Vehicle control method and device, and vehicle

Abstract

A vehicle control method and device, and a vehicle (100). The vehicle control method may be executed by the vehicle (100); and the vehicle (100) comprises a plurality of cameras (110) and a plurality of radars (120). The vehicle control method comprises: a vehicle control device determining a first distance value, a second distance value and a third distance value between a vehicle key device and the vehicle (100), wherein the first distance value is determined on the basis of a first signal from the vehicle key device, the second distance value is determined on the basis of images collected by the plurality of cameras (110), and the third distance value is determined on the basis of measurement results of the plurality of radars (120); and on the basis of the first distance value, the second distance value, and the third distance value, controlling the vehicle (100) to unlock or lock.

Description

A vehicle control method, device, and vehicle Technical Field

[0001] This application relates to the field of communication technology, and in particular to a vehicle control method, device and vehicle. Background Technology

[0002] A digital car key is an innovative, digital vehicle key. Using a digital car key, users can unlock or lock their vehicle using electronic devices such as smartphones.

[0003] In this scenario, it's necessary to determine the distance between the electronic device and the vehicle (e.g., the vehicle's infotainment system). For example, the infotainment system can measure the distance between the electronic device and the vehicle's infotainment system by receiving a signal strength indicator (RSSI). When the electronic device determines that the distance between it and the vehicle's infotainment system is less than an unlock threshold (e.g., the electronic device enters the vehicle's unlock zone), it can control the vehicle to unlock. Conversely, when the infotainment system determines that the distance between it and the electronic device is greater than a locking threshold (e.g., the electronic device enters the vehicle's locking zone), it can control the vehicle to lock.

[0004] However, the accuracy of RSSI measurements of the distance between electronic devices and the vehicle's infotainment system may be low, leading to a ping-pong problem of repeated unlocking and locking. For example, when an electronic device is close to the vehicle, the signal used to measure RSSI (such as a Bluetooth signal emitted by the electronic device) may be affected by obstructions, resulting in signal attenuation and causing the vehicle to unlock and then lock again, resulting in a ping-pong problem of repeated unlocking and locking.

[0005] Summary of the Invention

[0006] This application provides a vehicle control method, device, and vehicle to reduce the probability of repeated unlocking and locking of a vehicle.

[0007] Firstly, a vehicle control method is provided, which can be executed by a vehicle, for example, by a vehicle control device on the vehicle. This vehicle control device can be a unit, module, chip (or chip system), or circuit of the vehicle (or installed on the vehicle). The vehicle includes multiple cameras and multiple radars. Taking the method executed by the vehicle control device as an example, the method includes: the vehicle control device determining a first distance value, a second distance value, and a third distance value between a vehicle key device and the vehicle, wherein the first distance value is determined based on a first signal from the vehicle key device, the second distance value is determined based on images captured by the multiple cameras, and the third distance value is determined based on measurement results from the multiple radars; and controlling the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value.

[0008] In this embodiment, by comprehensively controlling the vehicle's unlocking or locking based on distance values ​​measured from received signals, cameras, and radar, the probability of repeated unlocking and locking can be reduced. Furthermore, utilizing existing sensing elements on the vehicle (such as cameras and radar) to assist in unlocking or locking can further reduce the probability of repeated unlocking and locking without incurring additional costs.

[0009] In one possible implementation, controlling the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value includes: controlling the vehicle to unlock when at least two of the first distance value, the second distance value, and the third distance value are less than a first value.

[0010] In this technical solution, when at least two of the first, second, and third distance values ​​are less than the first value, it indicates that the vehicle key device is located in the vehicle's unlocking zone and can control vehicle unlocking. Furthermore, when at least two of the first, second, and third distance values ​​are less than the first value, even if the accuracy of one of the distance values ​​is lower due to obstruction or other issues, the ping-pong problem of repeated unlocking and locking of the vehicle will not occur, thus helping to reduce the probability of repeated unlocking and locking.

[0011] In one possible implementation, before determining the first distance value, the second distance value, and the third distance value, the method further includes: activating the plurality of cameras and the plurality of radars when the first distance value is less than the second value; or, activating the plurality of cameras when the first distance value is less than the second value, and activating the plurality of radars when either the first distance value or the second distance value is less than the third value; or, activating the plurality of radars when the first distance value is less than the second value, and activating the plurality of cameras when either the first distance value or the third distance value is less than a fourth value; wherein the second value, the third value, and the fourth value are greater than the first value.

[0012] In this technical solution, when the first distance value is less than the second value, it indicates that the vehicle may need to be unlocked. At this time, multiple cameras and radars on the vehicle can be activated to measure the second and third distance values. This reduces vehicle power consumption compared to activating the multiple cameras and radars upon receiving the first signal. Alternatively, considering the ranging scenarios applicable to the radars, the multiple radars and cameras can be activated separately. For example, if the ranging scenario applicable to the multiple radars is a short-range ranging scenario, when the first distance value is less than the second value, only the multiple cameras can be activated, and when the first or second distance value is less than the third value, the multiple radars can be activated. If the ranging scenario applicable to the multiple radars is a long-range ranging scenario, when the first distance value is less than the second value, only the multiple radars can be activated, and when the first or third distance value is less than the fourth value, the multiple cameras can be activated. This helps reduce vehicle power consumption.

[0013] In one possible implementation, when the first distance value or the second distance value is less than a third value, activating the plurality of radars includes: determining a first direction of the target object based on images captured by the plurality of cameras, wherein the target object carries the vehicle key device; and activating at least one of the plurality of radars based on the first direction when the first distance value or the second distance value is less than a fourth value.

[0014] In this technical solution, when the multiple cameras are activated first and then the multiple radars are activated, the radar to be activated can be determined based on the images captured by the cameras. For example, the radar in the direction of the target object can be activated, so it is not necessary to activate radars in other directions, which helps to reduce vehicle power consumption.

[0015] In one possible implementation, the method further includes: turning off at least one of the plurality of cameras according to the first direction.

[0016] In this technical solution, when determining the direction of the target object, cameras in other directions can be turned off, which helps reduce vehicle power consumption.

[0017] In one possible implementation, controlling the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value includes: controlling the vehicle to lock when at least two of the first distance value, the second distance value, and the third distance value are greater than a fifth value.

[0018] In this technical solution, when at least two of the first, second, and third distance values ​​are greater than the fifth value, it indicates that the vehicle key device is located in the vehicle's locking zone and can control the vehicle's locking. Furthermore, when at least two of the first, second, and third distance values ​​are greater than the fifth value, even if the accuracy of one of the distance values ​​is lower due to obstruction or other issues, the ping-pong problem of repeated unlocking and locking of the vehicle will not occur, thus helping to reduce the probability of repeated unlocking and locking of the vehicle.

[0019] In one possible implementation, the method further includes: upon detecting a first event, determining a second direction of departure of the target object through images captured by the plurality of cameras, the first event indicating that the target object is leaving the vehicle, the target object carrying the vehicle key device; and turning off at least one of the plurality of cameras and / or at least one of the plurality of radars according to the second direction.

[0020] In this technical solution, when the first event is detected, it indicates that the target object wants to leave the vehicle. The direction in which the target object leaves can be determined by images collected by multiple cameras on the vehicle. Only the cameras and / or radars in that direction are kept on, that is, the cameras and / or radars in other directions are turned off, which helps to reduce the power consumption of the vehicle.

[0021] In a second aspect, an apparatus is provided for implementing the first aspect or any possible implementation thereof. The function of the apparatus can be implemented in hardware or by hardware executing corresponding software. The apparatus includes:

[0022] A processing module is used to determine a first distance value, a second distance value, and a third distance value between the vehicle key device and the vehicle, wherein the first distance value is determined based on a first signal from the vehicle key device, the second distance value is determined based on images captured by the plurality of cameras, and the third distance value is determined based on measurement results from the plurality of radars; a control module is used to control the unlocking or locking of the vehicle based on the first distance value, the second distance value, and the third distance value.

[0023] In one possible implementation, the control module controls the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value, including: controlling the vehicle to unlock when at least two of the first distance value, the second distance value, and the third distance value are less than the first value.

[0024] In one possible implementation, the control module is further configured to: activate the plurality of cameras and the plurality of radars when the first distance value is less than the second value; or, activate the plurality of cameras when the first distance value is less than the second value, and activate the plurality of radars when the first distance value or the second distance value is less than the third value; or, activate the plurality of radars when the first distance value is less than the second value, and activate the plurality of cameras when the first distance value or the third distance value is less than the fourth value; wherein the second value, the third value, and the fourth value are greater than the first value.

[0025] In one possible implementation, the control module activates the plurality of radars when the first distance value or the second distance value is less than a third value, including: determining a first direction of the target object based on images captured by the plurality of cameras, wherein the target object carries the vehicle key device; and activating at least one of the plurality of radars according to the first direction when the first distance value or the second distance value is less than a fourth value.

[0026] In one possible implementation, the control module is further configured to: turn off at least one of the plurality of cameras according to the first direction.

[0027] In one possible implementation, the control module controls the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value, including: controlling the vehicle to lock when at least two of the first distance value, the second distance value, and the third distance value are greater than a fifth value.

[0028] In one possible implementation, the control module is further configured to: upon detecting a first event, determine a second direction of departure of the target object through images captured by the plurality of cameras, the first event being used to indicate that the target object is leaving the vehicle, the target object carrying the vehicle key device; and deactivate at least one of the plurality of cameras and / or at least one of the plurality of radars according to the second direction.

[0029] Thirdly, this application provides a communication device, which may include a processor and an interface circuit. The processor may be configured to support the communication device in executing the methods described in the first aspect or any one of the methods described above, and the interface circuit is used to support communication between the communication device and other devices. The interface circuit may be a transceiver, which may be an independent receiver, an independent transmitter, a transceiver with integrated transceiver functions, or a communication interface. Optionally, the communication device may further include a memory, which may be coupled to the processor and stores necessary program instructions and data for the communication device.

[0030] Fourthly, this application provides a vehicle that includes the communication device described in the second aspect or any one of the communication devices described in the second aspect; or, it includes the communication device described in the third aspect or any one of the communication devices described in the third aspect. The communication device described above is, for example, an in-vehicle device.

[0031] Fifthly, a computer-readable storage medium is provided for storing a computer program that, when run on a communication device, causes the communication device to perform the method provided in the first aspect above.

[0032] A sixth aspect provides a computer program product, including a computer program that, when run on a communication device, causes the communication device to perform the method described in the first aspect above.

[0033] The beneficial effects of the second to sixth aspects mentioned above are the same as those of the first aspect, and will not be repeated here. Attached Figure Description

[0034] Figure 1 shows a scenario of unlocking or locking a vehicle;

[0035] Figure 2A is a schematic diagram of a system architecture applicable to an embodiment of this application;

[0036] Figure 2B is a schematic diagram of a vehicle structure provided in an embodiment of this application;

[0037] Figure 2C is a schematic diagram of another system architecture applicable to the embodiments of this application;

[0038] Figure 3 is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0039] Figure 4 is a scenario diagram provided by an embodiment of this application;

[0040] Figure 5 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0041] Figure 6 is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0042] The technical solutions in the embodiments of this application will be described below with reference to the accompanying drawings. The terms "system" and "network" in the embodiments of this application can be used interchangeably. "At least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, "at least one of a, b, or c" can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0043] Unless otherwise stated, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, sequence, priority or importance of multiple objects.

[0044] Furthermore, the terms "comprising" and "having" in the embodiments, claims, and drawings of this application are not exclusive. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but may also include steps or modules not listed.

[0045] Currently, users can unlock or lock vehicles using electronic devices such as mobile phones. Taking unlocking or locking a vehicle using a mobile phone as an example, the vehicle (e.g., the in-vehicle infotainment system) can determine the distance between the phone and the vehicle and control the vehicle to unlock or lock based on this distance. For example, referring to Figure 1, the in-vehicle infotainment system can calculate or obtain the distance between the phone and the vehicle based on the RSSI value. When it determines that the phone has entered the unlock zone based on this distance, it controls the vehicle to unlock; when it determines that the phone has entered the lock zone based on this distance, it controls the vehicle to lock. However, if the signal used to determine the RSSI is interfered with, such as being blocked by an object, the RSSI measured by the in-vehicle infotainment system may have a large error, thus affecting the measurement of the distance between the phone and the vehicle, resulting in the ping-pong problem of the vehicle repeatedly unlocking and locking.

[0046] Therefore, embodiments of this application provide a vehicle control method. This method can comprehensively control the unlocking or locking of a vehicle based on distance values ​​measured by a first signal, a camera, and radar, thereby helping to reduce the probability of repeated unlocking and locking. Furthermore, utilizing existing sensing elements on the vehicle (such as cameras and radar) to assist in controlling vehicle unlocking or locking can reduce the probability of repeated unlocking and locking without incurring additional costs.

[0047] The vehicle control method in this application embodiment can be applied to vehicle-to-everything (V2X), long-term evolution-vehicle (LTE-V), and vehicle-to-vehicle (V2V) communication. For example, it can be applied to vehicles with driving mobility functions, or other devices within a vehicle with driving mobility functions. These other devices include, but are not limited to, on-board terminals, on-board controllers, on-board modules, on-board components, on-board chips, on-board units, on-board radar, or on-board cameras, and other sensors. Vehicles can implement the vehicle driving method provided in this application embodiment through these on-board terminals, on-board controllers, on-board modules, on-board components, on-board chips, on-board units, on-board radar, or on-board cameras. The control scheme in this application embodiment can also be used in other intelligent terminals with mobility control functions besides vehicles, or installed in other intelligent terminals with mobility control functions besides vehicles, or installed in components of such intelligent terminals. These intelligent terminals can be intelligent transportation equipment, smart home devices, robots, etc. Examples include, but are not limited to, smart terminals or controllers, chips, radar or cameras, and other sensors and components within smart terminals.

[0048] Figure 2A illustrates an exemplary application scenario to which this application embodiment applies. In this application scenario, a vehicle 100 and a cloud server 200 may be included, and the vehicle 100 and the cloud server 200 may communicate via a network. In one embodiment, the cloud server 200 may also be implemented using a virtual machine.

[0049] Some or all of the functions of vehicle 100 are controlled by computing platform 150 (or computer system). Computing platform 150 may include at least one processor 151, which can execute instructions 153 stored in a non-transitory computer-readable medium such as memory 152. In some embodiments, computing platform 150 may also be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed manner. Processor 151 may be any conventional processor, such as a central processing unit (CPU). Alternatively, processor 151 may also include graphics processing unit (GPU), field-programmable gate array (FPGA), system-on-chip (SoC), application-specific integrated circuit (ASIC), or combinations thereof.

[0050] Optionally, the vehicle 100 mentioned above can be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, etc., and this application embodiment does not impose any special limitations.

[0051] The vehicle 100 may include multiple cameras and multiple radars. For example, please refer to Figure 2B, which is a structural schematic diagram of a vehicle 100 provided in an embodiment of this application. In Figure 2B, the vehicle 100 includes 4 cameras and 12 radars as an example. The multiple cameras 110 are used to capture images within their respective fields of view, and the multiple radars 120 are used to perceive objects around the vehicle 100.

[0052] It should be understood that the structure of vehicle 100 in Figures 2A and 2B is only an example. In other embodiments, vehicle 100 may include more or fewer structures, and this application embodiment does not limit this.

[0053] The method provided in this application embodiment can be implemented by a vehicle control device. This vehicle control device can be a standalone device, a chip or component in the vehicle 100 shown in Figure 2A, or a software module. It can be deployed on relevant on-board equipment of the vehicle 100. Optionally, the vehicle control device can also be deployed on a cloud server. This application embodiment does not limit the product form or deployment method of the vehicle control device. In the following text, for ease of understanding and description...

[0054] Figure 2C exemplarily illustrates another system architecture applicable to embodiments of this application. As shown in Figure 2C, this system architecture may include a vehicle key device and a vehicle control device. Optionally, the system architecture may also include a cloud-based server.

[0055] The vehicle control device may include / be a unit, module, chip (or chip system), or circuit of the vehicle (or installed on the vehicle). The vehicle control device may have network communication capabilities so that it can receive instructions and control some operations of the vehicle according to the instructions. The vehicle may, for example, include vehicle 100 as shown in Figure 2A or Figure 2B above.

[0056] A vehicle key device may include / become a vehicle key, or a unit, module, chip (or chip system), or circuit within a vehicle key. A vehicle key can be a physical key. A vehicle key can also be a digital car key, which has no physical form and is a software key. A digital car key can be, for example, a terminal device (such as a mobile phone or smart wearable device) or a unit, module, chip (or chip system), or circuit installed on a terminal device. A terminal device with a digital car key installed can also be referred to as a terminal device with digital car key software installed, or simply a digital car key. A terminal device is a device with wireless transceiver capabilities. A terminal device can be user equipment (UE), where UE includes handheld devices, in-vehicle devices, wearable devices, or computing devices with wireless communication capabilities. For example, a UE can be a mobile phone, a tablet computer, or a computer with wireless transceiver capabilities. Terminal devices can also be virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminals in industrial control, wireless terminals in autonomous driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in smart cities, wireless terminals in smart homes, and so on. Figure 2C illustrates this with the example of a vehicle key device being installed in a mobile phone and / or smartwatch. Mobile phones and smartwatches can also connect, for example, based on communication protocols such as Wi-Fi, Bluetooth, or Starlink.

[0057] A connection can be established between the vehicle control unit and the vehicle key device, for example, through a direct link. This connection could be based on communication protocols such as StarFlash, Bluetooth, or Wi-Fi. Alternatively, an indirect link can be established between the vehicle control unit and the vehicle key device. This connection could be established through other network devices (such as base stations or Wi-Fi access points), based on protocols such as Long Term Evolution (LTE), New Radio (NR), or Wi-Fi.

[0058] In one possible implementation, the vehicle key device and the vehicle control device can establish a connection based on a server (which can also be referred to as a cloud server). For example, the vehicle key device can establish a connection with the server based on protocols such as LTE, NR, or Wi-Fi (e.g., through network devices such as base stations, Wi-Fi access points, etc.). Similarly, the vehicle control device can establish a connection with the server based on protocols such as LTE, NR, or Wi-Fi (e.g., through network devices such as base stations, Wi-Fi access points, etc.). The cloud server and network devices can communicate through the interface between the access network and the core network.

[0059] The network devices involved in the embodiments of this application include, for example, radio access network (RAN) devices. RAN devices can be base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs), transmission points (TPs), next-generation NodeBs (gNBs) in 5G mobile communication systems, next-generation base stations in 6G mobile communication systems, base stations in future mobile communication systems, or access nodes in Wi-Fi systems; they can also be modules or units that perform some of the functions of a base station, for example, they can be central units (CUs) or distributed units (DUs). The CU here performs the functions of the radio resource control protocol and packet data convergence protocol (PDCP) of the base station, and can also perform the functions of the service data adaptation protocol (SDAP); the DU performs the functions of the radio link control layer and medium access control (MAC) layer of the base station, and can also perform some or all of the physical layer functions. For specific descriptions of the above protocol layers, please refer to the relevant technical specifications of the 3rd generation partnership project (3GPP).

[0060] Based on the content provided in Figures 2A, 2B, and 2C, Figure 3 exemplarily illustrates a possible flowchart of a vehicle control method according to an embodiment of this application. For ease of understanding, the method is described using the interaction between a vehicle control device and a vehicle key device as an example. The vehicle control device may include / be a unit, module, chip (or chip system), or circuit of the vehicle (or installed on the vehicle). The vehicle control device may have network communication capabilities so that it can receive instructions and control some operations of the vehicle according to the instructions.

[0061] A vehicle key device may include / become a vehicle key, or a unit, module, chip (or chip system), or circuit within a vehicle key. A vehicle key can be a physical key or a digital vehicle key. A digital vehicle key has no physical form; it is a software key. A digital vehicle key can be, for example, a terminal device (such as a mobile phone or smart wearable device) or a unit, module, chip (or chip system), or circuit installed on a terminal device. A terminal device with a digital vehicle key installed can also be referred to as a terminal device with digital vehicle key software installed, or simply a digital vehicle key. The descriptions of the vehicle control device and the vehicle key device can also be found in Figures 2A, 2B, and 2C above, and will not be repeated here. In this embodiment, the vehicle key device is taken as a terminal device with a digital vehicle key installed.

[0062] S301: The vehicle control unit determines a first distance value, a second distance value, and a third distance value between the vehicle key device and the vehicle.

[0063] The first distance value is determined by the vehicle control device based on a first signal from the vehicle key device. This first signal can be, for example, a Bluetooth signal, a Wi-Fi signal, a positioning reference signal, a frequency-modulated continuous wave signal, an ultra-wideband narrow pulse signal, or a multi-carrier sinusoidal superposition signal. For instance, the vehicle control device can receive Bluetooth signals from the vehicle key device via multiple Bluetooth receiving antennas arranged on the vehicle and obtain the first distance value based on the RSSI of the Bluetooth signal; alternatively, the vehicle control device can receive positioning reference signals from the vehicle key device via one or more wireless signal receiving antennas (or anchor points) on the vehicle and obtain the location information of the vehicle key device based on the positioning reference signal, then determine the first distance value based on the location information; or, the vehicle control device can determine the first distance value through other means, which are not limited in this application.

[0064] The second distance value is determined by the vehicle control unit based on images captured by multiple cameras installed on the vehicle (e.g., camera 110 shown in Figure 2B). For example, these multiple cameras can be divided into multiple groups, each group including two cameras with the same field of view, meaning the two cameras are used to capture the same scene. The vehicle control unit can determine the second distance based on the differences between the images captured by these at least two cameras. For example, there may be a fixed baseline distance between the two cameras, and the vehicle control unit can determine the second distance based on the differences between the images captured by these two cameras and the camera parameters.

[0065] The third distance value is determined by the vehicle control unit based on measurements from multiple radars installed on the vehicle (e.g., radar 120 shown in Figure 2B). For example, these radars can transmit radio waves and receive signals reflected back from the target object to determine the third distance. The target object is the object carrying the vehicle key device.

[0066] S302: The vehicle control device controls the vehicle to unlock or lock based on the first distance value, the second distance value and the third distance value.

[0067] Optionally, when the vehicle control device determines that at least two of the first, second, and third distance values ​​are less than the first value, it indicates that the vehicle key device may be in the unlocking zone shown in Figure 1, and the vehicle control device can control the vehicle to unlock. When the vehicle control device determines that at least two of the first, second, and third distance values ​​are greater than the fifth value, it indicates that the vehicle key device may be in the locking zone shown in Figure 1, and the vehicle control device can control the vehicle to lock.

[0068] Taking vehicle control device controlling vehicle unlocking as an example, when the vehicle control device determines that the second distance value and the third distance value are less than 3 meters (m), it can control the vehicle to unlock. This eliminates the need to consider whether the first distance value is less than the first value (i.e. whether the unlocking condition is met), thereby helping to reduce the probability of repeated unlocking and locking of the vehicle. Moreover, the camera and radar are already components on the vehicle, so the problem of repeated unlocking and locking of the vehicle can be solved without increasing the vehicle cost.

[0069] It is understood that the method by which the vehicle control device controls the vehicle to unlock or lock when at least two of the first, second, and third distance values ​​meet the unlocking or locking conditions is merely an example. In other embodiments, other methods may be used to determine whether to control the vehicle to unlock or lock, and this application does not limit this. For example, the vehicle control device may perform a weighted summation of the first, second, and third distance values ​​and control the vehicle to unlock or lock based on the weighted summation result.

[0070] Optionally, the vehicle control device controls the vehicle to unlock and lock based on a first distance value, a second distance value, and a third distance value. The operations that may need to be performed when determining the first distance value, the second distance value, and the third distance value are different. The following two embodiments describe the operations that the vehicle control device needs to perform when controlling the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value.

[0071] Example 1: The vehicle control device controls the vehicle to unlock based on the first distance value, the second distance value, and the third distance value.

[0072] Before the vehicle control device can unlock the vehicle, the vehicle may be in a locked state. Therefore, a connection needs to be established between the vehicle key device and the vehicle control device to unlock the vehicle. Optionally, the vehicle control device can also establish a connection with the vehicle key device before executing S301.

[0073] For example, when a user (e.g., a target object) approaches a vehicle with a vehicle key device, the vehicle key device can detect a Bluetooth signal broadcast by the vehicle control device. For instance, the vehicle control device includes a vehicle key master controller that can broadcast Bluetooth information, and the vehicle key device can detect the Bluetooth signal broadcast by the vehicle key master controller. When the vehicle control device detects the Bluetooth signal broadcast by the vehicle control device, it initiates a Bluetooth Low Energy (BLE) connection establishment request, requesting to establish a connection with the vehicle control device.

[0074] After the vehicle key device successfully establishes a connection with the vehicle control device, the vehicle key device can initiate the Intelligent Connected Car Ecosystem (ICCE) authentication process to achieve device authentication. The specific implementation method of the vehicle key device's device authentication process can be found in the implementation methods of existing protocols, and will not be elaborated upon here.

[0075] After successful authentication by the vehicle key device, the vehicle control device can receive a first signal from the vehicle key device and determine a first distance value based on the first signal; furthermore, the vehicle control device can also activate multiple cameras and radars on the vehicle to determine a second and a third distance value. The activation of the multiple cameras and radars by the vehicle control device can include the following methods:

[0076] Method 1: When the first distance value is less than the second value, activate the multiple cameras and the multiple radars simultaneously.

[0077] Optionally, after activating the multiple cameras, the vehicle control device can also perform face detection based on the images captured by the multiple cameras to authenticate the target object carrying the vehicle key device. For example, the vehicle control device can obtain facial feature information from the images captured by the multiple cameras, compare the facial feature information with pre-stored facial feature information, and if the comparison is successful, it indicates that the target object is a user who can use the vehicle, and the vehicle control device can determine the second distance value based on the images captured by the multiple cameras; if the comparison fails, it indicates that the target object cannot use the vehicle, and the vehicle control device can turn off the multiple cameras and multiple radars, without performing the vehicle unlocking operation.

[0078] Optionally, after successful authentication of the target object, the vehicle control device can also determine the first direction in which the target object is located, i.e., the first direction in which the target object is located relative to the vehicle, based on the images captured by the multiple cameras, and deactivate at least one camera and / or at least one radar according to the first direction. Taking Figure 2B as an example, referring to Figure 4, the vehicle control device determines that the target object is located directly in front of the vehicle based on the images captured by the multiple cameras. The vehicle control device can keep only the camera used to capture images directly in front of the vehicle on, and keep one or more radars located in front of the vehicle (e.g., one radar located in the dashed line on the left front of the vehicle) on, while deactivating the remaining 3 cameras and 11 radars, thus reducing vehicle power consumption.

[0079] It is understood that the second value can be a preset value, such as 20m, or the second value can be the first distance value determined by the vehicle control device based on the Bluetooth signal from the vehicle key device. This application embodiment does not limit the second value.

[0080] Method 2: When the first distance value is less than the second value, activate the multiple cameras; and when either the first or second distance value is less than the third value, activate the multiple radars.

[0081] Optionally, after activating the multiple cameras, the vehicle control device can also perform face detection based on the images captured by the multiple cameras to authenticate the target object carrying the vehicle key device. For example, the vehicle control device can obtain facial feature information from the images captured by the multiple cameras, compare the facial feature information with pre-stored facial feature information, and if the comparison is successful, it indicates that the target object is a user who can use the vehicle, and the vehicle control device can determine the second distance value based on the images captured by the multiple cameras; if the comparison fails, it indicates that the target object cannot use the vehicle, and the vehicle control device can turn off the multiple cameras, not activate the multiple radars, and not perform the vehicle unlocking operation.

[0082] Optionally, after successful authentication of the target object, the vehicle control device can also determine the first direction in which the target object is located, i.e., the first direction in which the target object is located relative to the vehicle, based on the images captured by the multiple cameras. When either a first distance value or a second distance value is less than a fourth value, at least one radar among the multiple radars is activated according to the first direction. For example, the vehicle control device can activate only the radar corresponding to the first direction. Taking Figure 4 as an example, if the vehicle control device determines that the target object is located at the left front of the vehicle based on the images captured by the multiple cameras, the vehicle control device can activate only the radar at the left front of the vehicle (e.g., one of the radars located at the left front of the vehicle, indicated by the dotted line).

[0083] Optionally, after determining the target object relative to the vehicle in a first direction, the vehicle control device can also turn off at least one camera based on the first direction. For example, in Figure 4, if the vehicle control device determines that the target object is located at the left front of the vehicle, the vehicle control device can keep only the camera at the front of the vehicle on and turn off the remaining three cameras, which can reduce the vehicle's power consumption.

[0084] The description of the second value can be found in the description of the second value in Method 1, and will not be repeated here. The third value can be a preset value, such as 10m, or it can be the first second distance value determined by the vehicle control device based on the image captured by the camera, or it can be the farthest distance value that the radar can detect. This application embodiment does not limit the third value.

[0085] Method 3: When the first distance value is less than the second value, activate the multiple radars; when the first or third distance value is less than the fourth value, activate the multiple cameras.

[0086] Optionally, after activating the multiple cameras, the vehicle control device can also perform face detection based on the images captured by the multiple cameras to authenticate the target object carrying the vehicle key device. For example, the vehicle control device can obtain facial feature information from the images captured by the multiple cameras, compare the facial feature information with pre-stored facial feature information, and if the comparison is successful, it indicates that the target object is a user who can use the vehicle, and the vehicle control device can determine the second distance value based on the images captured by the multiple cameras; if the comparison fails, it indicates that the target object cannot use the vehicle, and the vehicle control device can turn off the multiple cameras and multiple radars, without performing the vehicle unlocking operation.

[0087] Optionally, after successful authentication of the target object, the vehicle control device can also determine the first direction in which the target object is located, i.e., the first direction in which the target object is located relative to the vehicle, based on the images captured by the multiple cameras, and shut down at least one camera and / or at least one radar according to the first direction. Taking Figure 4 as an example, if the vehicle control device determines that the target object is located directly in front of the vehicle based on the images captured by the multiple cameras, the vehicle control device can keep only the camera used to capture images directly in front of the vehicle on, and keep one or more radars located in front of the vehicle (e.g., one of the radars located in the dashed line on the left front of the vehicle) on, while shutting down the remaining 3 cameras and the remaining 11 radars, thus reducing vehicle power consumption.

[0088] The description of the second value can be found in the description of the second value in Method 1, and will not be repeated here. The fourth value can be a preset value, such as 15m, or it can be the first third distance value obtained by the vehicle control device based on radar measurement. This application embodiment does not limit the fourth value.

[0089] The second, third, and fourth distance values ​​are all greater than the first value. The vehicle control device can unlock the vehicle when it determines that at least two of the first, second, and third distance values ​​are less than the first value.

[0090] Example 2: The vehicle control device controls the vehicle to lock based on the first distance value, the second distance value and the third distance value.

[0091] Before the vehicle control device locks the vehicle, the vehicle key device is connected to the vehicle control device, and the vehicle control device can receive Bluetooth signals from the vehicle key device. It is understood that in this embodiment, the cameras and radar on the vehicle are components used to assist driving during vehicle operation. When the vehicle is turned off, it indicates that a target object may want to leave the vehicle, requiring the cameras and radar to measure the distance between the target object and the vehicle. Therefore, when the vehicle is turned off, the vehicle control device can leave the multiple cameras and radars on. When the vehicle control device detects a first event (e.g., opening a door and leaving), it can determine a second distance value through the images captured by the multiple cameras and a third distance value through the radar measurement results, and then control the vehicle to lock based on the first, second, and third distance values.

[0092] Optionally, upon detecting the first event, the vehicle control device can also determine a second direction of departure of the target object based on the images captured by the multiple cameras, and deactivate at least one camera and / or at least one radar among the multiple cameras based on the second direction. For example, as shown in Figure 4, if the vehicle control device determines that the target object is departing from directly in front of the vehicle based on the images captured by the multiple cameras, the vehicle control device can keep only the camera used to capture images directly in front of the vehicle active, and keep one or more radars located in front of the vehicle (e.g., one of the radars located in the dashed line on the left front of the vehicle) active, while deactivating the remaining three cameras and the remaining eleven radars. This reduces vehicle power consumption.

[0093] Alternatively, when the vehicle is turned off, the vehicle control unit can also deactivate the multiple cameras and radars, and activate them upon detecting a first event. The activation of the cameras and radars upon detecting the first event can include the following methods:

[0094] Method A: Upon detecting the first event, the multiple cameras and multiple radars are activated simultaneously.

[0095] Optionally, the vehicle control device can determine a second direction in which the target object is leaving based on the images captured by the multiple cameras, and shut down at least one camera and / or at least one radar based on this second direction. Taking Figure 4 as an example, if the vehicle control device determines that the second direction in which the target object is leaving is directly in front of the vehicle based on the images captured by the multiple cameras, the vehicle control device can keep only the camera used to capture images directly in front of the vehicle, and keep one or more radars located in front of the vehicle (e.g., one radar located in the dashed line on the left front of the vehicle), while shutting down the remaining three cameras and the remaining eleven radars. This reduces vehicle power consumption.

[0096] Method B involves activating the multiple cameras upon detecting the first event, and activating the multiple radars when either the first or second distance value is greater than the sixth value.

[0097] Optionally, the vehicle control device can determine a second direction in which the target object is leaving based on the images captured by the multiple cameras, and activate at least one of the multiple radars according to the second direction when either the first or second distance value is greater than a sixth value. For example, the vehicle control device can activate only the radar corresponding to the second direction. Taking Figure 4 as an example, if the vehicle control device determines that the second direction in which the target object is leaving is the front left of the vehicle based on the images captured by the multiple cameras, the vehicle control device can activate only the radar on the front left of the vehicle (e.g., one of the radars located on the front left of the vehicle in the dotted line).

[0098] Optionally, after determining the second direction in which the target object leaves, the vehicle control device can also turn off at least one camera based on the second direction. Taking Figure 4 as an example, if the vehicle control device determines that the second direction in which the target object leaves is the left front of the vehicle, the vehicle control device can keep only the camera in front of the vehicle on and turn off the remaining three cameras, which can reduce the vehicle's power consumption.

[0099] The sixth value is less than the fifth value. The sixth value can be a preset value, such as 5m. Alternatively, the sixth value can be the first second distance value determined by the vehicle control device based on the image captured by the camera. This application embodiment does not limit the sixth value.

[0100] Method C: When the first event is detected, the multiple radars are activated, and when the first distance value or the third distance value is greater than the seventh value, the multiple cameras are activated.

[0101] Optionally, the vehicle control device can also determine the first direction in which the target object is located, i.e., the second direction in which the target object leaves, based on the images captured by the multiple cameras, and shut down at least one camera and / or at least one radar according to the second direction. Taking Figure 4 as an example, if the vehicle control device determines that the target object is located directly in front of the vehicle based on the images captured by the multiple cameras, the vehicle control device can keep only the camera used to capture images directly in front of the vehicle, and keep one or more radars located in front of the vehicle (e.g., one radar located in the dashed line on the left front of the vehicle) on, while shutting down the remaining 3 cameras and the remaining 11 radars, thus reducing vehicle power consumption.

[0102] The seventh value can be a preset value, such as 3m, or it can be the first third distance value obtained by the vehicle control device based on radar measurement. This application embodiment does not limit the seventh value.

[0103] The sixth and seventh values ​​are less than the fifth value. The vehicle control unit can lock the vehicle when it determines that at least two of the first, second, and third distance values ​​are greater than the fifth value.

[0104] In the above technical solution, the vehicle can be locked or unlocked by comprehensively controlling the distance values ​​measured by the received signal, the camera, and the radar, which helps reduce the probability of repeated unlocking and locking. Furthermore, using existing sensing elements on the vehicle (such as cameras and radar) to assist in controlling the vehicle's unlocking and locking can reduce the probability of repeated unlocking and locking without increasing additional costs.

[0105] It is understood that, in order to achieve the functions in the above embodiments, the communication device includes hardware structures and / or software modules corresponding to each function. Those skilled in the art should readily recognize that, based on the modules and method steps described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0106] Based on the same technical concept, this application embodiment also provides a communication device 500, which has the function of implementing the method steps shown in FIG3. For example, the communication device 500 includes functions, modules, units, or means for performing the method steps shown in FIG3. These functions, modules, units, or means can be implemented by software, or by hardware, or by hardware executing corresponding software.

[0107] As shown in Figure 5, the communication device 500 includes a processing module 501 and a control module 502.

[0108] The processing module 501 is used to determine a first distance value, a second distance value, and a third distance value between the vehicle key device and the vehicle, wherein the first distance value is determined based on a first signal from the vehicle key device, the second distance value is determined based on images captured by multiple cameras on the vehicle, and the third distance value is determined based on measurement results from multiple radars on the vehicle.

[0109] The control module 502 is used to control the vehicle to unlock or lock based on the first distance value, the second distance value and the third distance value.

[0110] In one possible implementation, the control module 502 controls the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value, including: controlling the vehicle to unlock when at least two of the first distance value, the second distance value, and the third distance value are less than the first value.

[0111] In one possible implementation, the control module 502 is further configured to: activate the plurality of cameras and the plurality of radars when the first distance value is less than the second value; or, activate the plurality of cameras when the first distance value is less than the second value, and activate the plurality of radars when the first distance value or the second distance value is less than the third value; or, activate the plurality of radars when the first distance value is less than the second value, and activate the plurality of cameras when the first distance value or the third distance value is less than the fourth value; wherein the second value, the third value, and the fourth value are greater than the first value.

[0112] In one possible implementation, the control module 502 activates the plurality of radars when the first distance value or the second distance value is less than a third value, including: determining a first direction of the target object based on images captured by the plurality of cameras, wherein the target object carries the vehicle key device; and activating at least one of the plurality of radars according to the first direction when the first distance value or the second distance value is less than a fourth value.

[0113] In one possible implementation, the control module 502 is further configured to: turn off at least one of the plurality of cameras according to the first direction.

[0114] In one possible implementation, the control module 502 controls the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value, including: controlling the vehicle to lock when at least two of the first distance value, the second distance value, and the third distance value are greater than a fifth value.

[0115] In one possible implementation, the control module 502 is further configured to: upon detecting a first event, determine a second direction of departure of the target object through images captured by the plurality of cameras, wherein the first event is used to indicate that the target object leaves the vehicle and the target object carries the vehicle key device; and deactivate at least one of the plurality of cameras and / or at least one of the plurality of radars according to the second direction.

[0116] In one possible implementation, the communication device 500 may further include a communication module 503 for receiving a first signal from a vehicle key device.

[0117] It should be understood that the processing module 501 and control module 502 in the embodiments of this application can be implemented by a processor or processor-related circuit components, and the communication module 503 can be implemented by a transceiver or transceiver-related components.

[0118] Based on the above content and the same concept, as shown in FIG6, this application also provides a communication device 600. The communication device 600 may include a processor 601 and a communication interface 602. It is understood that the communication interface 602 may be an interface circuit or an input / output interface. Optionally, the communication device 600 may further include a memory 603 for storing instructions executed by the processor 601, or storing input data required by the processor 601 to execute instructions, or storing data generated after the processor 601 executes instructions.

[0119] When the communication device 600 is used to implement the method shown in FIG3, the processor 601 is used to execute the functions of the processing module 501 and the control module 502, and to execute the functions of the communication module 503 through the communication interface 602.

[0120] Based on the same concept and content described above, this application also provides a vehicle that may include the communication device in any of the above embodiments. Further, optionally, the vehicle may also include other components, such as actuators, a vehicle body, etc.

[0121] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0122] The method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can be located in a vehicle. Of course, the processor and storage medium can also exist as discrete components in a communication device.

[0123] This application also provides a computer program product, including a computer program that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0124] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, causes the computer to perform the methods provided in the above embodiments.

[0125] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. A computer program product includes one or more computer programs or instructions. When a computer program or instruction is loaded and executed on a computer, the processes or functions of the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid-state drive (SSD).

[0126] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0127] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle control method, characterized in that, Applied to a vehicle, the vehicle including multiple cameras and multiple radars, the method includes: A first distance value, a second distance value, and a third distance value between the vehicle key device and the vehicle are determined, wherein the first distance value is determined based on a first signal from the vehicle key device, the second distance value is determined based on images captured by the plurality of cameras, and the third distance value is determined based on measurement results from the plurality of radars; The vehicle is unlocked or locked based on the first distance value, the second distance value, and the third distance value.

2. The method as described in claim 1, characterized in that, Controlling the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value includes: When at least two of the first distance value, the second distance value, and the third distance value are less than the first value, the vehicle is controlled to unlock.

3. The method as described in claim 2, characterized in that, Before determining the first, second, and third distance values, the following steps are also included: When the first distance value is less than the second value, activate the plurality of cameras and the plurality of radars; or... When the first distance value is less than the second value, the plurality of cameras are activated, and when either the first distance value or the second distance value is less than the third value, the plurality of radars are activated; or, When the first distance value is less than the second value, the plurality of radars are activated, and when the first distance value or the third distance value is less than the fourth value, the plurality of cameras are activated. The second value, the third value, and the fourth value are all greater than the first value.

4. The method as described in claim 3, characterized in that, When the first distance value or the second distance value is less than the third value, the plurality of radars are activated, including: The first direction of the target object is determined based on the images captured by the multiple cameras, and the target object carries the vehicle key device; When the first distance value or the second distance value is less than the fourth value, at least one of the plurality of radars is activated according to the first direction.

5. The method as described in claim 4, characterized in that, The method further includes: At least one of the plurality of cameras is turned off according to the first direction.

6. The method according to any one of claims 1 to 5, characterized in that, The step of controlling the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value includes: When at least two of the first, second, and third distance values ​​are greater than the fifth value, the vehicle is locked.

7. The method as described in claim 5, characterized in that, The method further includes: Upon detecting a first event, a second direction of departure of the target object is determined by the images captured by the plurality of cameras. The first event is used to indicate that the target object leaves the vehicle. The target object is carrying the vehicle key device. At least one of the plurality of cameras and / or at least one of the plurality of radars shall be turned off according to the second direction.

8. An apparatus, characterized in that, Applied to a vehicle, the vehicle including multiple cameras and multiple radars, the device includes: A processing module is used to determine a first distance value, a second distance value, and a third distance value between the vehicle key device and the vehicle, wherein the first distance value is determined based on a first signal from the vehicle key device, the second distance value is determined based on images captured by the plurality of cameras, and the third distance value is determined based on measurement results from the plurality of radars; The control module is used to control the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value.

9. The apparatus as claimed in claim 8, characterized in that, The control module controls the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value, including: When at least two of the first distance value, the second distance value, and the third distance value are less than the first value, the vehicle is controlled to unlock.

10. The apparatus as claimed in claim 9, characterized in that, The control module is also used for: When the first distance value is less than the second value, activate the plurality of cameras and the plurality of radars; or... When the first distance value is less than the second value, the plurality of cameras are activated, and when either the first distance value or the second distance value is less than the third value, the plurality of radars are activated. or, When the first distance value is less than the second value, the plurality of radars are activated, and when the first distance value or the third distance value is less than the fourth value, the plurality of cameras are activated. The second value, the third value, and the fourth value are all greater than the first value.

11. The apparatus as claimed in claim 10, characterized in that, The control module activates the plurality of radars when either the first distance value or the second distance value is less than the third value, including: The first direction of the target object is determined based on the images captured by the multiple cameras, and the target object carries the vehicle key device; When the first distance value or the second distance value is less than the fourth value, at least one of the plurality of radars is activated according to the first direction.

12. The apparatus as claimed in claim 11, characterized in that, The control module is also used for: At least one of the plurality of cameras is turned off according to the first direction.

13. The apparatus according to any one of claims 8 to 12, characterized in that, The control module controls the vehicle to unlock or lock based on the first distance value, the second distance value, and the third distance value, including: When at least two of the first, second, and third distance values ​​are greater than the fifth value, the vehicle is locked.

14. The apparatus as claimed in claim 13, characterized in that, The control module is also used for: Upon detecting a first event, a second direction of departure of the target object is determined by the images captured by the plurality of cameras. The first event is used to indicate that the target object leaves the vehicle. The target object is carrying the vehicle key device. At least one of the plurality of cameras and / or at least one of the plurality of radars shall be turned off according to the second direction.

15. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 8 to 14.

16. A communication device, characterized in that, include: One or more processors; the one or more memories storing one or more computer programs, the one or more computer programs including instructions that, when executed by the one or more processors, cause the apparatus to perform the method as described in any one of claims 1 to 7.

17. A computer-readable storage medium, characterized in that, Includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 7.

18. A computer program product, characterized in that, When it is run on a computer, it causes the computer to perform the method as described in any one of claims 1 to 7.

19. A chip system, characterized in that, Includes: a processor for retrieving and running a computer program from memory, such that the method as described in any one of claims 1 to 7 is implemented.

Images