CN112208345B

CN112208345B - Vehicle energy recovery control method, storage medium, and electronic device

Info

Publication number: CN112208345B
Application number: CN202011089242.4A
Authority: CN
Inventors: 刘丹丹; 李国辉; 东永启
Original assignee: Dongfeng Motor Co Ltd
Current assignee: Dongfeng Motor Co Ltd
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2022-07-12
Anticipated expiration: 2040-10-13
Also published as: CN112208345A

Abstract

The invention provides a vehicle energy recovery control method, a storage medium and an electronic device, wherein the method comprises the following steps: when a braking signal is received and the battery electric quantity meets the braking energy recovery condition, acquiring vehicle operation parameters; and controlling the braking energy recovery according to the vehicle operation parameters and a preset braking energy recovery strategy corresponding to the vehicle operation parameters, wherein the braking energy recovery strategy comprises an engine side energy recovery strategy and a transmission side energy recovery strategy. By implementing the method and the device, the vehicle operation parameters are acquired when the braking signals are received and the battery electric quantity meets the braking energy recovery conditions, and the braking energy recovery is controlled according to the vehicle operation parameters and the preset braking energy recovery strategy corresponding to the vehicle operation parameters, so that the engine is prevented from being dragged to be flamed out in the energy recovery process, and the utilization rate of the engine energy and the user experience are improved.

Description

Vehicle energy recovery control method, storage medium, and electronic device

Technical Field

The present invention relates to the field of automotive technologies, and in particular, to a vehicle energy recovery control method, a storage medium, and an electronic device.

Background

The 48V micro-mixing system is a product of transition from a traditional fuel vehicle to an electric vehicle, the 48V micro-mixing system mainly comprises a traditional engine, a 48V battery, a power-assisted recovery motor, a power converter and the like, and the 48V battery supplies power for the motor and parts with large power consumption on the vehicle. The 48V micro-mixing system has a working condition of recovering braking energy, and the kinetic energy of the vehicle is converted into electric energy during braking to store the energy, so that the aim of saving oil is fulfilled. In the braking energy recovery process, large negative torque of the engine is utilized, opposite force (called as anti-drag force) is given to the engine, the recovered torque is stored in a battery as electric energy, and the engine can be shut down when the recovered torque is too large in the braking energy recovery process. At present, in order to avoid engine stall caused by excessive recovery torque, the following two methods are adopted:

(1) an Engine Control Module (ECM) side is provided with a rotational speed threshold, and when it is detected that the rotational speed of the Engine is lower than the rotational speed threshold, energy recovery is exited to prevent the Engine from stalling.

(2) On the side of a gearbox (DCT), when the engine speed is detected to be lower than the current idle speed of the engine, the Clutch is disengaged forcibly, the load of the engine is reduced, and the engine is prevented from stalling.

However, when the braking force is large or the engine speed drops too fast (e.g. emergency braking), although the engine speed is not lower than the speed threshold, the engine may still be stalled, and the utilization rate of the engine power and the user experience may be reduced.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a vehicle energy recovery control method, a storage medium and electronic equipment, which can prevent an engine from being dragged and flameout in the energy recovery process and improve the utilization rate of the engine energy and the user experience.

The technical scheme of the invention provides a vehicle energy recovery control method, which comprises the following steps:

when a braking signal is received and the battery electric quantity meets the braking energy recovery condition, acquiring vehicle operation parameters;

and controlling the braking energy recovery according to the vehicle operation parameters and a preset braking energy recovery strategy corresponding to the vehicle operation parameters, wherein the braking energy recovery strategy comprises an engine side energy recovery strategy and a transmission side energy recovery strategy.

Further, the vehicle operating parameters include a current engine speed, and the engine-side energy recovery strategy includes:

stopping braking energy recovery when the current engine speed is less than a preset speed threshold;

and when the current engine rotating speed is greater than or equal to the preset rotating speed threshold, determining the required braking energy recovery torque according to the current braking master cylinder pressure and the current gear, and controlling the braking energy recovery torque according to the required braking energy recovery torque.

Further, the vehicle operation parameters further include a current brake master cylinder pressure, a current gear, a current engine speed difference and a current speed reduction slope, and the determining the required braking energy recovery torque according to the current brake master cylinder pressure and the current gear includes:

acquiring basic energy recovery torque corresponding to the current brake master cylinder pressure and the current gear in a preset basic energy recovery torque curve;

acquiring an energy recovery coefficient corresponding to the rotating speed difference and the rotating speed reduction slope in a preset energy recovery coefficient curve;

and calculating the required braking energy recovery torque according to the basic energy recovery torque and the energy recovery coefficient.

Further, the preset basic energy recovery torque curve is obtained by adopting the following steps:

acquiring a first historical brake master cylinder pressure and a first historical gear corresponding to the first historical brake master cylinder pressure;

and performing curve fitting on the first historical brake master cylinder pressure and the first historical gear to obtain the preset basic energy recovery torque curve.

Further, the preset energy recovery coefficient curve is obtained by adopting the following steps:

obtaining historical engine speed difference and historical speed reduction slope corresponding to the historical engine speed difference;

and performing curve fitting on the historical engine speed difference and the historical speed reduction slope to obtain the preset energy recovery coefficient curve.

Further, the vehicle operating parameters further include a current engine idle speed, and the transmission-side energy recovery strategy includes:

and when the current rotating speed descending slope is larger than a preset slope threshold value and the current rotating speed of the engine is smaller than the current idling rotating speed of the engine, the clutch is disconnected.

Further, the vehicle operating parameters include a current engine torque, and the transmission-side energy recovery strategy further includes:

obtaining a compensation coefficient corresponding to the current brake master cylinder pressure and the current gear in a preset compensation coefficient curve;

calculating clutch compensation torque according to the current engine torque and the compensation coefficient;

controlling a clutch state based on the clutch compensation torque.

Further, the preset compensation coefficient curve is obtained by adopting the following steps:

acquiring a second historical brake master cylinder pressure and a second historical gear corresponding to the second historical brake master cylinder pressure;

and performing curve fitting on the second historical brake master cylinder pressure and the second historical gear to obtain the preset compensation coefficient curve.

The technical solution of the present invention also provides a storage medium storing computer instructions for executing all the steps of the vehicle energy recovery control method as described above when a computer executes the computer instructions.

The technical solution of the present invention also provides an electronic device, including:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to cause the at least one processor to:

After adopting above-mentioned technical scheme, have following beneficial effect: the vehicle operation parameters are acquired when the braking signals are received and the battery electric quantity meets the braking energy recovery conditions, and the braking energy recovery is controlled according to the vehicle operation parameters and the preset braking energy recovery strategy corresponding to the vehicle operation parameters, so that the engine is prevented from being dragged to be flamed out in the energy recovery process, and the utilization rate of the engine energy and the user experience are improved.

Drawings

The disclosure of the present invention will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present disclosure. In the figure:

FIG. 1 is a flowchart illustrating a method for controlling energy recovery of a vehicle according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a vehicle energy recovery control method according to a second embodiment of the present invention;

FIG. 3 is a preset base energy recovery torque graph of the present invention;

FIG. 4 is a graph of the preset energy recovery factor of the present invention;

FIG. 5 is a graph of the predetermined compensation factor of the present invention;

fig. 6 is a schematic diagram of a hardware structure of an electronic device for vehicle energy recovery control according to a fourth embodiment of the present invention.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings.

It is easily understood that according to the technical solution of the present invention, those skilled in the art can substitute various structures and implementation manners without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as limiting or restricting the technical aspects of the present invention.

The directional terms upper, lower, left, right, front, rear, front, back, top, bottom and the like that are or may be mentioned in this specification are defined relative to the configurations shown in the drawings, and are relative concepts that may be changed accordingly depending on the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms.

Example one

As shown in fig. 1, fig. 1 is a flowchart of a vehicle energy recovery control method according to an embodiment of the present invention, including:

step S101: when a braking signal is received and the electric quantity of the battery accords with a braking energy recovery condition, acquiring vehicle operation parameters;

step S102: and controlling the braking energy recovery according to the vehicle operation parameters and a preset braking energy recovery strategy corresponding to the vehicle operation parameters.

Specifically, the invention is mainly applied to a hybrid electric vehicle, when a controller receives a braking signal sent by a pedal sensor, the controller firstly executes the step S101 to judge whether the battery electric quantity meets the braking energy recovery condition, such as whether the battery electric quantity is fully charged, and when the battery electric quantity meets the braking energy recovery condition, vehicle operation parameters are obtained, wherein the vehicle operation parameters comprise parameters such as current brake master cylinder pressure, current gear, current engine speed difference, current speed reduction slope, current engine torque and the like; and then, step S102 is executed to control braking energy recovery according to the vehicle operation parameters and a braking energy recovery strategy, wherein the braking energy recovery strategy comprises an engine side energy recovery strategy and a transmission side energy recovery strategy, and the engine side energy recovery strategy and the transmission side energy recovery strategy are respectively used for controlling a front end load and a rear end load to prevent the engine from being dragged and flameout in the energy recovery process.

The method for acquiring the vehicle operation parameters may adopt an existing acquiring method, and the acquiring method is not the essential point of the invention and is not described in detail herein. The current speed reduction slope is the difference between the current engine speed and the previous engine speed (e.g., 10ms) divided by the difference between the current time and the previous time.

Preferably, the controller of the present embodiment is an Electronic Control Unit (ECU).

According to the vehicle energy recovery control method provided by the embodiment of the invention, the vehicle operation parameters are obtained when the braking signals are received and the battery electric quantity meets the braking energy recovery conditions, and the braking energy recovery is controlled according to the vehicle operation parameters and the preset braking energy recovery strategy corresponding to the vehicle operation parameters, so that the engine is prevented from being dragged to be flameout in the energy recovery process, and the utilization rate of the engine energy and the user experience are improved.

Example two

As shown in fig. 2, fig. 2 is a vehicle energy recovery control method according to a second embodiment of the present invention, including:

step S201: when a braking signal is received and the battery electric quantity meets the braking energy recovery condition, acquiring the current engine rotating speed;

step S202: judging whether the current engine rotating speed is less than a preset rotating speed threshold value or not;

step S203: acquiring the current brake master cylinder pressure, the current gear, the current engine speed difference, the current speed reduction slope and the current engine torque;

step S204: acquiring basic energy recovery torque corresponding to the current brake master cylinder pressure and the current gear in a preset basic energy recovery torque curve;

step S205: acquiring an energy recovery coefficient corresponding to the current engine speed difference and the current speed reduction slope in a preset energy recovery coefficient curve;

step S206: calculating the required braking energy recovery torque according to the basic energy recovery torque and the energy recovery coefficient, and controlling the braking energy recovery torque according to the required braking energy recovery torque;

step S207: judging whether the current speed reduction slope is larger than a preset slope threshold value or not and whether the current engine speed is smaller than the current idle speed of the engine or not;

step S208: obtaining a compensation coefficient corresponding to the current brake master cylinder pressure and the current gear in a preset compensation coefficient curve;

step S209: calculating clutch compensation torque according to the current engine torque and the compensation coefficient;

step S210: controlling the state of the clutch according to the clutch compensation torque;

step S211: disconnecting the clutch;

step S212: and stopping the recovery of the braking energy.

Specifically, the ECU executes step S201 to receive the braking signal, and when it is determined that the battery power conforms to the braking energy recovery condition, acquires the vehicle operation parameters; then step S202 is executed to judge whether the current engine rotating speed is less than a preset rotating speed threshold value, if so, step S212 is executed to stop braking energy recovery, otherwise, step S203-step S206 is executed to multiply the basic energy recovery torque by an energy recovery coefficient to obtain a required braking energy recovery torque, and the braking energy recovery torque is controlled according to the required braking energy recovery torque, so that the rotating speed and the torque of the engine are dynamically monitored, and the condition that the engine is dragged to stall due to the fact that the torque is too large and the rotating speed is reduced too fast is prevented; and executing step S207 to judge whether the current speed reduction slope is greater than a preset slope threshold value or not and whether the current engine speed is less than the current idle speed of the engine, if yes, executing step S211 to disconnect the clutch, otherwise executing steps S208-S210 to multiply the current engine torque by a compensation coefficient to calculate the clutch compensation torque, controlling the combination depth of a clutch plate of the clutch according to the clutch compensation torque until the current speed reduction slope is greater than the preset slope threshold value and the current engine speed is less than the current idle speed of the engine, executing step S211 to disconnect the clutch, and adjusting the clutch compensation torque in real time by monitoring the current engine speed and the current speed reduction slope in real time, thereby controlling the combination depth of the clutch, preventing the braking force (such as emergency braking) from being too large, and preventing the engine from stalling caused by DCT (drag-down).

The preset rotation speed threshold value can be set according to requirements, and the preset rotation speed threshold value in the embodiment of the invention is preferably 600 rpm.

The current idling speed of the engine refers to the lowest speed of normal operation when the engine does not work, a preset engine idling table can be inquired according to the current water temperature and the current gear, a basic engine idling value corresponding to the current water temperature and the current gear is found out, and the current idling speed is calculated according to load compensation of loads such as air conditioners, headlights, generators and the like and rotation speed compensation of working conditions such as vehicle speed, fuel cut-off and the like.

The preset basic energy recovery torque curve, the preset energy recovery coefficient curve and the preset compensation coefficient curve are preset in the ECU in a chart mode, and when the ECU is used, the corresponding basic energy recovery torque, the corresponding energy recovery coefficient and the corresponding compensation coefficient are obtained in a table look-up mode.

Wherein, the sequence of steps S203-S206 and steps S207-S211 can be interchanged, steps S203-S206 and steps S207-S211 can also be performed synchronously, or steps S203-S206 and steps S207-S211 can be performed separately by the ECU, respectively, and the performance of steps S203-S206 and steps S207-S211, or steps S203-S206 and steps S207-S211 can be performed separately without affecting the effect of the present invention.

In one embodiment, the predetermined base energy recovery torque curve is obtained by:

and performing curve fitting on the first historical brake master cylinder pressure and the first historical gear to obtain a preset basic energy recovery torque curve.

Specifically, a first historical brake master cylinder pressure and a first historical Gear are subjected to curve fitting through a first-order function to obtain a preset basic energy recovery torque curve, as shown in fig. 3, the abscissa is the brake master cylinder pressure, and the ordinate is the basic energy recovery torque, Gear1-Gear6 in fig. 3 respectively represent different gears, and the values of the gears can be set according to user requirements, in this embodiment, Gear1-Gear6 are respectively Gear1-Gear 6. When the brake system is used, on different gear lines, a preset basic energy recovery torque curve shown in fig. 3 is inquired according to the pressure of the brake master cylinder, and a corresponding basic energy recovery torque is obtained, so that the brake energy recovery torque can be controlled more accurately, and the utilization rate of the engine power is further improved.

In one embodiment, the preset energy recovery coefficient curve is obtained by the following steps:

and carrying out curve fitting on the historical engine speed difference and the historical speed reduction slope to obtain a preset energy recovery coefficient curve.

Specifically, a preset energy recovery coefficient curve is obtained by curve fitting the historical engine speed difference and the historical speed reduction slope through a first-order term function, as shown in fig. 4, the abscissa is the speed difference, the ordinate is the energy recovery coefficient, and k1-k4 in fig. 4 respectively represent different speed reduction slopes, and the values thereof can be set according to different requirements, in the embodiment, k1-k4 are-200, -500, -1000, and-1200 respectively. When the energy recovery device is used, under different rotating speed reduction slopes, a preset energy recovery coefficient curve shown in fig. 4 is inquired according to the rotating speed difference to obtain a corresponding energy recovery coefficient, so that the braking energy recovery torque can be controlled more accurately, and the utilization rate of the engine power is further improved.

In one embodiment, the preset compensation coefficient curve is obtained by the following steps:

and performing curve fitting on the second historical brake master cylinder pressure and the second historical gear to obtain a preset compensation coefficient curve.

Specifically, curve fitting is performed on the second historical brake master cylinder pressure and the second historical Gear through a first-order term function to obtain a preset compensation coefficient curve, as shown in fig. 5, the abscissa is the brake master cylinder pressure, the ordinate is the compensation coefficient, and Gear1-Gear6 in fig. 5 respectively represent different gears, and the values of the Gear1-Gear6 can be set according to user requirements. When the compensation device is used, the preset compensation coefficient curve shown in the figure 5 is inquired according to the pressure of the brake master cylinder, and the corresponding compensation coefficient is obtained, so that the compensation torque of the clutch can be more accurately controlled, and the utilization rate of the engine performance is further improved.

EXAMPLE III

A storage medium of an embodiment of the present application for storing computer instructions for performing all the steps of a vehicle energy recovery control method in any one of the method embodiments as described above when executed by a computer.

Example four

As shown in fig. 6, fig. 6 is a schematic diagram of a hardware structure of an electronic device for vehicle energy recovery control according to a fourth embodiment of the present invention, including:

at least one processor 301; and the number of the first and second groups,

a memory 302 communicatively coupled to the at least one processor 301; wherein the content of the first and second substances,

the memory 302 stores instructions executable by the at least one processor 301 to cause the at least one processor 301 to:

In fig. 6, one processor 301 is taken as an example.

The Electronic device is preferably an Electronic Control Unit (ECU).

The electronic device may further include: an input device 303 and an output device 304.

The processor 301, the memory 302, the input device 303 and the display device 304 may be connected by a bus or other means, and are illustrated as being connected by a bus c.

The memory 302, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle energy recovery control method in the embodiments of the present application, for example, the method flows shown in fig. 1 and 2. The processor 301 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 302, that is, implements the vehicle energy recovery control method in the above-described embodiment.

The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to the use of the vehicle energy recovery control method, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 302 optionally includes memory located remotely from the processor 301, and these remote memories may be connected over a network to a device that performs the vehicle energy recovery control method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 303 may receive input of user clicks and generate signal inputs related to user settings and function control of the vehicle energy recovery control method. The display device 304 may include a display screen or the like.

The vehicle energy recovery control method of any of the method embodiments described above is performed when the one or more modules are stored in the memory 302, when executed by the one or more processors 301.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.

The electronic device of embodiments of the present invention exists in a variety of forms, including but not limited to:

(1) an Electronic Control Unit (ECU) is also called a "traveling computer" or a "vehicle-mounted computer". The digital signal processor mainly comprises a microprocessor (CPU), a memory (ROM and RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), a shaping circuit, a driving circuit and other large-scale integrated circuits.

(2) Mobile communication devices, which are characterized by mobile communication capabilities and are primarily targeted at providing voice and data communications. Such terminals include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.

(3) The ultra-mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include PDA, MID, and UMPC devices, among others.

(4) Portable entertainment devices such devices may display and play multimedia content. Such devices include audio and video players (e.g., ipods), handheld game consoles, electronic books, as well as smart toys and portable car navigation devices.

(5) The server is similar to a general computer architecture, but has higher requirements on processing capability, stability, reliability, safety, expandability, manageability and the like because of the need of providing highly reliable services.

(6) And other electronic devices with data interaction functions.

Furthermore, the logic instructions in the memory 302 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a mobile terminal (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A vehicle energy recovery control method characterized by comprising:

when a braking signal is received and the battery electric quantity meets the braking energy recovery condition, acquiring vehicle operation parameters, wherein the vehicle operation parameters comprise the current engine speed, the current brake master cylinder pressure, the current gear, the current engine speed difference and the current speed reduction slope, and the current speed reduction slope is the difference between the current engine speed and the last engine speed divided by the time difference between the current time and the last time;

controlling braking energy recovery according to the vehicle operation parameters and a preset braking energy recovery strategy corresponding to the vehicle operation parameters, wherein the braking energy recovery strategy comprises an engine side energy recovery strategy and a transmission side energy recovery strategy: stopping braking energy recovery when the current engine rotating speed is less than a preset rotating speed threshold;

when the current engine rotating speed is greater than or equal to the preset rotating speed threshold value, acquiring basic energy recovery torques corresponding to the current brake master cylinder pressure and the current gear in a preset basic energy recovery torque curve; acquiring an energy recovery coefficient corresponding to the current engine speed difference and the current speed reduction slope in a preset energy recovery coefficient curve; and calculating the required braking energy recovery torque according to the basic energy recovery torque and the energy recovery coefficient, and controlling the braking energy recovery torque according to the required braking energy recovery torque.

2. The vehicle energy recovery control method according to claim 1, characterized in that the preset base energy recovery torque curve is obtained by:

3. The vehicle energy recovery control method according to claim 1, characterized in that the preset energy recovery coefficient curve is obtained by:

4. The vehicle energy recovery control method of claim 1, wherein the vehicle operating parameters further include a current engine idle speed, and the transmission-side energy recovery strategy includes:

5. The vehicle energy recovery control method of claim 4, wherein the vehicle operating parameter comprises a current engine torque, the transmission-side energy recovery strategy further comprising:

controlling a clutch state based on the clutch compensation torque.

6. The vehicle energy recovery control method according to claim 5, wherein the preset compensation coefficient curve is obtained by:

7. A storage medium storing computer instructions for performing all the steps of the vehicle energy recovery control method according to any one of claims 1 to 6 when the computer instructions are executed by a computer.

8. An electronic apparatus for vehicle energy recovery control, characterized by comprising:

at least one processor; and the number of the first and second groups,

the memory stores instructions executable by the at least one processor to enable the at least one processor to: