Control apparatus, control method, vehicle, device, medium, and program product

Abstract

The present disclosure relates to the technical field of intelligent transportation and automobiles, and provides a control apparatus, a control method, a vehicle, an electronic device, a storage medium, and a program product. The control apparatus comprises: a processor, configured to: in response to determining that first ambient light intensity at a first position is different from second ambient light intensity at a second position, acquire travel data of a vehicle at a current position in the process of the vehicle traveling from the first position to the second position, the travel data comprising at least one of travel environment information of the vehicle, road information, behavior information of a target object, and vehicle travel speed information; and in response to determining that the travel data satisfies a frame rate adjustment condition, adjust the frame rate of an electronic rearview mirror of the vehicle from a first frame rate to a second frame rate, wherein the first frame rate is greater than or less than the second frame rate.

Description

A control device, a control method, a vehicle, a device, a medium, and a program product

[0001] This application claims priority to Chinese Patent Application No. 202410832673.7, filed on June 25, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the field of intelligent transportation and automotive technology, and in particular, to a control device, a control method, a vehicle, an electronic device, a storage medium, and a program product. BACKGROUND

[0003] With the development of automatic driving technology and vehicle-mounted camera technology, electronic rearview mirrors are gradually widely used. For different driving speeds or driving environments, the camera of the electronic rearview mirror collects images at different frame rates. However, when switching the camera frame rate, there is a certain delay in the display picture, which will affect driving safety. SUMMARY

[0004] The present disclosure provides a control device, a control method, a vehicle, an electronic device, a storage medium, and a program product.

[0005] According to a first aspect, the present disclosure provides a control device, comprising: a processor configured to: in response to determining that a first ambient light intensity at a first position and a second ambient light intensity at a second position are different, acquire driving data of a vehicle at a current position in a process of the vehicle driving from the first position to the second position, the driving data comprising at least one of driving environment information, road information, behavior information of a target object, and vehicle driving speed information of the vehicle; and in response to determining that the driving data satisfies a frame rate adjustment condition, adjust a frame rate of an electronic rearview mirror of the vehicle from a first frame rate to a second frame rate, wherein the first frame rate is greater than or less than the second frame rate.

[0006] According to a second aspect, the present disclosure provides a control method, comprising: in response to determining that a first ambient light intensity at a first position and a second ambient light intensity at a second position are different, acquiring driving data at the first position or driving data at the second position in a process of a vehicle driving from the first position to the second position, the driving data comprising at least one of driving environment information, road information, behavior information of a target object, and vehicle driving speed information of the vehicle; and in response to determining that the driving data satisfies a frame rate adjustment condition, adjusting a frame rate of an electronic rearview mirror of the vehicle from a first frame rate to a second frame rate, wherein the first frame rate is greater than or less than the second frame rate.

[0007] According to a third aspect, the present disclosure provides a vehicle, comprising: a vehicle body; an electronic rearview mirror arranged on the vehicle body; a first sensor arranged on the vehicle body and configured to obtain a first ambient light intensity or a second ambient light intensity; a control device according to an embodiment of the present disclosure is arranged on the vehicle body and configured to: in response to determining that the first ambient light intensity and the second ambient light intensity are different, obtain driving data of the vehicle at a current position in a process in which the vehicle travels from a first position to a second position, the driving data comprising at least one of driving environment information, road information, behavior information of a target object, and vehicle driving speed information of the vehicle; and in response to determining that the driving data satisfies a frame rate adjustment condition, adjust a frame rate of the electronic rearview mirror from a first frame rate to a second frame rate, wherein the first frame rate is greater than or less than the second frame rate.

[0008] According to a fourth aspect, the present disclosure provides an electronic device, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the control method according to an embodiment of the present disclosure.

[0009] According to a fifth aspect, the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the control method according to an embodiment of the present disclosure.

[0010] According to a sixth aspect, the present disclosure provides a computer program product, comprising computer programs / instructions, which, when executed by a processor, implement the steps of the control method according to an embodiment of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0011] FIG. 1 is a schematic diagram of an application scenario of a control device according to an embodiment of the present disclosure;

[0012] FIG. 2 is a schematic diagram of a control device according to an embodiment of the present disclosure;

[0013] FIGS. 3A and 3B are schematic diagrams of vehicle driving according to an embodiment of the present disclosure;

[0014] FIGS. 4A and 4B are schematic diagrams of obtaining road condition information according to an embodiment of the present disclosure;

[0015] FIG. 5 is a schematic diagram of obtaining behavior information according to an embodiment of the present disclosure;

[0016] FIG. 6 is a schematic diagram of adjusting frame rate and refresh rate according to an embodiment of the present disclosure;

[0017] FIG. 7 is a flowchart of a control method according to an embodiment of the present disclosure;

[0018] FIG. 8 is a schematic diagram of a vehicle according to an embodiment of the present disclosure;

[0019] FIG. 9 is a schematic view of a vehicle according to another embodiment of the present disclosure; and

[0020] FIG. 10 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all. Based on the described embodiments of the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present disclosure. It should be noted that throughout the drawings, the same elements are denoted by the same or similar reference numerals. In the following description, some specific embodiments are used only for the purpose of description, and should not be understood as any limitation on the present disclosure, but only as an example of the embodiments of the present disclosure. When it is possible to cause confusion to the understanding of the present disclosure, the conventional structure or configuration will be omitted. It should be noted that the shapes and sizes of the components in the drawings do not reflect the true size and ratio, but only illustrate the content of the embodiments of the present disclosure.

[0022] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood as the general meaning understood by a person of ordinary skill in the art. The “first”, “second” and similar words used in the embodiments of the present disclosure do not represent any order, number or importance, but are only used to distinguish different components.

[0023] FIG. 1 is a schematic view of an application scenario of a control device according to an embodiment of the present disclosure.

[0024] As shown in FIG. 1, in the application scenario 100, the electronic rearview mirror 110 of the vehicle 101 can collect road information of a specific area on the side, rear or front of the vehicle 101 to provide the driver with the visual field information of the side and rear of the vehicle 101.

[0025] For example, the electronic rearview mirror 110 can be a camera monitor system (CMS). The CMS obtains a specific visual field through a system composed of a camera and a monitor to present the driver with the visual field of a specified area behind, on the side or in front of the vehicle 101 that the driver cannot directly observe. The camera converts the image outside the vehicle into a video signal through a lens and a photosensitive electronic device. The monitor converts the video into an image in the visible light spectrum to present the collected external image to the driver.

[0026] For example, the frame rate of the CMS can be 30 Hz, but in low light conditions or when the vehicle is driving at low speed, in order to avoid the phenomenon of image blur caused by insufficient light, the frame rate of the CMS can be adjusted to 15 Hz.

[0027] Low light conditions often occur during actual driving, at which time the CMS needs to switch the frame rate. When the frame rate is switched, there is a certain delay in the imaging process of the monitor, which causes a certain error between the image seen by the driver from the monitor and the actual road conditions. Since the switching of the frame rate is imperceptible to the driver, the driver does not know when the CMS switches the frame rate, and if the driver performs a lane change operation based on the image displayed by the monitor when the frame rate is switched, it may affect driving safety.

[0028] As shown in FIG. 1, the vehicle 102 is driving behind the vehicle 101, and the electronic rearview mirror 101 can collect information of the vehicle 102. When the electronic rearview mirror 101 switches the frame rate, due to the delay caused by the switching, the vehicle head of the vehicle 102 displayed by the monitor is located at point D, but the vehicle head of the vehicle 102 is actually located at point D'. The distance error between point D and point D' will cause the driver of the vehicle 101 to make a wrong judgment on the position of the vehicle 102, and at this time, if the driver of the vehicle 101 performs a lane change operation, it may cause a traffic accident and affect driving safety.

[0029] The present disclosure provides a control device. The control vehicle can be installed on the vehicle 101, and by combining the driving behavior of the driver, the time of switching the frame rate of the electronic rearview mirror 110 of the vehicle 101 is controlled, so as to improve the safety hidden danger caused by the switching of the frame rate of the electronic rearview mirror and improve the safety of driving.

[0030] FIG. 2 is a schematic diagram of a control device according to an embodiment of the present disclosure.

[0031] As shown in FIG. 2, the control device 200 includes a processor 210.

[0032] In the embodiment of the present disclosure, in response to determining that the first ambient light intensity at the first position and the second ambient light intensity at the second position are different, the processor 210 acquires driving data of the vehicle at the current position in the process that the vehicle drives from the first position to the second position. In response to determining that the driving data meets the frame rate adjustment condition, the processor 210 adjusts the frame rate of the electronic rearview mirror of the vehicle from the first frame rate to the second frame rate.

[0033] In the embodiment of the present disclosure, the ambient light intensity represents the ambient brightness outside the vehicle. The ambient light intensity can be determined by a light sensor. For example, the light sensor is installed on the current vehicle to acquire the brightness of the environment in which the vehicle is located. For example, the light sensor can be installed on the vehicle window glass or at the electronic rearview mirror.

[0034] For example, the light sensor can be arranged on the outer surface of the vehicle window glass, and the light sensor can directly obtain the light intensity outside the vehicle window glass to determine the ambient light intensity. For example, the light sensor can also be arranged on the inner surface of the vehicle window glass, and the light sensor can calculate the ambient light intensity (ambient light outside the vehicle) according to the light intensity (ambient light inside the vehicle) passing through the vehicle window glass and the light transmittance of the vehicle window glass.

[0035] In the embodiments of the present disclosure, the frame rate is the frame rate of the camera of the electronic rearview mirror, for example, the frame rate of the camera in the CMS. When the vehicle travels from the first position to the second position and the ambient light intensity changes, the processor 210 can adjust the frame rate of the electronic rearview mirror.

[0036] For example, the vehicle traveling from the first position to the second position can represent the vehicle traveling from outside the tunnel to inside the tunnel, the first position can be the position before the vehicle enters the tunnel, and the second position can be the position after the vehicle enters the tunnel. At this time, the first ambient light intensity can be greater than the second ambient light intensity.

[0037] For example, the vehicle traveling from the first position to the second position can represent the vehicle traveling from inside the tunnel to outside the tunnel, the first position can be the position inside the tunnel, and the second position can be the position after the vehicle exits the tunnel. At this time, the first ambient light intensity can be less than the second ambient light intensity.

[0038] In the embodiments of the present disclosure, the first position and the second position on the driving path of the vehicle can be determined based on the navigation system. For example, the current geographic position of the vehicle is obtained through the Global Position System (GPS), and whether there is a tunnel in front of the driving path of the vehicle is obtained according to the navigation information of the GSP. In the case of determining that there is a tunnel in front, the processor 210 obtains the first ambient light intensity and the second ambient light intensity. For example, the processor 210 controls the light sensor to obtain the ambient light intensity of the current position.

[0039] Before the vehicle enters the tunnel, the current position is the first position, and the ambient light intensity of the current position is the first ambient light intensity. The second position can be the entrance of the tunnel, and the second ambient light intensity can be the ambient light intensity inside the tunnel. For example, the ambient light intensity inside the tunnel can be obtained in advance, for example, according to the road regulation, the tunnel lighting brightness standard is 100 Lux, and the processor 210 can pre-store the ambient light intensity inside the tunnel. In the case of determining that there is a tunnel in front, the processor 210 obtains the pre-stored ambient light intensity inside the tunnel. In response to the case that the current ambient light intensity and the ambient light intensity inside the tunnel are different, the processor 210 obtains the driving data at the first position. The driving data at the first position is the driving data of the current position of the vehicle before entering the tunnel.

[0040] After the vehicle exits the tunnel, the current position is a second position, and the ambient light intensity of the current position is a second ambient light intensity. The first position can be a tunnel exit, and the first ambient light intensity can be an ambient light intensity inside the tunnel. In response to a case where the current ambient light intensity is different from the ambient light intensity inside the tunnel, the processor 210 acquires driving data at the second position. The driving data at the second position is driving data of the current position of the vehicle after the vehicle exits the tunnel.

[0041] For example, the driving data can represent a current driving state of the vehicle. For example, according to the driving data, the processor 210 can predict a driving state that is about to occur to the vehicle. For example, the driving data includes, but is not limited to, driving environment information of the vehicle, road information, behavior information of a target object, and vehicle driving speed information.

[0042] For example, the driving environment information can be environment information on a road on which the vehicle is currently driving. For example, the driving environment information can include other driving vehicles existing around the vehicle on the current road and obstacles on the current road, and the like. For example, the road information can include road lines on the current road and traffic signs on the current road, and the like. For example, the target object can be an object driving the vehicle, such as a driver or a control system of a self-driving vehicle. The behavior information can be a driving operation of the target object on the vehicle, such as a behavior of manipulating a signal light of the vehicle, and the like. For example, the vehicle driving speed information is a current speed of the vehicle.

[0043] In the embodiments of the present disclosure, the frame rate adjustment condition is used to represent whether the current driving state of the vehicle has a safety hazard. When it is determined that the driving data satisfies the frame rate adjustment condition, the processor 210 determines that the current driving state of the vehicle does not have a safety hazard, and thus the processor 210 can adjust the frame rate of the electronic rearview mirror.

[0044] For example, when there are vehicles or obstacles around the vehicle, the current driving state of the vehicle has a certain safety hazard. For example, when the target object turns on the signal light of the vehicle, the target object has an intention to change the driving state of the vehicle, and thus the vehicle currently has a certain safety hazard.

[0045] For example, the first frame rate is a current frame rate of the electronic rearview mirror, and the second frame rate is an adjusted frame rate of the electronic rearview mirror. For example, when the vehicle is in a state of entering the tunnel, the second ambient light intensity is less than the first ambient light intensity, and the first frame rate can be greater than the second frame rate. For example, when the vehicle is in a state of exiting the tunnel, the second ambient light intensity is greater than the first ambient light intensity, and the second frame rate can be greater than the first frame rate.

[0046] The frame rate represents the frequency of the electronic rearview mirror collecting images. When the ambient light intensity decreases, the processor 210 can reduce the frame rate of the electronic rearview mirror to increase the time length of the electronic rearview mirror collecting an image, ensure the light quantity of the electronic rearview mirror, and ensure the clarity of the collected road information. When the ambient light intensity increases, the processor 210 can increase the frame rate of the electronic rearview mirror to increase the frequency of the electronic rearview mirror collecting images, and the collected road information can be updated in time.

[0047] For example, when the vehicle is in the state of driving into a tunnel, the processor 210 can adjust the frame rate of the electronic rearview mirror from 30 Hz to 15 Hz. The processor 210 can adjust the frame rate of the electronic rearview mirror from 15 Hz to 30 Hz.

[0048] In the embodiments of the present disclosure, the first ambient light intensity and the second ambient light intensity can be collected by the light sensor, and the processor 210 adjusts the frame rate of the electronic rearview mirror according to the ambient light intensity collected by the light sensor.

[0049] For example, the processor 210 controls the light sensor to collect the current ambient light intensity at a fixed frequency. The processor 210 obtains the ambient light intensity collected by the light sensor, and when the processor 210 analyzes and determines that the ambient light intensity changes, the frame rate of the electronic rearview mirror can be adjusted.

[0050] For example, after the vehicle drives from a first position to a second position, the processor 210 determines whether there is a need to adjust the frame rate of the electronic rearview mirror based on the first ambient light intensity and the second ambient light intensity collected by the light sensor at the first position and the second position respectively.

[0051] In the embodiments of the present disclosure, the first ambient light intensity and the second ambient light intensity can also be pre-stored in the processor. For example, the ambient light intensity in the tunnel can be pre-determined and stored in the processor.

[0052] For example, the processor 210 can control the light sensor to collect the current ambient light intensity at a specific time. When the processor 210 determines that there is a tunnel in front according to the navigation information, the processor 210 controls the light sensor to collect the current ambient light intensity, and reads the pre-stored ambient light intensity in the tunnel. When the processor 210 analyzes and determines that the current ambient light intensity is different from the ambient light intensity in the tunnel, the frame rate of the electronic rearview mirror can be adjusted.

[0053] For example, when the vehicle drives from outside the tunnel to inside the tunnel, the processor 210 determines whether there is a need to adjust the frame rate of the electronic rearview mirror based on the first ambient light intensity collected by the light sensor outside the tunnel and the second ambient light intensity determined based on the pre-stored ambient light intensity in the tunnel.

[0054] In the embodiments of the present disclosure, the first ambient light intensity and the second ambient light intensity can also be calculated by the processor 210 in combination with environmental factors.

[0055] For example, the ambient light intensity in the tunnel or the ambient light intensity of the second position where the vehicle is about to travel can be calculated by the processor based on a deep learning model or other calculation model. For example, when the vehicle travels from the first position to the second position, the processor 210 calculates the first ambient light intensity based on the light sensor outside the tunnel. Before reaching the second position, the processor 210 can calculate the second ambient light intensity based on the driving path, driving time period, and driving weather of the vehicle by using the deep learning model, so as to determine whether there is a need to adjust the frame rate of the electronic rearview mirror.

[0056] In the embodiments of the present disclosure, the processor 210 can determine whether the ambient light intensity of the vehicle will change or has changed during the driving process based on the current ambient light intensity of the vehicle, the previously known ambient light intensity, and the calculated ambient light intensity.

[0057] For example, the processor 210 determines whether the ambient light intensity of the vehicle will change during the driving process according to the first ambient light intensity currently collected by the light sensor and the ambient light intensity inside the tunnel about to be entered. For example, the processor 210 can also determine whether the ambient light intensity of the vehicle has changed during the driving process according to the second ambient light intensity currently collected by the light sensor and the ambient light intensity inside the tunnel that has been driven out.

[0058] In the embodiments of the present disclosure, the processor 210 can also determine whether the ambient light intensity will change according to the change of the driving environment without determining the specific values of the first ambient light intensity and the second ambient light intensity.

[0059] For example, the ambient light intensity of the vehicle during the driving process is determined to change or has changed according to the driving path, driving time period, and driving weather of the vehicle.

[0060] For example, the processor 210 determines that the ambient light intensity of the vehicle will change according to the GPS when the vehicle is about to enter the tunnel. The processor 210 determines that the ambient light intensity of the vehicle has changed according to the GPS when the vehicle has driven out of the tunnel.

[0061] For example, the processor 210 determines the time when the vehicle is currently driving, and determines that the ambient light intensity of the vehicle will change when it is determined that it will be dark or light according to the current time.

[0062] For example, the processor 210 acquires weather information of an area where a driving road is located, and considers that the intensity of the ambient light of the vehicle is about to change in a case where it is determined according to the weather information that it is about to change from a sunny day to a rainy day. The processor 210 considers that the intensity of the ambient light of the vehicle has changed in a case where it is determined that the weather has changed from a rainy day to a sunny day.

[0063] In the embodiment of the present disclosure, during driving of the vehicle, the frame rate of the electronic rearview mirror can be defaulted as a first frame rate. When the processor 210 determines that the intensity of the ambient light is about to change from a first intensity of the ambient light to a second intensity of the ambient light or has changed from the first intensity of the ambient light to the second intensity of the ambient light, the processor 210 can adjust the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate. When the processor 210 determines that the intensity of the ambient light is about to change from the second intensity of the ambient light to the first intensity of the ambient light or has changed from the second intensity of the ambient light to the first intensity of the ambient light, the processor 210 can restore the frame rate of the electronic rearview mirror from the second frame rate to the first frame rate.

[0064] For example, the processor 210 determines that the vehicle is about to enter a tunnel, and adjusts the frame rate of the electronic rearview mirror from a first frame rate to a second frame rate. After the processor 210 determines that the vehicle has exited the tunnel, the processor 210 can restore the frame rate of the electronic rearview mirror from the second frame rate to the first frame rate.

[0065] For example, the processor 210 determines that it is about to get dark, and adjusts the frame rate of the electronic rearview mirror from a first frame rate to a second frame rate. After the processor 210 determines that a street lamp is turned on, the processor 210 can restore the frame rate of the electronic rearview mirror from the second frame rate to the first frame rate.

[0066] For example, the processor 210 determines that it is about to change from a sunny day to a rainy day, and adjusts the frame rate of the electronic rearview mirror from a first frame rate to a second frame rate. After the processor 210 determines that it changes from a rainy day to a sunny day, the processor 210 can restore the frame rate of the electronic rearview mirror from the second frame rate to the first frame rate.

[0067] In the embodiment of the present disclosure, the processor 210 determines whether the frame rate of the electronic rearview mirror needs to be adjusted according to the intensity of the ambient light. In a case where it is determined that there is a need to adjust the frame rate of the electronic rearview mirror, the processor 210 determines whether the current driving state of the vehicle has a safety hazard according to the driving data. In a case where it is determined that the current driving state of the vehicle does not have a safety hazard, the processor 210 adjusts the frame rate of the electronic rearview mirror. This makes the delay caused by the switching of the frame rate not affect the safe driving of the vehicle.

[0068] In the embodiment of the present disclosure, the processor 210 can also determine whether the frame rate of the electronic rearview mirror needs to be adjusted according to a change in the vehicle speed. For example, when the vehicle speed of the vehicle decreases, the processor 210 needs to correspondingly decrease the frame rate of the electronic rearview mirror. When the vehicle speed of the vehicle increases, the processor 210 needs to correspondingly increase the frame rate of the electronic rearview mirror.

[0069] According to the embodiments of the present disclosure, the processor 210 determines whether to adjust the frame rate of the electronic rearview mirror according to the ambient light and the driving data, thereby avoiding the delay caused by the frame rate adjustment to cause dangerous driving, and providing the safety of the vehicle driving.

[0070] FIGS. 3A and 3B are schematic diagrams of vehicle driving according to embodiments of the present disclosure. The frame rate control process is schematically described in combination with the vehicle driving process shown in FIGS. 3A and 3B.

[0071] As shown in FIG. 3A, the vehicle 301 drives from a first position A to a second position B. The first position A is located outside the tunnel 302, and the second position B is any point between the entrance of the tunnel 302 and the exit of the tunnel 302.

[0072] In the embodiments of the present disclosure, the first ambient light intensity at the first position A is greater than the second ambient light intensity at the second position B. During the driving of the vehicle 301 from the first position A to the second position B, the driving data at the first position A is obtained when the distance between the vehicle 301 and the second position B meets the distance condition.

[0073] For example, the distance condition can indicate a distance threshold between the vehicle 301 and the second position B. For example, the distance threshold can be 100 meters, and when the vehicle 301 drives to 100 meters away from the second position B, the processor obtains the driving data of the vehicle at the current position.

[0074] For example, the distance condition can indicate a time threshold for the vehicle 301 to reach the second position B. For example, the time threshold can be 1 minute, and the processor determines that when the vehicle 301 still has 1 minute to drive to the second position B according to the distance between the vehicle 301 and the second position B and the driving speed of the vehicle 301, the processor obtains the driving data of the vehicle at the current position.

[0075] In the embodiments of the present disclosure, according to the relationship between the distance between the vehicle 301 and the second position B and the distance condition, the processor can determine whether the vehicle 301 is about to reach the second position B. In the case of determining that the vehicle 301 is about to reach the second position B, the processor obtains the driving data of the vehicle 301 at the current position. In this case, the first position A is a position before the current position of the vehicle, and the second position B is a position after the current position of the vehicle, and the current position is a position before the vehicle reaches the second position B, for example, the current position is between the first position A and the second position B. In one example, the first position A of the vehicle can be a position before the vehicle enters the tunnel, and the second position B can be a position after the vehicle enters the tunnel, and the current position of the vehicle is between the first position A and the second position B. At this time, the first ambient light intensity is greater than the second ambient light intensity.

[0076] In the embodiments of the present disclosure, in response to determining that the driving data meets the frame rate adjustment condition, the processor adjusts the frame rate of the electronic rearview mirror from a first frame rate to a second frame rate before the vehicle 301 reaches the second position B, the first frame rate being greater than the second frame rate.

[0077] For example, because the first ambient light intensity is greater than the second ambient light intensity, the processor can reduce the frame rate of the electronic rearview mirror in advance, so that the adjusted frame rate of the electronic rearview mirror is adapted to the ambient light whose intensity is about to decrease.

[0078] In the embodiments of the present disclosure, before the vehicle 301 enters the tunnel 302, the ambient light intensity at the current position of the vehicle 301 can be considered to be the same as the ambient light intensity at the first position A. Therefore, before the vehicle 301 reaches the second position B, the electronic rearview mirror always has the need to adjust the frame rate.

[0079] As shown in FIG. 3B, the vehicle 301 drives from the first position A to the second position B. The first position A is inside the tunnel 302, and the second position B is the exit of the tunnel 302.

[0080] In the embodiments of the present disclosure, the first ambient light intensity at the first position A is less than the second ambient light intensity at the second position B. During the driving of the vehicle 301 from the first position A to the second position B, driving data of the vehicle at a current position is obtained. The current position is a position after the vehicle reaches the second position B.

[0081] In the embodiments of the present disclosure, after determining that the vehicle 301 reaches the second position B, the processor obtains the driving data of the vehicle 301 at a current position, for example, a position reached by the vehicle 301 when the vehicle 301 continues to drive after reaching the second position B. In this case, the first position A and the second position B are both positions before the current position of the vehicle. In an example, the first position A can be a position of the vehicle inside the tunnel, and the second position B can be a position of the vehicle after driving out of the tunnel, and the current position of the vehicle is after the second position B. At this time, the first ambient light intensity is less than the second ambient light intensity. For example, the position of the vehicle driving out of the tunnel can represent a position of the vehicle just driving out of the tunnel, or a position of the vehicle being about one hundred meters away from the tunnel.

[0082] In the embodiments of the present disclosure, in response to determining that the driving data meets the frame rate adjustment condition, the processor adjusts the frame rate of the electronic rearview mirror from a first frame rate to a second frame rate after the vehicle 301 reaches the second position B, the first frame rate being less than the second frame rate.

[0083] For example, because the first ambient light intensity is less than the second ambient light intensity, the processor can increase the frame rate of the electronic rearview mirror, so that the adjusted frame rate of the electronic rearview mirror is adapted to the ambient light whose intensity increases.

[0084] In the embodiments of the present disclosure, after the vehicle 301 drives out of the tunnel 302, the ambient light intensity of the current position where the vehicle 301 is located can be considered to be the same as the ambient light intensity of the second position B. Therefore, after the vehicle 301 reaches the second position B, the electronic rearview mirror always has the demand for adjusting the frame rate.

[0085] In the embodiments of the present disclosure, the processor adjusts the frame rate of the electronic rearview mirror before the vehicle 301 reaches the tunnel and after the vehicle 301 leaves the tunnel, which can adapt the frame rate of the electronic rearview mirror to the darker ambient light, and also avoid the certain risk caused by instant switching of the frame rate when entering and leaving the tunnel.

[0086] In the embodiments of the present disclosure, the processor can determine whether the vehicle 301 reaches the tunnel and drives out of the tunnel according to the GPS. In this case, the processor can complete the adjustment of the frame rate of the electronic rearview mirror before the vehicle 301 reaches the tunnel entrance or after the vehicle 301 leaves the tunnel exit.

[0087] In the embodiments of the present disclosure, the processor can obtain the driving data of the vehicle at the current position at a certain time node or a certain position, so as to determine whether the frame rate of the electronic rearview mirror can be adjusted to avoid affecting the driving safety of the vehicle 301.

[0088] In some embodiments, after obtaining the first ambient light intensity and the second ambient light intensity, the processor can also determine whether there is a demand for adjusting the electronic rearview mirror according to the ratio of the first ambient light intensity and the second ambient light intensity.

[0089] For example, in response to determining that the intensity ratio is greater than or equal to a preset ratio, the processor adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate, and the intensity ratio is the ratio of the larger value to the smaller value in the first ambient light intensity and the second ambient light intensity.

[0090] For example, the ambient light intensity outside the tunnel is greater than the ambient light intensity inside the tunnel. The larger value of the ambient light intensity outside the tunnel and the ambient light intensity inside the tunnel is the ambient light intensity outside the tunnel, and the smaller value is the ambient light intensity inside the tunnel, so that the intensity ratio can be the ratio of the ambient light intensity outside the tunnel to the ambient light intensity inside the tunnel.

[0091] For example, during the process that the vehicle drives from outside the tunnel to inside the tunnel, the first ambient light intensity is the larger value and the second ambient light intensity is the smaller value. During the process that the vehicle drives from inside the tunnel to outside the tunnel, the first ambient light intensity is the smaller value and the second ambient light intensity is the larger value. The first ambient light intensity and the second ambient light intensity can be a value collected by the light sensor, or a value calculated by the processor in combination with environmental factors.

[0092] For example, the preset ratio can be 2. When the intensity ratio is greater than or equal to 2, it can be considered that the difference between the ambient light intensity outside the tunnel and the ambient light intensity inside the tunnel is large. Therefore, the processor considers that there is a need to adjust the electronic rearview mirror, and the processor obtains the driving data of the vehicle to determine whether the frame rate of the video camera can be adjusted. When the intensity ratio is less than 2, it can be considered that the difference between the ambient light intensity outside the tunnel and the ambient light intensity inside the tunnel is small. Therefore, the processor considers that there is no need to adjust the electronic rearview mirror, and thus needs to obtain the driving data of the vehicle, at this time the processor can control the frame rate of the electronic rearview mirror to be unchanged.

[0093] Through the embodiments of the present disclosure, whether there is a need to adjust the electronic rearview mirror is determined through the intensity ratio, which can reduce the frequency of the processor obtaining driving data, and can reduce the frequency of the processor adjusting the electronic rearview mirror, thereby reducing the workload of the processor.

[0094] FIGS. 4A and 4B are schematic diagrams of obtaining road condition information according to an embodiment of the present disclosure. The frame rate control process is schematically illustrated in combination with the vehicle driving process shown in FIGS. 4A and 4B.

[0095] As shown in FIG. 4A, the processor obtains road condition information within a preset range S of the current position. In response to determining that the road condition information indicates that there is no obstacle within the preset range S, the processor adjusts the frame rate of the electronic rearview mirror from a first frame rate to a second frame rate.

[0096] The preset range S of the current position can be determined based on the current position of the vehicle 401. For example, the preset range can be a distance between vehicles. For example, when the vehicle 401 is at the current position, the range within a preset distance from the vehicle 401 is the preset range S. When the distance between the vehicle 401 and the vehicle 402 when the vehicle 401 is at the current position is less than or equal to the preset distance, the processor considers that there is an obstacle within the preset range S.

[0097] For example, the preset range can be a road range behind the vehicle 401, or a road range in front of the vehicle 401. For example, the preset range S can be a road range 50 meters in front of the vehicle 401. For example, the preset range can also be a circular range with the vehicle 401 as the center and 50 meters as the radius.

[0098] In the embodiments of the present disclosure, the obstacle is an object existing on the driving road of the vehicle 401 which affects the safe driving of the vehicle 401. For example, the obstacle can be other motor vehicles and non-motor vehicles driving on the current road, can be a roadblock arranged on the current road, and can be pedestrians, animals and stones on the current road, and the like. For example, the vehicle 402 drives behind the vehicle 401. However, since the vehicle 402 is not in the preset range S, even if the frame rate of the electronic rearview mirror is adjusted to produce a delay, the risk produced by the lane changing operation of the vehicle 401 is small. In this case, the processor can adjust the frame rate of the electronic rearview mirror.

[0099] In the embodiments of the present disclosure, in response to determining that the road condition information indicates that there is an obstacle in the preset range S and the lane lines on both sides of the vehicle 401 indicated by the road condition information are solid lines, the processor adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate.

[0100] For example, the vehicle 402 drives behind the vehicle 401, and the vehicle 402 is in the preset range S. However, since the lane lines on both sides of the vehicle 401 are solid lines, the vehicle 401 and the vehicle 402 cannot perform lane changing operation. Therefore, since the vehicle 401 cannot perform lane changing operation, the risk produced by the delay produced by the adjustment of the frame rate of the electronic rearview mirror is small. In this case, the processor can adjust the frame rate of the electronic rearview mirror.

[0101] As shown in FIG. 4B, the vehicle 401 can detect the road condition information in the preset range S through the radar. For example, the preset range S can be a road range 50 meters behind the vehicle 401. The radar detects the road condition information in the range of 50 meters behind the vehicle 401. For example, the preset range S can be determined based on the driving speed of the vehicle 401. Based on the driving speed of the vehicle 401, the road condition information in the road range 10 seconds away from the rear of the vehicle 401 is determined.

[0102] In the embodiments of the present disclosure, if there is an obstacle in the preset range S, the driving state of the vehicle 401 changes, and the picture delay produced by the switching of the frame rate of the electronic rearview mirror can produce a driving risk. If there is no obstacle in the preset range S, but the lane lines are dashed lines, the vehicle 401 can perform lane changing operation, and thus the picture delay produced by the switching of the frame rate of the electronic rearview mirror can produce a driving risk.

[0103] For example, the preset range can also be the distance between vehicles. For example, when the distance between the vehicle 401 and the vehicle 402 is less than or equal to the preset distance, the processor considers that there is an obstacle in the preset range S.

[0104] In the embodiments of the present disclosure, the preset range can be a road range in front of the vehicle 401. For example, the preset range S can be a road range 50 meters in front of the vehicle 401. For example, the preset range can be a circular range with the vehicle 401 as the center and 50 meters as the radius.

[0105] In the embodiments of the present disclosure, by analyzing the road condition information in the preset range, it is determined whether adjusting the frame rate of the electronic rearview mirror will cause driving risk. Therefore, by analyzing the road condition information, the driving risk caused by the frame rate switching of the electronic rearview mirror can be reduced, and the driving safety can be improved.

[0106] FIG. 5 is a schematic diagram of obtaining behavior information according to an embodiment of the present disclosure.

[0107] As shown in FIG. 5, the inside of the vehicle can be respectively provided with displays ML and MR. The displays ML and MR are used to display images obtained by the electronic rearview mirror, for example, the displays ML and MR respectively display road condition information collected by the electronic rearview mirror on both sides of the vehicle. For example, the displays ML and MR can be monitors in the CMS.

[0108] In the embodiments of the present disclosure, in response to determining that the vehicle has driven away from the second position and has passed the first time length, the processor obtains the behavior information of the target object. For example, if the vehicle has driven away from the second position and has passed the first time length, the processor can determine that the vehicle has completely driven out of the tunnel, and the ambient light intensity of the vehicle has changed.

[0109] In the embodiments of the present disclosure, the internal camera of the vehicle can obtain the behavior information of the target object. For example, the behavior information can include that the target object views the displays ML and MR, the target object turns his gaze to the displays ML and MR, and the target object turns on the turn signal, etc.

[0110] The processor can determine whether the target object has the intention to perform the lane changing operation based on the behavior information. For example, in response to determining that the behavior information indicates that the turn signal of the vehicle is turned on, the processor can determine that the target object has obtained the latest road information around the vehicle and has the intention to perform the lane changing operation based on the behavior information, and the processor adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate, where the second frame rate is greater than the first frame rate.

[0111] In this case, the processor determines that the target object views the road information around the vehicle through the displays ML and MR, and considers that the target object has obtained the latest road information around the vehicle. Therefore, the processor can adjust the frame rate of the electronic rearview mirror to reduce the driving risk caused by the frame rate switching of the electronic rearview mirror.

[0112] In some embodiments, the processor can also adjust the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate in response to determining that the behavior information indicates that the turn signal of the vehicle has been turned on and the turn-on duration is greater than or equal to a second duration. For example, the processor determines whether the target object has a real lane-changing intention by the duration of the turn signal being turned on.

[0113] For example, after the internal camera detects that the target object watches the display ML, MR or the gaze of the target object turns to the display ML, MR, if the processor determines that the turn signal is turned on for greater than or equal to 0.5 s, the processor adjusts the frame rate of the electronic rearview mirror. If the processor determines that the turn signal is turned on for less than 0.5 s, the processor does not adjust the frame rate of the electronic rearview mirror.

[0114] In the embodiments of the present disclosure, by analyzing the behavior information, the processor can determine whether the target object has obtained the latest information around the vehicle and has a lane-changing intention, and at this time, adjusting the frame rate of the electronic rearview mirror can reduce the driving risk caused by the switching of the frame rate of the electronic rearview mirror and improve the driving safety. In addition, by the duration of the turn signal being turned on, the behavior of the target object mistakenly touching the turn signal can be avoided to interfere with the judgment of the processor, thereby improving the analysis accuracy of the processor on the behavior information and reducing the driving risk caused by the switching of the frame rate of the electronic rearview mirror.

[0115] In some embodiments, in response to determining that the vehicle speed information indicates that the vehicle speed exceeds the speed threshold and the behavior information indicates that the turn signal of the vehicle is turned on, the processor is further configured to adjust the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate. Or in response to determining that the vehicle speed information indicates that the vehicle speed exceeds the speed threshold and the behavior information indicates that the turn signal of the vehicle has been turned on and the turn-on duration is greater than or equal to a second duration, the processor adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate.

[0116] In the embodiments of the present disclosure, when the driving speed of the vehicle changes, the processor needs to adjust the frame rate of the electronic rearview mirror accordingly.

[0117] In the embodiments of the present disclosure, the speed threshold can be 70 km / h. When the vehicle speed of the vehicle exceeds 70 km / h and the turn signal of the vehicle is turned on, the processor adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate, and the second frame rate is greater than the first frame rate.

[0118] For example, when the speed of the vehicle increases, the processor needs to increase the frame rate of the electronic rearview mirror, and when the speed of the vehicle decreases, the processor needs to decrease the frame rate of the electronic rearview mirror. This can ensure that the electronic rearview mirror can capture an image every time the vehicle travels a certain distance, regardless of the speed of the vehicle.

[0119] In the embodiments of the present disclosure, determining whether the turn signal of the vehicle is turned on can determine the intention of the target object to perform a lane changing operation, so as to determine that the target object has obtained the latest image collected by the electronic rearview mirror. The processor determines whether the target object has a real lane changing intention according to the duration for which the turn signal is turned on, so as to avoid misjudgment of the phenomenon that the target object mistakenly turns on the turn signal.

[0120] In the embodiments of the present disclosure, based on the driving speed of the vehicle, the frame rate of the electronic rearview mirror is adjusted, so that the frequency of the image collected by the electronic rearview mirror matches the vehicle speed.

[0121] In some embodiments, the processor can also adjust the refresh rate of the display ML, MR.

[0122] In the embodiments of the present disclosure, in response to the frame rate of the electronic rearview mirror being adjusted from a first frame rate to a second frame rate, the processor adjusts the refresh rate of the display of the vehicle from a first refresh rate to a second refresh rate. If the first frame rate is greater than or equal to the second frame rate, the first refresh rate is greater than or equal to the second refresh rate. If the first frame rate is less than the second frame rate, the first refresh rate is less than the second refresh rate.

[0123] In the embodiments of the present disclosure, after the processor increases the frame rate of the electronic rearview mirror, the processor also needs to correspondingly increase the refresh rate of the display ML, MR. Correspondingly, after the processor decreases the frame rate of the electronic rearview mirror, the processor also needs to correspondingly decrease the refresh rate of the display ML, MR. This makes the refresh rate of the display ML, MR match the frame rate of the electronic rearview mirror, and the display ML, MR can display each frame of image collected by the electronic rearview mirror in time.

[0124] The process of adjusting the frame rate and the refresh rate is schematically illustrated in combination with FIG. 6. FIG. 6 is a schematic diagram of adjusting the frame rate and the refresh rate according to an embodiment of the present disclosure.

[0125] As shown in FIG. 6, the software development kit 610 receives a first switching instruction indicating switching of the frame rate of the electronic rearview mirror and a second switching instruction indicating switching of the refresh rate of the display, and sends the first switching instruction to the camera service 620 and the second switching instruction to the display service 630. The camera service 620 is configured to perform switching of the frame rate of the electronic rearview mirror, and the display service 630 is configured to perform switching of the refresh rate of the display.

[0126] In the embodiments of the present disclosure, the camera service 620 includes a framework layer 621, a first hardware abstraction layer 622, and a first driving layer 623. The processor receives the first switching instruction by using the framework layer 621, sends the first switching instruction to the first driving layer 623 by using the first hardware abstraction layer 622, and modifies the first frame rate stored in the register to the second frame rate by using the first driving layer 623 through the communication interface.

[0127] For example, the software development kit 610 can interact with the camera service 620. The software development kit 610 can provide various interfaces to receive the first switching instruction and send to the camera service 620. The camera service 620 can implement the setting of the electronic rearview mirror. After receiving the first switching instruction, the camera service 620 delivers the first switching instruction to the framework layer 621. The first hardware abstraction layer 622 is used to connect the framework layer 621 and the first driver layer 623. The first hardware abstraction layer 622 can convert the first switching instruction into a format recognizable by the first driver layer 623, and send the converted first switching instruction to the first driver layer 623. The first driver layer 623 controls the camera module C based on the converted first switching instruction.

[0128] For example, the camera module C is a module used to collect images in the electronic rearview mirror. For example, the first driver layer 623 can communicate with the camera module C through a communication interface, such as an Inter-Integrated Circuit (I2C) bus interface. The first driver layer 623 adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate by modifying the frame rate value stored in the register of the camera module C.

[0129] In the embodiments of the present disclosure, the display service 630 includes a service layer 631, a second hardware abstraction layer 632, and a second driver layer 633. The processor receives the second switching instruction by using the service layer 631, sends the second switching instruction to the second driver layer 633 by using the second hardware abstraction layer 632, and adjusts the refresh rate of the display from the first refresh rate to the second refresh rate by using the second driver layer 632.

[0130] For example, the software development kit 610 can interact with the display service 630. The software development kit 610 can provide various interfaces to receive the second switching instruction and send to the display service 630. The display service 630 can implement the setting of the display. After receiving the second switching instruction, the display service 630 delivers the second switching instruction to the service layer 631. The second hardware abstraction layer 632 is used to connect the service layer 631 and the second driver layer 633. The second hardware abstraction layer 632 can convert the second switching instruction into a format recognizable by the second driver layer 633, and send the converted second switching instruction to the second driver layer 633. The second driver layer 633 controls the display module M based on the converted second switching instruction.

[0131] For example, the display module M is a module used to display images in the display. The service layer 631 can be a SurfaceFlinger service responsible for screen display content synthesis in the system. The second hardware abstraction layer 632 can be a Hardware Composer (HWC).

[0132] In embodiments of the present disclosure, the first driving layer 623 and the second driving layer 633 can be located in the kernel of the processor. The first driving layer 623 performs an operation of modifying the frame rate of the electronic rearview mirror, and the second driving layer 633 performs an operation of modifying the refresh rate of the display.

[0133] In some embodiments, the latency of the CMS is related to the camera latency, the transmission processing latency, and the display latency. The camera latency is the latency of the camera in the CMS to capture an image, the transmission processing latency is the latency of the processor to process the image and transmit the image, and the display latency is the latency of the monitor in the CMS to display the image. By shortening any one of the camera latency, the transmission processing latency, and the display latency, the latency of the CMS can be shortened.

[0134] For example, the processor increases the performance parameter in response to determining that the current ambient light intensity of the vehicle is less than or equal to the intensity threshold, and increases the current frame rate based on the increased performance parameter. The performance parameter includes at least one of a transmission rate and a processing rate of the processor.

[0135] For example, the intensity threshold can be 10 lux. When it is determined that the current ambient light intensity of the vehicle is less than or equal to 10 lux, the processor considers that the frame rate of the camera in the CMS needs to be reduced. At this time, the transmission rate of the processor can be improved by increasing the network bandwidth, and the processing rate of the processor can be improved by increasing the number of processing cores in the processor that participate in data processing. After the transmission rate and the processing rate of the processor are improved, the transmission processing latency is reduced, and the overall latency of the CMS is reduced. In this case, when the latency of the camera in the CMS increases, the reduction of the transmission processing latency can also ensure that the overall latency of the CMS remains unchanged.

[0136] For example, the processor can determine the current vehicle speed of the vehicle and the current frame rate of the electronic rearview mirror. In response to determining that the current frame rate is less than a frame rate threshold and the vehicle speed is greater than or equal to a vehicle speed threshold, the processor increases the performance, and increases the current frame rate based on the increased performance parameter.

[0137] For example, the frame rate threshold can be 30 Hz, and the vehicle speed threshold can be 70 Km / h. When it is determined that the current frame rate is less than 30 Hz and the vehicle speed is greater than or equal to 70 Km / h, the processor considers that the frame rate of the camera in the CMS needs to be increased. After the transmission rate and the processing rate of the processor are improved, the transmission processing latency is reduced, and the overall latency of the CMS is reduced. In this case, when the latency of the camera in the CMS increases, the reduction of the transmission processing latency can also ensure that the overall latency of the CMS remains unchanged.

[0138] The processor based on performance improvement adjusts the frame rate of the camera in the CMS, which can optimize the overall latency of the CMS. After the processor completes the adjustment of the frame rate of the camera in the CMS, the transmission rate and the processing rate of the processor can be restored to avoid resource waste.

[0139] FIG. 7 is a flowchart of a control method according to an embodiment of the present disclosure.

[0140] In the embodiments of the present disclosure, the control method can include operations S710 to operation S730.

[0141] In operation S710, in response to determining that a first ambient light intensity at a first position and a second ambient light intensity at a second position are different, driving data of the vehicle at a current position in a process in which the vehicle drives from the first position to the second position is acquired.

[0142] In operation S720, in response to determining that the driving data satisfies a frame rate adjustment condition, a frame rate of an electronic rearview mirror of the vehicle is adjusted from a first frame rate to a second frame rate.

[0143] In the embodiments of the present disclosure, the driving data includes at least one of driving environment information, road information, behavior information of a target object, and vehicle driving speed information of the vehicle, and the first frame rate is greater than or less than the second frame rate.

[0144] In the embodiments of the present disclosure, the first position is a position of the vehicle before the current position, the second position is a position of the vehicle after the current position, and the first ambient light intensity is greater than the second ambient light intensity; in response to determining that the driving data satisfies the frame rate adjustment condition, adjusting the frame rate of the electronic rearview mirror of the vehicle from the first frame rate to the second frame rate includes: in response to determining that the driving data satisfies the frame rate adjustment condition, adjusting the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate before the vehicle reaches the second position; wherein the first frame rate is greater than the second frame rate; the driving data is driving data at the first position acquired when a distance between the vehicle and the second position satisfies a distance condition, and the first position is the current position of the vehicle.

[0145] In the embodiments of the present disclosure, the first position and the second position are both positions of the vehicle before the current position, the first ambient light intensity is less than the second ambient light intensity; in response to determining that the driving data satisfies the frame rate adjustment condition, adjusting the frame rate of the electronic rearview mirror of the vehicle from the first frame rate to the second frame rate includes: in response to determining that the driving data satisfies the frame rate adjustment condition, adjusting the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate after the vehicle reaches the second position; wherein the first frame rate is less than the second frame rate, and the driving data includes driving data at the second position, and the second position is the current position of the vehicle.

[0146] In the embodiments of the present disclosure, the driving data comprises road condition information within a preset range of the current position; and in response to determining that the driving data satisfies the frame rate adjustment condition, the frame rate of the electronic rearview mirror of the vehicle is adjusted from the first frame rate to the second frame rate, comprising: in response to determining that the road condition information indicates that there is no obstacle within the preset range, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate; and in response to determining that the road condition information indicates that there is an obstacle within the preset range and the lane lines on both sides of the vehicle indicated by the road condition information are solid lines, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate.

[0147] In the embodiments of the present disclosure, in response to determining that the driving data satisfies the frame rate adjustment condition, the frame rate of the electronic rearview mirror of the vehicle is adjusted from the first frame rate to the second frame rate, comprising: in response to determining that the behavior information indicates that the turn signal of the vehicle is on, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate, and the behavior information is the behavior information of the target object obtained after the vehicle drives away from the second position and after the first time length.

[0148] In the embodiments of the present disclosure, in response to determining that the driving data satisfies the frame rate adjustment condition, the frame rate of the electronic rearview mirror of the vehicle is adjusted from the first frame rate to the second frame rate, comprising: in response to determining that the intensity ratio is greater than or equal to a preset ratio and the driving data satisfies the frame rate adjustment condition, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate; and in response to determining that the intensity ratio is less than the preset ratio, the frame rate of the electronic rearview mirror is controlled to remain the first frame rate; wherein the intensity ratio is the ratio of the larger value to the smaller value between the first ambient light intensity and the second ambient light intensity.

[0149] FIG. 8 is a schematic view of a vehicle according to an embodiment of the present disclosure.

[0150] As shown in FIG. 8, the vehicle 800 comprises a vehicle body 801, an electronic rearview mirror 802, a first sensor 803 and a control device 804.

[0151] In the embodiments of the present disclosure, the electronic rearview mirror 802 is arranged on the vehicle body 801. For example, the cameras of the electronic rearview mirror 802 are respectively located on the driver side and the passenger side of the vehicle body 801.

[0152] The first sensor 803 is also arranged on the vehicle body to obtain the first ambient light intensity or the second ambient light intensity. For example, the first sensor 803 can be arranged on the top of the vehicle body 801 or near the electronic rearview mirror 802.

[0153] The control device 804 is arranged on the vehicle body 801, for example, can be arranged inside the vehicle body 801.

[0154] The control device 804 acquires driving data of the vehicle at the current position during driving of the vehicle from the first position to the second position in response to determining that the first ambient light intensity and the second ambient light intensity are different; and adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate in response to determining that the driving data satisfies a frame rate adjustment condition.

[0155] In the embodiments of the present disclosure, the driving data includes at least one of driving environment information, road information, behavior information of a target object, and vehicle driving speed information of the vehicle, and the first frame rate is greater than or less than the second frame rate.

[0156] In the embodiments of the present disclosure, the control device 804 performs operations similar to those described above for the control device 200, and thus the description is omitted for brevity.

[0157] FIG. 9 is a schematic view of a vehicle according to another embodiment of the present disclosure.

[0158] As shown in FIG. 9, the vehicle 900 includes a vehicle body 901, an electronic rearview mirror 902, a first sensor 903, a control device 904, a second sensor 905, a third sensor 906, a fourth sensor 907, and a display 908.

[0159] In the embodiments of the present disclosure, the vehicle body 901, the electronic rearview mirror 902, and the first sensor 903 are similar to the vehicle body 801, the electronic rearview mirror 802, and the first sensor 803 described above, respectively, and thus the description is omitted for brevity.

[0160] In the embodiments of the present disclosure, the second sensor 905 is disposed on the vehicle body 901. The second sensor 905 is configured to acquire a distance between the vehicle and a second position. For example, the second sensor 905 can be a radar.

[0161] The control device 904 is configured to acquire driving data of the vehicle at the current position when the second sensor 905 detects that the distance between the vehicle and the second position satisfies a distance condition in response to determining that the first ambient light intensity is greater than the second ambient light intensity, the first position being a position before the current position of the vehicle, and the second position being a position after the current position of the vehicle; and adjust the frame rate of the electronic rearview mirror 902 from the first frame rate to the second frame rate before the vehicle reaches the second position in response to determining that the driving data satisfies a frame rate adjustment condition, the first frame rate being greater than the second frame rate.

[0162] In the embodiments of the present disclosure, the control device 904 is further configured to, in response to determining that the first ambient light intensity is less than the second ambient light intensity, acquire driving data of the vehicle at a current position, the first position and the second position are both positions before the current position of the vehicle; and in response to determining that the driving data meets a frame rate adjustment condition, adjust the frame rate of the electronic rearview mirror 902 from the first frame rate to the second frame rate after the vehicle arrives at the second position, the first frame rate is less than the second frame rate.

[0163] In the embodiments of the present disclosure, the third sensor 906 is arranged on the vehicle body 901. For example, the third sensor 906 can be a radar for detecting first road condition information in a preset range in which the vehicle is located. The electronic rearview mirror 902 is configured to detect second road condition information in a preset range of the vehicle. In response to determining that the first road condition information indicates that there is no obstacle in the preset range, the control device 904 adjusts the frame rate of the electronic rearview mirror 902 from the first frame rate to the second frame rate. In response to determining that the first road condition information indicates that there is an obstacle in the preset range and the second road condition information indicates that the lane lines on both sides of the vehicle are solid lines, the control device 904 adjusts the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate.

[0164] In the embodiments of the present disclosure, the fourth sensor 907 is arranged on the vehicle body 901. For example, the fourth sensor 907 can be an in-vehicle camera for detecting behavior information of a target object. In response to determining that the vehicle drives away from the second position and after a first preset time period, the control device 904 acquires the behavior information of the target object from the fourth sensor 907; and in response to determining that the behavior information indicates that the turn signal of the vehicle is on, the control device 904 adjusts the frame rate of the electronic rearview mirror 902 from the first frame rate to the second frame rate.

[0165] In the embodiments of the present disclosure, the display 908 is arranged on the vehicle body 904. The display 908 is used to display the image acquired by the electronic rearview mirror 902. In response to the frame rate of the electronic rearview mirror 902 being adjusted from the first frame rate to the second frame rate, the control device 904 adjusts the refresh rate of the display 908 of the vehicle from the first refresh rate to the second refresh rate. Wherein, when the first frame rate is greater than or equal to the second frame rate, the first refresh rate is greater than or equal to the second refresh rate; when the first frame rate is less than the second frame rate, the first refresh rate is less than the second refresh rate.

[0166] It should be noted that in the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision, disclosure and application of user personal information all comply with relevant laws and regulations, necessary security measures are taken, and do not violate public order and good customs. In the technical solutions of the present disclosure, the authorization or consent of the user is obtained before the user's personal information is acquired or collected.

[0167] According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0168] FIG. 10 shows a schematic block diagram of an example electronic device 1000 that can be used to implement the methods of embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document.

[0169] As shown in FIG. 10, the electronic device 1000 includes a computing unit 1001 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded into a random access memory (RAM) 1003 from a storage unit 1008. Various programs and data required for the operation of the device 1000 can also be stored in the RAM 1003. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0170] Various components in the electronic device 1000 are connected to the I / O interface 1005, including: an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, a speaker, etc.; a storage unit 1008, such as a magnetic disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the device 1000 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0171] The computing unit 1001 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 performs the control method described above. For example, in some embodiments, the control method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded onto the RAM 1003 and executed by the computing unit 1001, one or more steps of the control method described above can be performed. Alternatively, in other embodiments, the computing unit 1001 can be configured to perform the control method by any other suitable means, such as by means of firmware.

[0172] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0173] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0174] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0175] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0176] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0177] The computer system can include clients and servers. This relationship can be. The servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are mainframe products in the cloud computing service system, and solve the defects of large management difficulty and weak business scalability in traditional physical hosts and VPS services (Virtual Private Server, or VPS for short). The servers can also be servers of a distributed system, or servers combined with a blockchain.

[0178] It should be understood that the various forms of flow shown above can be reordered, steps added or deleted. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, which are not limited herein.

[0179] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A control device, comprising: The processor is configured as follows: In response to the determination that the first ambient light intensity at the first location and the second ambient light intensity at the second location are different, driving data of the vehicle at the current location is acquired during the process of the vehicle traveling from the first location to the second location. The driving data includes at least one of the vehicle's driving environment information, road information, target object behavior information, and vehicle driving speed information. as well as In response to determining that the driving data meets the frame rate adjustment conditions, the frame rate of the vehicle's electronic rearview mirror is adjusted from a first frame rate to a second frame rate, wherein the first frame rate is greater than or less than the second frame rate.

2. The control device according to claim 1, wherein, The first position is the position before the current position of the vehicle, and the second position is the position after the current position of the vehicle; the processor is further configured to: In response to determining that the first ambient light intensity is greater than the second ambient light intensity, when the distance between the vehicle and the second location meets the distance condition, the vehicle's driving data at the current location is acquired; as well as In response to determining that the driving data meets the frame rate adjustment condition, the frame rate of the electronic rearview mirror is adjusted from a first frame rate to a second frame rate before the vehicle reaches the second position, wherein the first frame rate is greater than the second frame rate.

3. The control device according to claim 1, wherein, Both the first position and the second position are positions preceding the current position of the vehicle; the processor is further configured to: In response to determining that the first ambient light intensity is less than the second ambient light intensity, the vehicle's driving data at its current location is acquired; as well as In response to determining that the driving data meets the frame rate adjustment condition, after the vehicle reaches the second position, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate, wherein the first frame rate is less than the second frame rate.

4. The control device according to any one of claims 1-3, wherein, The processor is also configured to: Obtain the driving environment information and road information within a preset range of the current location; In response to determining that the driving environment information indicates that there are no obstacles within the preset range, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate; as well as In response to determining that the driving environment information indicates the presence of an obstacle within the preset range and that the lane lines on both sides of the vehicle indicated by the road information are solid lines, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate.

5. The control device according to claim 3, wherein, The processor is also configured to: In response to determining that the vehicle has left the second location and a first time period has elapsed, the behavior information of the target object is obtained; as well as In response to determining that the behavioral information indicates that the vehicle's turn signal is turned on, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate.

6. The control device according to claim 5, wherein, The processor is also configured to: In response to determining that the behavior information indicates that the vehicle's turn signal is on and the on duration is greater than or equal to a second duration, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate.

7. The control device according to claim 1, wherein, The processor is also configured to: In response to determining that the intensity ratio is greater than or equal to a preset ratio, and that the driving data satisfies the frame rate adjustment condition, the driving data of the vehicle at the current location is obtained; The intensity ratio is the ratio of the larger value to the smaller value between the first ambient light intensity and the second ambient light intensity.

8. The control device according to claim 1, wherein, The processor is also configured to: In response to the electronic rearview mirror's frame rate being adjusted from the first frame rate to the second frame rate, the refresh rate of the vehicle's display is adjusted from the first refresh rate to the second refresh rate. The display is used to display the image acquired by the electronic rearview mirror; when the first frame rate is greater than or equal to the second frame rate, the first refresh rate is greater than or equal to the second refresh rate; when the first frame rate is less than the second frame rate, the first refresh rate is less than the second refresh rate.

9. The control device according to claim 8, wherein, The processor is also configured to: The first switching instruction is received using the framework layer, the first switching instruction is sent to the first driver layer using the first hardware abstraction layer, and the first driver layer modifies the first frame rate stored in the register to the second frame rate through the communication interface. as well as The service layer receives the second switching instruction, the second hardware abstraction layer sends the second switching instruction to the second driver layer, and the second driver layer adjusts the refresh rate of the display from the first refresh rate to the second refresh rate. The first switching command instructs the adjustment of the frame rate of the electronic rearview mirror, and the second switching command instructs the adjustment of the refresh rate of the display.

10. The control device according to claim 1, wherein, The processor is also configured to: In response to determining that the current ambient light intensity of the vehicle is less than or equal to an intensity threshold, the performance parameters are improved, the performance parameters including at least one of the processor's transmission rate and processing rate; as well as Based on the improved performance parameters, the current frame rate is reduced.

11. The control device according to claim 1, wherein, The processor is also configured to: Determine the current vehicle speed and the current frame rate of the electronic rearview mirror; In response to determining that the current frame rate is less than a frame rate threshold and the vehicle speed is greater than or equal to a vehicle speed threshold, the performance parameters are improved, the performance parameters including at least one of the processor's transmission rate and processing rate; as well as Based on the improved performance parameters, the current frame rate is increased.

12. The control device according to claim 1, wherein, The processor is also configured to: In response to determining that the vehicle speed information indicates the vehicle speed exceeds a speed threshold and the behavior information indicates the vehicle's turn signal is activated, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate; or In response to determining that the vehicle speed information indicates that the vehicle speed exceeds a speed threshold and the behavior information indicates that the vehicle's turn signal is on and the on duration is greater than or equal to a second duration, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate.

13. A control method, comprising: In response to the determination that the first ambient light intensity at the first location and the second ambient light intensity at the second location are different, driving data of the vehicle at the current location is acquired during the process of the vehicle traveling from the first location to the second location. The driving data includes at least one of the vehicle's driving environment information, road information, target object behavior information, and vehicle driving speed information. as well as In response to determining that the driving data meets the frame rate adjustment conditions, the frame rate of the vehicle's electronic rearview mirror is adjusted from a first frame rate to a second frame rate, wherein the first frame rate is greater than or less than the second frame rate.

14. The control method according to claim 13, wherein, The first position is the position before the current position of the vehicle, and the second position is the position after the current position of the vehicle; the first ambient light intensity is greater than the second ambient light intensity; The step of adjusting the frame rate of the vehicle's electronic rearview mirror from a first frame rate to a second frame rate in response to determining that the driving data meets the frame rate adjustment conditions includes: In response to determining that the driving data meets the frame rate adjustment conditions, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate before the vehicle reaches the second position; Wherein, the first frame rate is greater than the second frame rate; the driving data is obtained when the distance between the vehicle and the second position meets the distance condition, and the driving data of the vehicle at the current position is obtained.

15. The control method according to claim 13, wherein, Both the first position and the second position are positions prior to the current position of the vehicle; the first ambient light intensity is less than the second ambient light intensity; The step of adjusting the frame rate of the vehicle's electronic rearview mirror from a first frame rate to a second frame rate in response to determining that the driving data meets the frame rate adjustment conditions includes: In response to determining that the driving data meets the frame rate adjustment conditions, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate after the vehicle reaches the second position; Wherein, the first frame rate is less than the second frame rate, and the driving data includes the driving data of the vehicle at its current location.

16. The control method according to any one of claims 13-15, wherein, The driving data includes driving environment information and road information within a preset range of the current location; The step of adjusting the frame rate of the vehicle's electronic rearview mirror from a first frame rate to a second frame rate in response to determining that the driving data meets the frame rate adjustment conditions includes: In response to determining that the driving environment information indicates that there are no obstacles within the preset range, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate; as well as In response to determining that the driving environment information indicates the presence of an obstacle within the preset range and that the lane lines on both sides of the vehicle indicated by the road information are solid lines, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate.

17. The control method according to claim 15, wherein, The step of adjusting the frame rate of the vehicle's electronic rearview mirror from a first frame rate to a second frame rate in response to determining that the driving data meets the frame rate adjustment conditions includes: In response to determining that the behavior information indicates that the vehicle's turn signal is turned on, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate. The behavior information is the behavior information of the target object obtained after the vehicle has left the second position and a first time period has elapsed.

18. The control method according to claim 13, wherein, In response to determining that the first ambient light intensity at the first location and the second ambient light intensity at the second location are different, the method of acquiring driving data of the vehicle at the current location during the process of the vehicle traveling from the first location to the second location includes: In response to determining that the intensity ratio is greater than or equal to a preset ratio, and that the driving data satisfies the frame rate adjustment condition, the driving data of the vehicle at the current location is obtained; The intensity ratio is the ratio of the larger value to the smaller value between the first ambient light intensity and the second ambient light intensity.

19. A vehicle comprising: Vehicle body; Electronic rearview mirrors are mounted on the vehicle body; A first sensor is disposed on the vehicle body and configured to acquire the first ambient light intensity or the second ambient light intensity; as well as The control device, located on the vehicle body, is configured as follows: In response to determining that the first ambient light intensity and the second ambient light intensity are different, the vehicle acquires driving data at its current position during the process of the vehicle traveling from the first position to the second position. The driving data includes at least one of the vehicle's driving environment information, road information, target object behavior information, and vehicle driving speed information. In response to determining that the driving data meets the frame rate adjustment conditions, the frame rate of the electronic rearview mirror is adjusted from a first frame rate to a second frame rate, wherein the first frame rate is greater than or less than the second frame rate.

20. The vehicle according to claim 19, further comprising: A second sensor, mounted on the vehicle body, is configured to acquire the distance between the vehicle and the second location; The control device is further configured as follows: In response to determining that the first ambient light intensity is greater than the second ambient light intensity, when the distance between the vehicle and the second position meets a distance condition, the vehicle's driving data at its current position is acquired, wherein the first position is the position before the vehicle's current position, and the second position is the position after the vehicle's current position; and In response to determining that the driving data meets the frame rate adjustment condition, the frame rate of the electronic rearview mirror is adjusted from a first frame rate to a second frame rate before the vehicle reaches the second position, wherein the first frame rate is greater than the second frame rate.

21. The vehicle according to claim 19 or 20, wherein, The control device is also configured to: In response to determining that the first ambient light intensity is less than the second ambient light intensity, the vehicle's driving data at its current position is obtained, wherein the first position and the second position are both positions of the vehicle before its current position; as well as In response to determining that the driving data meets the frame rate adjustment condition, after the vehicle reaches the second position, the frame rate of the electronic rearview mirror is adjusted from the first frame rate to the second frame rate, wherein the first frame rate is less than the second frame rate.

22. The vehicle according to claim 20, further comprising: The third sensor, mounted on the vehicle body, is configured to detect driving environment information within a preset range of the current location; The electronic rearview mirror is configured to detect road information within a preset range of the vehicle; the control device is configured to adjust the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate in response to determining that the driving environment information indicates that there are no obstacles within the preset range; and to adjust the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate in response to determining that the road information indicates that there are obstacles within the preset range and that the lane lines on both sides of the vehicle indicated by the road information are solid lines.

23. The vehicle according to claim 21, further comprising: The fourth sensor, mounted on the vehicle body, is configured to detect the behavioral information of the target object; The control device is configured to, in response to determining that the vehicle has left the second position and a first preset time has elapsed, acquire behavioral information of the target object from the fourth sensor; and in response to determining that the behavioral information indicates that the vehicle's turn signal is turned on, adjust the frame rate of the electronic rearview mirror from the first frame rate to the second frame rate.

24. The vehicle according to claim 19, further comprising: A display, mounted on the vehicle body, is configured to display images acquired by the electronic rearview mirror; The control device is configured to adjust the refresh rate of the vehicle's display from the first refresh rate to the second refresh rate in response to the electronic rearview mirror's frame rate being adjusted from the first frame rate to the second frame rate. Wherein, when the first frame rate is greater than or equal to the second frame rate, the first refresh rate is greater than or equal to the second refresh rate; when the first frame rate is less than the second frame rate, the first refresh rate is less than the second refresh rate.

25. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 13-18.

26. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 13-18.

27. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 13-18.

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