastest route to the destination, and is a good helper for the driver.

[0004] Currently, navigation services run on the operating system of the vehicle's computer. This refers to the in-vehicle infotainment system installed in a car. It facilitates information communication between the driver and the vehicle, and between the vehicle and the outside world (and between other vehicles). If the operating system freezes or crashes, navigation services will be unavailable, potentially causing driving problems for drivers who rely on navigation services, such as taking the wrong turn, which in turn affects their driving experience and safety.

[0005] Summary of the Invention

[0006] The present application provides a vehicle-mounted navigation protection method, device, equipment and storage medium, so that the driver can use the navigation service normally under any circumstances, thereby improving the driver's driving experience and driving safety.

[0007] This application provides a vehicle navigation protection method, which is applied to a vehicle computer, including:

[0008] When a monitor on the vehicle computer detects that a first virtual machine on the vehicle computer is operating abnormally, sending a first notification message to a second virtual machine on the vehicle computer, where the first notification message is used to indicate that the first virtual machine is operating abnormally, wherein navigation services are deployed in the operating systems of both the first virtual machine and the second virtual machine;

[0009] The second virtual machine obtains the navigation destination from the second virtual machine locally according to the received first notification message, wherein the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation;

[0010] The second virtual machine starts the navigation service according to the navigation destination.

[0011] Optionally, sending the first notification message to the second virtual machine includes: sending the first notification message to the second virtual machine through cross-domain communication.

[0012] Optionally, the method further includes: when the second virtual machine cannot obtain the navigation destination locally, the second virtual machine does not start the navigation service.

[0013] Optionally, the method further includes: after determining to navigate to the navigation destination, the second virtual machine clears the locally stored navigation destination.

[0014] Optionally, the method also includes: when there is no operational abnormality in the first virtual machine, after determining to navigate to the navigation destination, the first virtual machine sends a second notification message to the second virtual machine through cross-domain communication, and the second notification message is used to indicate that the navigation is completed; the second virtual machine clears the locally stored navigation destination according to the second notification message.

[0015] Optionally, the monitor continuously monitors the running status of the first virtual machine after the operating system of the first virtual machine is started.

[0016] The present application provides an in-vehicle navigation protection device, which is applied to a vehicle computer. The vehicle computer runs a monitor and multiple virtual machines, wherein a first virtual machine and a second virtual machine among the virtual machines are both deployed with a navigation service in their operating systems. The monitor is configured to send a first notification message to the second virtual machine upon detecting that a first virtual machine providing the navigation service is operating abnormally, wherein the first notification message is used to indicate that the first virtual machine is operating abnormally.

[0017] The second virtual machine is configured to receive the first notification message, obtain the navigation destination locally, and start a navigation service according to the navigation destination, wherein the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation.

[0018] The present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0019] The memory is configured to store computer-executable instructions;

[0020] The processor is configured to execute computer-executable instructions stored in the memory to implement the vehicle navigation protection method as described in any of the above embodiments.

[0021] The present application provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed, the vehicle navigation protection method as described in any of the above embodiments is implemented.

[0022] The present application provides a computer program product, including a computer program, which, when executed, implements the vehicle navigation protection method as described in any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0024] FIG2 is a flow chart of a vehicle navigation protection method provided by an embodiment of the present application;

[0025] FIG3 is a flow chart of a vehicle navigation protection method provided by another embodiment of the present application;

[0026] FIG4 is a schematic structural diagram of a vehicle-mounted navigation protection device provided in one embodiment of the present application;

[0027] FIG5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by multiple parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0029] The present application provides a method, apparatus, device and storage medium for protecting in-vehicle navigation. Based on virtualization technology, multiple virtual machines are run on a vehicle computer. When an abnormal operation of a virtual machine providing a navigation service is detected, another virtual machine is notified to start a locally deployed navigation service and continue navigation. This allows drivers who rely on the navigation service to use the navigation service normally during navigation to the navigation destination, thereby effectively improving the driver's driving experience and driving safety.

[0030] The following is an example of the application scenario of the solution provided in this application.

[0031] FIG1 is a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in FIG1 , in this application scenario, a monitor and multiple virtual machines are running on the vehicle computer. The operating systems of the first and second virtual machines in the virtual machines are both deployed with navigation services. The monitor is in communication with each virtual machine. The monitor is, for example, a hypervisor (a virtual machine monitor). During navigation to the navigation destination, if the monitor detects that the first virtual machine providing the navigation service is operating abnormally, it notifies the second virtual machine, thereby continuing navigation through the navigation service deployed in the operating system of the second virtual machine.

[0032] Figure 1 is only a schematic diagram of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the devices included in Figure 1, nor does it limit the positional relationship between the devices in Figure 1.

[0033] The following are specific embodiments to illustrate the technical solution of the present application. The following specific embodiments can be combined with each other, and the same or similar concepts or processes will not be repeated.

[0034] FIG2 is a flow chart of a method for protecting an in-vehicle navigation system according to an embodiment of the present application, which is applied to a vehicle computer. The vehicle computer runs a monitor and multiple virtual machines, and the operating systems of the first and second virtual machines in the virtual machines are both equipped with navigation services. As shown in FIG2 , the method according to the embodiment of the present application includes:

[0035] S201. When a monitor on the vehicle computer detects that a first virtual machine on the vehicle computer is operating abnormally, a first notification message is sent to a second virtual machine on the vehicle computer, where the first notification message is used to indicate that the first virtual machine is operating abnormally, wherein navigation services are deployed in the operating systems of both the first virtual machine and the second virtual machine.

[0036] In the embodiments of the present application, the monitor is, for example, a hypervisor. Based on virtualization technology, a hypervisor can be understood as a virtualization base that provides an isolated virtualized hardware environment for virtual machines running on physical hardware. It can start and monitor the operating status of each virtual machine and communicate with the virtual machine's operating system. For example, assume that three virtual machines are virtualized using a hypervisor: a first virtual machine running an Android operating system, a second virtual machine running a Linux operating system, and a third virtual machine running a Linux operating system. The operating systems of both the first and second virtual machines have navigation services deployed. The Android operating system of the first virtual machine can display the entertainment screen, the Linux operating system of the second virtual machine can display the game screen, and the Linux operating system of the third virtual machine can display the instrument panel. The virtual machines can communicate with each other via an interconnection protocol. This embodiment of the present application is merely illustrative and is not intended to be limiting. The navigation service deployed in the operating system of the first virtual machine can be understood as the navigation service typically used by the driver, and the navigation service deployed in the operating system of the second virtual machine can be understood as a backup, additional navigation service. This navigation service can be deployed in the operating system of any virtual machine other than the first virtual machine.

[0037] Optionally, the monitor continuously monitors the running status of the first virtual machine after the first virtual machine is started.

[0038] For example, after the Android operating system of the first virtual machine is started, the hypervisor starts to monitor the running status of the first virtual machine. If the Android operating system of the first virtual machine does not crash, the hypervisor continues to monitor the running status of the first virtual machine regardless of whether the first virtual machine provides navigation services.

[0039] For example, during driving, if the driver needs to use the navigation service, the navigation service can be started in the Android operating system of the first virtual machine. The navigation service is displayed on the entertainment screen. After the driver enters the navigation destination, the navigation service generates a navigation route and automatically starts navigation. In the process of navigating to the navigation destination, if the first virtual machine providing the navigation service operates abnormally, such as when the operating system of the first virtual machine freezes or crashes, the Hypervisor monitors that the first virtual machine providing the navigation service operates abnormally, and sends a first notification message to the second virtual machine to indicate that the first virtual machine operates abnormally. For example, the Hypervisor can send the first notification message to the second virtual machine through cross-domain communication, and accordingly, the second virtual machine receives the first notification message.

[0040] S202: The second virtual machine obtains a navigation destination from the second virtual machine locally according to the received first notification message, wherein the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation.

[0041] For example, after starting navigation, the first virtual machine can send the navigation destination to the second virtual machine where the navigation service is deployed through cross-domain communication. Wherein, an operating system or monitor can be understood as a domain, and cross-domain communication is communication between domains.

[0042] After receiving the first notification message indicating that the first virtual machine is operating abnormally, the second virtual machine can obtain the navigation destination locally.

[0043] S203: The second virtual machine starts a navigation service according to the navigation destination.

[0044] In this step, after the second virtual machine obtains the navigation destination from the local machine, it can start the navigation service according to the navigation destination, that is, send the navigation destination to the navigation service, and the navigation service generates a navigation route according to the current location information of the vehicle and the navigation destination, and automatically starts navigation. The current location information of the vehicle is obtained, for example, by GPS.

[0045] The vehicle navigation protection method provided in the embodiment of the present application is applied to a vehicle computer, wherein the vehicle computer runs a monitor and multiple virtual machines, and the operating systems of the first and second virtual machines of the virtual machines are both deployed with navigation services; when the monitor monitors that the first virtual machine providing the navigation service is operating abnormally, it sends a first notification message to the second virtual machine, the first notification message is used to indicate that the first virtual machine is operating abnormally; the second virtual machine obtains a navigation destination from a local machine, the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation; the second virtual machine starts the navigation service according to the navigation destination. Since the navigation service is deployed in the operating systems of the first and second virtual machines in the embodiment of the present application, when the first virtual machine providing the navigation service is operating abnormally, it automatically switches to the second virtual machine to continue providing the navigation service, so that drivers who rely on the navigation service can use the navigation service normally during the process of navigating to the navigation destination, thereby effectively improving the driver's driving experience and driving safety. Optionally, the vehicle navigation protection method provided in the embodiment of the present application may also include: when the first virtual machine does not have an operating abnormality, after determining that the navigation has been navigated to the navigation destination, the first virtual machine sends a second notification message to the second virtual machine through cross-domain communication, the second notification message is used to indicate that the navigation is complete; the second virtual machine clears the locally stored navigation destination according to the second notification message.

[0046] In this embodiment, if the first virtual machine does not experience any operational anomalies during navigation to the navigation destination, the first virtual machine, after determining that the navigation destination has been reached, sends a second notification message to the second virtual machine via cross-domain communication, indicating that the navigation has been completed. Accordingly, the second virtual machine receives the second notification message and then clears the locally stored navigation destination.

[0047] Optionally, the in-vehicle navigation protection method provided by the embodiment of the present application may further include: when the second virtual machine cannot obtain the navigation destination locally, the second virtual machine does not start the navigation service.

[0048] For example, if the navigation service in the operating system of the first virtual machine is not enabled, the second virtual machine cannot obtain the navigation destination locally. Since the second virtual machine cannot obtain the navigation destination locally, the second virtual machine does not enable the navigation service.

[0049] FIG3 is a flow chart of a vehicle navigation protection method provided by another embodiment of the present application. The present embodiment of the present application describes the vehicle navigation protection method. As shown in FIG3 , the method of the embodiment of the present application may include:

[0050] S301: When navigation is started, a first virtual machine providing navigation service sends a navigation destination to a second virtual machine, and the second virtual machine stores the navigation destination locally.

[0051] In the embodiment of the present application, step S201 in FIG. 2 may include the following step S302:

[0052] S302: When the monitor detects that the first virtual machine providing the navigation service is operating abnormally, the monitor sends a first notification message to the second virtual machine through cross-domain communication, where the first notification message is used to indicate that the first virtual machine is operating abnormally.

[0053] In this step, an operating system or monitor can be understood as a domain, and cross-domain communication refers to communication between domains. During navigation to the navigation destination, if the first virtual machine providing the navigation service operates abnormally, such as due to a freeze or downtime of the operating system of the first virtual machine, the hypervisor detects the abnormal operation of the first virtual machine providing the navigation service and can send a first notification message to the second virtual machine through cross-domain communication, indicating the abnormal operation of the first virtual machine.

[0054] S303: The second virtual machine obtains the navigation destination locally.

[0055] The specific description of this step can be found in the relevant description of S202 in the embodiment shown in FIG2 , and will not be repeated here.

[0056] S304: The second virtual machine starts a navigation service according to the navigation destination.

[0057] The specific description of this step can be found in the relevant description of S203 in the embodiment shown in FIG2 , and will not be repeated here.

[0058] S305: After determining to navigate to the navigation destination, the second virtual machine clears the locally stored navigation destination.

[0059] In this step, after successfully navigating to the navigation destination through the navigation service provided by the second virtual machine, the second virtual machine clears the navigation destination stored locally.

[0060] The vehicle navigation protection method provided by the embodiment of the present application is applied to a vehicle computer, wherein a monitor and multiple virtual machines are running on the vehicle computer, and the operating systems of the first and second virtual machines of the virtual machines are both deployed with navigation services; when navigation is started, the first virtual machine providing the navigation service sends the navigation destination to the second virtual machine, and the second virtual machine stores the navigation destination locally; when the monitor detects that the first virtual machine providing the navigation service is operating abnormally, the monitor sends a first notification message to the second virtual machine through cross-domain communication, and the first notification message is used to indicate that the first virtual machine is operating abnormally; the second virtual machine obtains the navigation destination from the local machine, and the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation; the second virtual machine starts the navigation service according to the navigation destination; after determining that the second virtual machine has navigated to the navigation destination, the second virtual machine clears the locally stored navigation destination. Since the embodiment of the present application deploys navigation services in the operating systems of the first and second virtual machines, when the first virtual machine providing the navigation service is operating abnormally, the monitor detects that the first virtual machine is operating abnormally, and sends a first notification message to the second virtual machine through cross-domain communication to indicate that the first virtual machine is operating abnormally, thereby automatically switching to the second virtual machine to continue providing the navigation service, so that the driver who relies on the navigation service can use the navigation service normally during the process of navigating to the navigation destination, thereby effectively improving the driver's driving experience and driving safety.

[0061] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0062] Figure 4 is a structural diagram of an in-vehicle navigation protection device provided by an embodiment of the present application, which is applied to a vehicle computer, on which a monitor and multiple virtual machines are running, and navigation services are deployed in the operating systems of the first virtual machine and the second virtual machine among the virtual machines. As shown in Figure 4, the in-vehicle navigation protection device 400 of the embodiment of the present application includes: a sending module 401, an acquisition module 402 and a start module 403. Among them: the sending module 401 is configured to send a first notification message to the second virtual machine when the monitor detects that the first virtual machine providing the navigation service is operating abnormally, and the first notification message is used to indicate that the first virtual machine is operating abnormally. The acquisition module 402 is configured to enable the second virtual machine to obtain the navigation destination from the local computer, and the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation. The start module 403 is configured to enable the second virtual machine to start the navigation service according to the navigation destination.

[0063] In some embodiments, the sending module 401 is configured to send the first notification message to the second virtual machine through cross-domain communication.

[0064] Optionally, the starting module 403 is further configured to: when the second virtual machine cannot obtain the navigation destination locally, the second virtual machine does not start the navigation service.

[0065] Optionally, the vehicle-mounted navigation protection device 400 may further include a first processing module 404 configured to clear a locally stored navigation destination after the second virtual machine determines that it has navigated to the navigation destination.

[0066] Optionally, the sending module 401 is also configured to: when there is no operational abnormality in the first virtual machine, after the first virtual machine determines to navigate to the navigation destination, it sends a second notification message to the second virtual machine through cross-domain communication, and the second notification message is used to indicate that the navigation is completed; the vehicle-mounted navigation protection device 400 may also include a second processing module 405, which is configured to cause the second virtual machine to clear the locally stored navigation destination according to the second notification message.

[0067] In some embodiments, the monitor continuously monitors the running status of the first virtual machine after the operating system of the first virtual machine is started.

[0068] In one embodiment, a vehicle-mounted navigation protection device is applied to a vehicle computer, wherein a monitor and multiple virtual machines are running on the vehicle computer, and navigation services are deployed in the operating systems of the first virtual machine and the second virtual machine among the virtual machines, wherein the monitor is configured to send a first notification message to the second virtual machine when it detects that the first virtual machine providing the navigation service is operating abnormally, wherein the first notification message is used to indicate that the first virtual machine is operating abnormally; the second virtual machine is configured to receive the first notification message, obtain a navigation destination locally, and start a navigation service according to the navigation destination, wherein the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation.

[0069] The device of the embodiment of the present application can be configured to execute the technical solution of any of the above-mentioned method embodiments. The implementation principles and technical effects are similar and will not be repeated here.

[0070] FIG5 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. As shown in FIG5 , the electronic device 500 may include: at least one processor 501 and a memory 502 .

[0071] The memory 502 is configured to store programs. The programs may include program codes, which include computer-executable instructions.

[0072] The memory 502 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0073] The processor 501 is configured to execute computer-executable instructions stored in the memory 502 to implement the vehicle navigation protection method described in the aforementioned method embodiment. The processor 501 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. When implementing the vehicle navigation protection method described in the aforementioned method embodiment, the electronic device 500 may be, for example, an electronic control unit on a vehicle.

[0074] Optionally, the electronic device 500 may further include a communication interface 503. If the communication interface 503, the memory 502, and the processor 501 are implemented independently, the communication interface 503, the memory 502, and the processor 501 may be interconnected via a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified as address buses, data buses, control buses, etc., but this does not mean that there is only one bus or only one type of bus.

[0075] Optionally, if the communication interface 503, the memory 502 and the processor 501 are integrated into one chip, the communication interface 503, the memory 502 and the processor 501 may communicate through an internal interface.

[0076] The present application also provides a computer-readable storage medium, in which computer program instructions are stored. When the processor 501 executes the computer program instructions, the above-mentioned vehicle navigation protection method is implemented.

[0077] The present application also provides a computer program product, including a computer program, which implements the above-mentioned vehicle navigation protection method when executed by the processor 501.

[0078] The computer-readable storage medium may be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0079] An exemplary readable storage medium is coupled to the processor 501, enabling the processor 501 to read information from and write information to the readable storage medium. Of course, the readable storage medium may also be a component of the processor 501. The processor 501 and the readable storage medium may be located in an application-specific integrated circuit. The processor 501 and the readable storage medium may also be present as discrete components in the vehicle-mounted navigation protection device 400.

[0080] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps in the above-described method embodiments. The aforementioned storage medium includes ROM, RAM, a magnetic disk, or an optical disk, among other media capable of storing program code.

Claims

1. A vehicle navigation protection method, applied to a vehicle computer, comprising: When the monitor on the vehicle computer monitors that the first virtual machine on the vehicle computer is operating abnormally, sending a first notification message to the second virtual machine on the vehicle computer, wherein the first notification message is used to indicate that the first virtual machine is operating abnormally, wherein the operating systems of the first virtual machine and the second virtual machine are both deployed with navigation services; The second virtual machine obtains a navigation destination from the second virtual machine locally according to the received first notification message, wherein the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigating; The second virtual machine starts a navigation service according to the navigation destination.

2. The method according to claim 1, wherein: The sending a first notification message to the second virtual machine includes: The first notification message is sent to the second virtual machine through cross-domain communication.

3. The method according to claim 1 or 2, further comprising: In the case that the second virtual machine cannot obtain the navigation destination locally, the second virtual machine does not start the navigation service.

4. The method according to claim 1 or 2, further comprising: After determining to navigate to the navigation destination, the second virtual machine clears the navigation destination stored locally.

5. The method according to claim 1 or 2, further comprising: In the case that the first virtual machine does not have an operational abnormality, after determining to navigate to the navigation destination, the first virtual machine sends a second notification message to the second virtual machine through cross-domain communication, where the second notification message is used to indicate that the navigation is completed; The second virtual machine clears the locally stored navigation destination according to the second notification message.

6. The method according to claim 1 or 2, wherein: The monitor continuously monitors the running status of the first virtual machine after the operating system of the first virtual machine is started.

7. A vehicle navigation protection device, applied to a vehicle computer, wherein a monitor and multiple virtual machines are running on the vehicle computer, and navigation services are deployed in the operating systems of the first virtual machine and the second virtual machine of the virtual machines, wherein: The monitor is configured to send a first notification message to the second virtual machine when it is detected that the first virtual machine providing the navigation service is operating abnormally, wherein the first notification message is used to indicate that the first virtual machine is operating abnormally; The second virtual machine is configured to receive the first notification message and obtain the navigation destination locally. And start the navigation service according to the navigation destination, wherein the navigation destination is sent by the first virtual machine to the second virtual machine after the first virtual machine starts navigation.

8. An electronic device, comprising: A processor, and a memory communicatively connected to the processor; The memory is configured to store computer-executable instructions; The processor is configured to execute the computer-executable instructions stored in the memory to implement the vehicle navigation protection method according to any one of claims 1 to 6.

9. A computer-readable storage medium, wherein computer program instructions are stored in the computer-readable storage medium, and when the computer program instructions are executed, the vehicle navigation protection method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, wherein when the computer program is executed, the vehicle navigation protection method according to any one of claims 1 to 6 is implemented.

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