CN112798000A

CN112798000A - Riding service processing method and device, vehicle-mounted terminal and medium

Info

Publication number: CN112798000A
Application number: CN202011584740.6A
Authority: CN
Inventors: 苏思韵; 黄锦文; 林子涵
Original assignee: Guangzhou Xiaoma Huixing Technology Co ltd
Current assignee: Guangzhou Xiaoma Huixing Technology Co ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-05-14

Abstract

The invention provides a riding service processing method, a riding service processing device, a vehicle-mounted terminal and a medium, and relates to the technical field of intelligent driving. The method comprises the following steps: if the automatic driving vehicle is in an automatic driving mode, detecting whether a riding service instruction sent by a server is received; if the riding service instruction is not received, receiving input selection operation aiming at the first target station control; determining a first planned path from the position of the autonomous vehicle to a site corresponding to the first target site control in response to the selection operation; controlling the autonomous vehicle to travel based on the first planned path; and displaying the first planned path in a preset map in a main interface of the automatic driving module. The selection operation of the first target station control is input into the vehicle-mounted terminal, then the vehicle-mounted terminal can determine the first planned path and automatically drive based on the first planned path, the vehicle control user operation is simplified, and the vehicle control user experience is improved.

Description

Riding service processing method and device, vehicle-mounted terminal and medium

Technical Field

The invention relates to the technical field of intelligent driving, in particular to a riding service processing method, a riding service processing device, a vehicle-mounted terminal and a medium.

Background

With the development of the times, riding becomes an indispensable part in daily life, and a vehicle control user can provide riding services for a riding user, and certainly, the user can drive the vehicle to a destination by himself when the riding services are not provided.

In the related art, when the riding service is not provided, the vehicle control user can drive the vehicle to the destination according to the memorized route; alternatively, the vehicle control user may search for a route from the current location to the destination on the navigation software of the cell phone, and then drive the vehicle to the destination by the vehicle control user according to the route.

However, in the related art, the vehicle control user needs to determine the route according to the memory or from the mobile phone navigation software and drive by himself, so that the operation of the vehicle control user is inconvenient, and the experience of the vehicle control user is reduced.

Disclosure of Invention

The present invention aims to provide a riding service processing method, device, vehicle-mounted terminal and medium for solving the problems in the related art that a vehicle control user needs to determine a route according to memory or from mobile phone navigation software and drive by himself, which is inconvenient for the vehicle control user to operate and reduces the experience of the vehicle control user.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment of the present invention provides a riding service processing method for an autonomous vehicle, which is applied to a vehicle-mounted terminal that presents a graphical user interface, where the vehicle-mounted terminal is installed on the autonomous vehicle, and the graphical user interface displays a plurality of station controls, and the method includes:

if the automatic driving vehicle is in an automatic driving mode, detecting whether a riding service instruction sent by a server is received;

if the riding service instruction is not received, receiving input selection operation aiming at a first target station control;

determining a first planned path from the position of the autonomous vehicle to a site corresponding to the first target site control in response to the selection operation;

controlling the autonomous vehicle to travel based on the first planned path;

and displaying the first planned path in a preset map in a main interface of an automatic driving module.

Optionally, the method further includes:

if the riding service instruction is received, displaying information of a pick-up position of the riding service instruction and a path re-planning control in the main interface;

responding to the input touch operation aiming at the path re-planning control, and performing path re-planning on the automatic driving vehicle to obtain a second planned path from the position of the automatic driving vehicle to the order taking position;

controlling the autonomous vehicle to travel based on the second planned path;

and switching the first planned path in the preset map into the second planned path.

Optionally, the method further includes:

if the riding user in the riding service instruction gets on the bus, determining a third planned path from the getting-on position of the riding user to the target position of the riding service instruction;

controlling the autonomous vehicle to travel based on the third planned path;

and switching the second planned path in the preset map into the third planned path.

Optionally, the information of the order receiving position where the riding service instruction is displayed in the main interface and the path re-planning control include:

displaying the information of the order receiving position, the path re-planning control and the arrival control in the main interface;

the method further comprises the following steps:

and if the automatic driving vehicle reaches the target position, responding to the touch operation aiming at the arrival control, and determining that the riding service instruction is completed.

Optionally, the method further includes:

and if the riding service instruction is received and is a car sharing service instruction, displaying the travel planning information of the car sharing service instruction on the graphical user interface.

Optionally, the graphical user interface further displays: a lane change control; the method further comprises the following steps:

and responding to the touch operation aiming at the lane changing control, and controlling the automatic driving vehicle to execute the lane changing operation corresponding to the lane changing control.

Optionally, the graphical user interface further shows: the site finding control, the method further comprising:

responding to touch operation aiming at the site searching control, and displaying a site searching interface, wherein the site searching interface is provided with a site searching box and controls of all sites;

responding to query information input through the site search box or responding to touch operation aiming at a second target site control, and determining the second target site control;

determining a fourth planned path from the position of the autonomous vehicle to a site corresponding to the second target site control;

and displaying the fourth planned path in a preset map in the main interface.

Optionally, the graphical user interface further shows: and reporting the control by the fault, wherein the method further comprises the following steps:

responding to touch operation aiming at the fault reporting control, and detecting whether the automatic driving vehicle is in an automatic driving mode;

and if the automatic driving vehicle is in the automatic driving mode, displaying an exit interface of the automatic driving mode, wherein exit indication information is displayed in the exit interface.

Optionally, the exit interface further displays: exiting the control; the method further comprises the following steps:

and responding to the touch operation aiming at the exit control, disconnecting the communication connection between the vehicle-mounted terminal and the vehicle-mounted automatic driving system, and switching to a manual driving mode.

Optionally, the method further includes:

if the automatic driving vehicle is not in an automatic driving mode, displaying a problem type selection interface, wherein a plurality of problem type controls are displayed on the problem type selection interface;

and responding to the touch operation aiming at the target problem type control, and reporting the fault information of the fault type corresponding to the target problem type control to the server.

Optionally, the fault type corresponding to the target problem type control is as follows: road condition failure; the method further comprises the following steps:

displaying a road condition reporting interface, wherein the road condition reporting interface displays: a three-dimensional scene of a location of the autonomous vehicle; the three-dimensional scene is displayed with: a plurality of three-dimensional roads;

responding to touch operation aiming at a target three-dimensional road, and displaying road condition information of the target three-dimensional road in the road condition reporting interface; the fault information of the road condition fault comprises: and the road condition information.

Optionally, the road condition reporting interface has a first display area and a second display area, the first display area displays the road selection prompt information, and the second display area displays the three-dimensional scene;

the response is to the touch operation of the target three-dimensional road, and the road condition information of the target three-dimensional road is displayed in the road condition reporting interface;

and responding to the touch operation aiming at the target three-dimensional road, canceling the display of the road selection prompt information, and displaying the road condition information of the target three-dimensional road in the first display area.

Optionally, the displaying the road condition information of the target three-dimensional road in the first display area includes:

displaying the road condition information of the target three-dimensional road in the first display area, and continuously operating a control;

the method further comprises the following steps:

responding to the touch operation aiming at the continuous operation control, and starting recording to obtain a voice file; the fault information of the road condition fault further comprises: the voice file.

In a second aspect, an embodiment of the present invention further provides a riding service processing apparatus for an autonomous vehicle, which is applied to a vehicle-mounted terminal that presents a graphical user interface, where the vehicle-mounted terminal is mounted on the autonomous vehicle, and the graphical user interface displays a plurality of station controls, where the apparatus includes:

the detection module is used for detecting whether a riding service instruction sent by a server is received or not if the automatic driving vehicle is in an automatic driving mode;

the receiving module is used for receiving input selection operation aiming at the first target station control if the riding service instruction is not received;

a determination module configured to determine, in response to the selection operation, a first planned path from the location of the autonomous vehicle to a site corresponding to the first target site control;

a control module to control the autonomous vehicle to travel based on the first planned path;

and the display module is used for displaying the first planned path in a preset map in a main interface of the automatic driving module.

Optionally, the apparatus further comprises:

the first display module is used for displaying information of a receiving position of the taking service instruction and a path re-planning control in the main interface if the taking service instruction is received;

the planning module is used for replanning the path of the automatic driving vehicle in response to the input touch operation aiming at the path replanning control so as to obtain a second planned path from the position of the automatic driving vehicle to the order receiving position;

a first control module for controlling the autonomous vehicle to travel based on the second planned path;

and the first switching module is used for switching the first planned path in the preset map into the second planned path.

Optionally, the apparatus further comprises:

the first determining module is used for determining a third planned path from the getting-on position of the riding user to the target position of the riding service instruction if the riding user in the riding service instruction gets on the bus;

a second control module for controlling the autonomous vehicle to travel based on the third planned path;

and the second switching module is used for switching the second planned path in the preset map into the third planned path.

Optionally, the first display module is further configured to display the information of the order receiving position, the path re-planning control, and the arrival control in the main interface;

the device further comprises:

and the second determination module is used for responding to the touch operation aiming at the arrival control if the automatic driving vehicle arrives at the target position, and determining that the riding service instruction is completed.

Optionally, the apparatus further comprises:

and the second display module is used for displaying the travel planning information of the car sharing service instruction on the graphical user interface if the car sharing service instruction is received and is the car sharing service instruction.

Optionally, the graphical user interface further displays: a lane change control; the device further comprises:

and the third control module is used for responding to the touch operation aiming at the lane changing control and controlling the automatic driving vehicle to execute the lane changing operation corresponding to the lane changing control.

Optionally, the graphical user interface further shows: the website searches the control, the apparatus further includes:

the third display module is used for responding to the touch operation aiming at the site search control and displaying a site search interface, and the site search interface is provided with a site search box and controls of all sites;

a third determining module, configured to determine a second target site control in response to query information input through the site search box or in response to a touch operation for the second target site control; determining a fourth planned path from the position of the autonomous vehicle to a site corresponding to the second target site control;

and the fourth display module is used for displaying the fourth planned path in a preset map in the main interface.

Optionally, the graphical user interface further shows: and a fault reporting control, the apparatus further comprising:

the first detection module is used for responding to the touch operation aiming at the fault reporting control and detecting whether the automatic driving vehicle is in an automatic driving mode or not;

and the fifth display module is used for displaying an exit interface of the automatic driving mode if the automatic driving vehicle is in the automatic driving mode, wherein exit indication information is displayed in the exit interface.

Optionally, the exit interface further displays: exiting the control; the device further comprises:

and the disconnection module is used for responding to the touch operation aiming at the exit control, disconnecting the communication connection between the vehicle-mounted terminal and the vehicle-mounted automatic driving system and switching the vehicle-mounted terminal and the vehicle-mounted automatic driving system into a manual driving mode.

Optionally, the apparatus further comprises:

a sixth display module, configured to display a problem type selection interface if the autonomous vehicle is not in an autonomous driving mode, where the problem type selection interface displays multiple problem type controls;

and the reporting module is used for responding to the touch operation aiming at the target problem type control and reporting the fault information of the fault type corresponding to the target problem type control to the server.

Optionally, the fault type corresponding to the target problem type control is as follows: road condition failure; the device further comprises:

a seventh display module, configured to display a road condition reporting interface, where the road condition reporting interface displays: a three-dimensional scene of a location of the autonomous vehicle; the three-dimensional scene is displayed with: a plurality of three-dimensional roads; responding to touch operation aiming at a target three-dimensional road, and displaying road condition information of the target three-dimensional road in the road condition reporting interface; the fault information of the road condition fault comprises: and the road condition information.

Optionally, the road condition reporting interface has a first display area and a second display area, and the eighth display module is configured to display the road selection prompt information in the first display area, and display the three-dimensional scene in the second display area; responding to touch operation aiming at a target three-dimensional road, and displaying road condition information of the target three-dimensional road in the road condition reporting interface; and responding to the touch operation aiming at the target three-dimensional road, canceling the display of the road selection prompt information, and displaying the road condition information of the target three-dimensional road in the first display area.

Optionally, the eighth display module is configured to display the road condition information of the target three-dimensional road in the first display area, and continue to operate a control;

the device further comprises:

the recording module is used for responding to the touch operation aiming at the continuous operation control, and then starting recording to obtain a voice file; the fault information of the road condition fault further comprises: the voice file.

The invention has the beneficial effects that: the embodiment of the application provides a riding service processing method of an automatic driving vehicle, wherein if the automatic driving vehicle is in an automatic driving mode, whether a riding service instruction sent by a server is received or not is detected; if the riding service instruction is not received, receiving input selection operation aiming at the first target station control; determining a first planned path from the position of the autonomous vehicle to a site corresponding to the first target site control in response to the selection operation; controlling the autonomous vehicle to travel based on the first planned path; and displaying the first planned path in a preset map in a main interface of the automatic driving module. The selection operation of the first target station control is input into the vehicle-mounted terminal, then the vehicle-mounted terminal can determine the first planned path and automatically drive based on the first planned path, the vehicle control user operation is simplified, and the vehicle control user experience is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a graphical user interface provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of a main interface of an autopilot module provided by an embodiment of the present invention;

fig. 4 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention;

fig. 6 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a site search interface according to an embodiment of the present invention;

fig. 8 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of an exit interface according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a problem type selection interface provided by an embodiment of the present invention;

fig. 11 is a schematic diagram of a road condition reporting interface according to an embodiment of the present invention;

fig. 12 is a schematic diagram of a road condition reporting interface according to an embodiment of the present invention;

fig. 13 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention;

FIG. 14 is a diagram illustrating a recording interface according to an embodiment of the present invention;

fig. 15 is a schematic diagram of an upload interface according to an embodiment of the present invention;

fig. 16 is a schematic diagram of an exit confirmation interface according to an embodiment of the present invention;

fig. 17 is a schematic diagram of an exit prompt interface according to an embodiment of the present invention;

FIG. 18 is a schematic diagram of a detailed information interface provided by an embodiment of the present invention;

fig. 19 is a schematic structural diagram of a riding service processing device of an autonomous vehicle according to an embodiment of the present invention;

fig. 20 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that if the terms "upper", "lower", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the application is used, the description is only for convenience of describing the application and simplifying the description, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and operation, and thus, cannot be understood as the limitation of the application.

Furthermore, the terms "first," "second," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.

The method aims at solving the problems that in the related art, a vehicle control user needs to determine a route according to memory or mobile phone navigation software and drive by himself, the operation of the vehicle control user is inconvenient, and the experience of the vehicle control user is reduced. The embodiment of the application provides a riding service processing method of an automatic driving vehicle, wherein if the automatic driving vehicle is in an automatic driving mode, whether a riding service instruction sent by a server is received or not is detected; if the riding service instruction is not received, receiving input selection operation aiming at the first target station control; determining a first planned path from the position of the autonomous vehicle to a site corresponding to the first target site control in response to the selection operation; controlling the autonomous vehicle to travel based on the first planned path; and displaying the first planned path in a preset map in a main interface of the automatic driving module. The selection operation of the first target station control is input into the vehicle-mounted terminal, then the vehicle-mounted terminal can determine the first planned path and automatically drive based on the first planned path, the vehicle control user operation is simplified, and the vehicle control user experience is improved.

According to the riding service processing method of the automatic driving vehicle, an execution main body is a vehicle-mounted terminal capable of presenting a graphical user interface, and the vehicle-mounted terminal can be fixedly or detachably mounted at a position close to a driver seat or a steering wheel in the automatic driving vehicle. The vehicle-mounted terminal can be provided with processing equipment with a display function; the automated driving may be a vehicle that is automatically controlled to be driven by a controller, or may be automated in response to a control instruction input at a graphic user interface. The following describes a riding service processing method for an autonomous vehicle according to an embodiment of the present application, with a vehicle-mounted terminal as an execution subject.

In the embodiment of the application, at least one vehicle-mounted terminal corresponding to a vehicle control user can be arranged in the automatic driving vehicle, and at least one vehicle-mounted terminal corresponding to a riding user can be arranged. The vehicle-mounted terminal corresponding to the vehicle control user can be arranged in a safety control area in the automatic driving vehicle, the safety control area can be an area convenient for the vehicle control user to operate, and the safety control area can be arranged in the front row of the automatic driving vehicle. The vehicle-mounted terminal corresponding to the riding user may be provided with an area convenient for the riding user to operate, for example, may be provided at a front passenger seat and/or a rear row of the autonomous vehicle. Each in-vehicle terminal may be a terminal device having processing and display functions.

In addition, the operation user can adopt the user identity information to carry out login operation on the vehicle-mounted terminal, the vehicle-mounted terminal can respond to the login operation to determine the user identity, then the user right corresponding to the user identity is determined based on the preset mapping relation, and a control interface is presented according to the user right. The preset mapping relation is used for representing the corresponding relation between a plurality of preset user identities and a plurality of preset authorities. And displaying an operation button with the operation authority of the operation user on the control interface. The vehicle-mounted terminal can respond to the touch operation aiming at the control and determine a corresponding operation instruction. The identity of the operation user can be a vehicle control user, namely a user having control authority over the vehicle, such as a vehicle security officer or a vehicle control user; the identity of the operating user may also be a ride user, i.e. a passenger who does not have control authority over the vehicle, such as a ride service provided by the vehicle.

It should be noted that, the in-vehicle terminal in the embodiment of the present application may be an in-vehicle terminal operated by a vehicle control user. For example, the in-vehicle terminal operated by the vehicle control user may also be referred to as a security officer terminal, or a vehicle control user terminal.

In this embodiment, the instruction of the ride service may include: the riding service comprises riding user information, a pick-up position, a target position, riding driving preference information of a riding user and the like. The riding user information may include: identity information, contact information and riding service level information of a riding user; the riding driving preference information may be a riding driving mode determined in response to a selection operation input by the riding user at the riding service client, or may be a riding driving mode determined by the server based on a historical riding record of the riding user. For example, the driving preference information may be any one of the following modes: a smooth priority driving mode, and a smooth priority driving mode.

Fig. 1 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 1, the method includes:

s101, if the automatic driving vehicle is in an automatic driving mode, whether a riding service command sent by a server is received or not is detected.

In the automatic driving mode, when the vehicle-mounted terminal receives a riding service command from the server, the vehicle-mounted terminal can automatically drive based on a place in the riding service command.

In some embodiments, the server may be communicatively connected to the in-vehicle terminal, the ride user terminal. The riding user terminal can generate and send a riding request to the server, the server can generate a riding service instruction according to the riding request and distribute the riding service instruction to the vehicle-mounted terminal, and then the vehicle-mounted terminal detects the riding service instruction; when the server does not distribute the riding service instruction to the vehicle-mounted terminal, the vehicle-mounted terminal does not detect the riding service instruction.

And S102, if the riding service instruction is not received, receiving input selection operation aiming at the first target station control.

Fig. 2 is a schematic diagram of a graphical user interface provided in an embodiment of the present invention, and as shown in fig. 2, a plurality of site controls may be displayed on the graphical user interface presented by the vehicle-mounted terminal; the site controls may display a corresponding site name, for example, the site name may be "a car city" or "happy sky valley" or "B office".

The plurality of site controls displayed on the graphical user interface may be site controls determined by a setting operation in response to an input, and may be site controls corresponding to sites with a frequency of use greater than a preset frequency, which is not specifically limited in the embodiment of the present application. In addition, as shown in fig. 2, the plurality of site controls may further include: and (5) random site control. In response to an input selection operation for the random site control, a corresponding site can be randomly determined.

In an actual application, the selection operation for the first target site control may be a touch operation for the first target site control input by a user, for example, a click operation or a slide operation for the first target site control.

S103, responding to the selection operation, and determining a first planned path from the position of the automatic driving vehicle to the station corresponding to the first target station control.

The station corresponding to the first target station control can be a station position, and the position of the automatic driving vehicle can be the current position of the automatic driving vehicle. The current position and the site position can be coordinate information or longitude and latitude information.

It should be noted that the vehicle-mounted terminal may determine, by using a preset path planning rule, a first planned path from the position of the autonomous vehicle to a station corresponding to the first target station control. The planning can be performed based on reference factors such as road conditions and the shortest distance.

And S104, controlling the automatic driving vehicle to run based on the first planned path.

In one possible implementation, the vehicle-mounted terminal and the automatic driving controller may be in communication connection, the vehicle-mounted terminal may send the first planned path to the automatic driving controller, and the automatic driving controller may receive the first planned path and control the automatic driving vehicle to perform automatic driving according to the first planned path.

And S105, displaying the first planned path in a preset map in a main interface of the automatic driving module.

The vehicle-mounted terminal can switch and display the graphical user interface as a main interface of the automatic driving module. The graphical user interface may also be referred to as a menu interface.

Fig. 3 is a schematic view of a main interface of an automatic driving module according to an embodiment of the present invention, and as shown in fig. 3, the main interface of the automatic driving module presents a first planned path in a preset map, and in addition, the main interface of the automatic driving module may further include: and (4) driving information. The driving information may include at least one of the following information: navigation information, driving speed information. Optionally, when the in-vehicle terminal receives the notification information, the notification information may be displayed in the main interface, and the notification information may be cancelled from being displayed in response to the input touch operation for the notification information.

In addition, as shown in fig. 3, the site name of the site corresponding to the first target site control may also be displayed in the preset map.

To sum up, the embodiment of the present application provides a riding service processing method for an autonomous vehicle, where if the autonomous vehicle is in an autonomous mode, it is detected whether a riding service instruction sent by a server is received; if the riding service instruction is not received, receiving input selection operation aiming at the first target station control; determining a first planned path from the position of the autonomous vehicle to a site corresponding to the first target site control in response to the selection operation; controlling the autonomous vehicle to travel based on the first planned path; and displaying the first planned path in a preset map in a main interface of the automatic driving module. The selection operation of the first target site control is input into the vehicle-mounted terminal, then the vehicle-mounted terminal can determine the first planned path and automatically drive based on the first planned path, so that the user operation is simplified, and the user experience is improved.

Optionally, fig. 4 is a schematic flow chart of a riding service processing method of an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 4, the method further includes:

s201, if the riding service instruction is received, displaying information of a receiving position of the riding service instruction and a path re-planning control in a main interface.

In some embodiments, the taking service instruction may be received during the traveling process based on the first planned path, or the taking service instruction may be received when the vehicle is not in a traveling state, which is not specifically limited in the embodiment of the present application.

As shown in fig. 3, the main interface of the autopilot module presents information of the order taking position of the riding service instruction and a path re-planning control. The route re-planning control can display a 'route re-planning' word, the information of the order receiving position of the riding service instruction can be the getting-on point information of a riding user, the main interface of the automatic driving module can also present riding user information, and the riding user information comprises name information of at least one riding user.

S202, responding to the input touch operation aiming at the path re-planning control, and re-planning the path of the automatic driving vehicle to obtain a second planned path from the position of the automatic driving vehicle to the order receiving position.

In the embodiment of the application, when the autonomous vehicle needs to be controlled to go to the order taking position, the user can input touch operation aiming at the path re-planning control, and the vehicle-mounted terminal can respond to the operation and determine the second planned path from the position of the autonomous vehicle to the order taking position by adopting the preset path planning rule.

The user may perform a click operation, a slide operation or a long press operation, or other types of operations with respect to the path re-planning control, which is not specifically limited in the embodiment of the present application.

And S203, controlling the automatic driving vehicle to run based on the second planned path.

It should be noted that the vehicle-mounted terminal may send the second planned path to the automatic driving controller, and the automatic driving controller may receive the second planned path, and control the automatic driving vehicle to perform automatic driving according to the second planned path until the vehicle-mounted terminal drives to the order receiving position of the riding service instruction, and the riding user gets on the vehicle.

S204, switching the first planned path in the preset map into a second planned path.

And the display of the first planned path is cancelled in the preset map, and the display of the second planned path is carried out in the preset map. In addition, the name of the order receiving position of the riding service instruction can be displayed in the preset map.

Optionally, fig. 5 is a schematic flow chart of a riding service processing method of an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 5, the method further includes:

and S301, if the riding user in the riding service instruction gets on the bus, determining a third planned path from the getting-on position of the riding user to the target position of the riding service instruction.

The riding user in the riding service instruction gets on the bus and needs to be sent to the target position of the riding service instruction from the order receiving position of the riding service instruction, so that a third planning path from the getting-on position of the riding user to the target position of the riding service instruction needs to be planned.

And S302, controlling the automatic driving vehicle to run based on the third planned path.

Similarly, the vehicle-mounted terminal can send a third planned path to the automatic driving controller, and the automatic driving controller can receive the third planned path and control the automatic driving vehicle to automatically drive according to the third planned path until the vehicle runs to the target position of the riding service instruction, and the riding user reaches the destination underground vehicle.

S303, switching the second planned path in the preset map into a third planned path.

And the second planned path is cancelled from being displayed in the preset map, and the third planned path is displayed in the preset map. In addition, the name of the target position of the riding service instruction can be displayed in the preset map.

Optionally, the information of the order receiving position for displaying the riding service instruction in the main interface and the path re-planning control include:

and displaying the information of the order receiving position, the path re-planning control and the arrival control in the main interface.

As shown in fig. 3, an arrival control may be displayed in the main interface, wherein the arrival control may display an "arrival" typeface. It should be noted that, as shown in fig. 3, a menu control, a report control, and a cancel control may be displayed in the main interface. Wherein, the menu control is used for returning to the graphical user interface; the report control is used for acquiring the voice of the user and reporting the voice to the server; and the cancellation control is used for canceling the riding service instruction.

The method may further comprise:

In a possible implementation manner, the autonomous vehicle is automatically driven from the pick-up location to the target location, then the user can get off the vehicle at the target location, that is, the user has sent the vehicle to the target location, and the vehicle-mounted terminal can determine that the vehicle-mounted service instruction is completed and send vehicle-mounted service instruction completion information to the server, and the server can receive the vehicle-mounted service instruction completion information, for the touch operation input by the arrival control.

Optionally, the method further comprises:

and if the riding service instruction is received and is a car sharing service instruction, displaying the travel planning information of the car sharing service instruction on a graphical user interface.

Wherein, as shown in fig. 2, the trip planning information can be displayed on the graphical user interface.

It should be noted that the vehicle-mounted terminal may perform planning according to the car pooling service instruction to obtain corresponding trip planning information. For example, the trip planning information may include: a, a place (a first passenger user is connected); b, a place (a second passenger user is connected); c, place (first passenger user); d, delivering to the second passenger user.

Of course, when the riding service instruction is a common service instruction, that is, when the riding service instruction is not a sheet-sharing service instruction, the travel planning information of the common service instruction is displayed on the graphical user interface, which is not specifically limited in the embodiment of the present application.

Wherein, the number of lane changing controls can be at least one. For example, as shown in fig. 2, a left lane-changing control and a right lane-changing control may be displayed on the graphical user interface, where the left lane-changing control is used to control the autonomous vehicle to make a left lane change, and the right lane-changing control is used to control the autonomous vehicle to make a right lane change.

In some embodiments, in the automatic driving process, a user may input a touch operation for the lane change control, and then the vehicle-mounted terminal may determine and send a lane change instruction to the automatic driving controller, and the automatic driving controller may control the automatic driving vehicle to perform a corresponding lane change according to the lane change instruction.

Optionally, as shown in fig. 2, the graphical user interface further shows: and the site searching control can display the word of 'all sites'.

Fig. 6 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 6, the method may further include:

s401, responding to the touch operation aiming at the site searching control, and displaying a site searching interface.

Fig. 7 is a schematic diagram of a site search interface according to an embodiment of the present invention, and as shown in fig. 7, the site search interface includes a site search box and controls of all sites. The site search box may be displayed as a plurality of letter controls, which may be controls corresponding to 26 letters from a to Z, etc. As shown in fig. 7, a page turning control may also be displayed in the site search interface, and the control of the site in the site search interface is switched and displayed in response to an input touch operation for the page turning control. And displaying the controls of the sites with the same Pinyin initial letters of the site names in the same area.

In addition, a deletion control can be displayed in the site search box, and the letters corresponding to the selected letter controls are deleted in response to the input touch operation aiming at the deletion control. As shown in fig. 7, a return control may also be displayed in the site search interface, and the site search interface is switched and displayed as a graphical user interface in response to an input touch operation for the return control.

It should be noted that, when the user does not find a station ahead from the plurality of station controls displayed on the graphical user interface, the user may input a touch operation for the station search control, for example, the vehicle-mounted terminal may click the station search control, and then the graphical user interface is switched and displayed as the station search interface.

S402, responding to query information input through the site search box or responding to touch operation aiming at a second target site control, and determining the second target site control.

In some embodiments, a selection operation for the letter control is entered, the pinyin or english name of the site is determined, and then a second targeted site control may be determined. Of course, the second target site control in the controls of all the sites may be clicked, or the second target site control may be determined.

And S403, determining a fourth planned path from the position of the automatic driving vehicle to the station corresponding to the second target station control.

And S404, displaying the fourth planned path in a preset map in the main interface.

In the automatic driving mode, the in-vehicle terminal may control the automatic driving vehicle to perform automatic driving according to the fourth planned path. And in the non-automatic driving mode, the vehicle-mounted terminal only displays the fourth planned path in a preset map in the main interface so that the user can know the fourth planned path and does not control automatic driving.

Optionally, as shown in fig. 2, the graphical user interface further shows: fig. 8 is a schematic flow diagram of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention, where as shown in fig. 8, the method may further include:

s501, responding to touch operation aiming at the fault reporting control, and detecting whether the automatic driving vehicle is in an automatic driving mode.

And S502, if the automatic driving vehicle is in the automatic driving mode, displaying an exit interface of the automatic driving mode, wherein exit indication information is displayed in the exit interface.

When the automatic driving vehicle breaks down, a user can input touch operation to the fault reporting control, and if the automatic driving vehicle is in an automatic driving mode, the vehicle-mounted terminal can switch and display the graphical user interface as an exit interface. After the automatic driving mode is exited, the fault is reported, and the safety can be ensured.

In addition, the exit instruction information may be used to prompt the user to "please exit the automatic driving mode and then report the failure".

In the embodiment of the application, a user can exit the automatic driving mode through a hard connection pipe or a soft connection pipe, and when the user exits the automatic driving mode through the hard connection pipe, the user can operate any one of a brake pedal, an accelerator pedal and a steering wheel. When the automatic driving mode is exited in a soft take-over mode, the automatic driving mode can be achieved by operating a key on a steering wheel and an emergency take-over key. The automatic driving vehicle can also be provided with a cut-off button, and when the hard connecting pipe and the soft connecting pipe are both invalid, the automatic driving mode can be quitted by operating the cut-off button.

Optionally, fig. 9 is a schematic diagram of an exit interface provided in an embodiment of the present invention, and as shown in fig. 9, the exit interface further displays: the exit control and the exit indication information are also displayed in fig. 9; the method further comprises the following steps:

and responding to touch operation aiming at the exit control, disconnecting the communication connection between the vehicle-mounted terminal and the vehicle-mounted automatic driving system, and switching to a manual driving mode.

When the automatic driving mode needs to be quitted, a user can perform touch operation on the quitting control, the vehicle-mounted terminal can disconnect the communication connection between the vehicle-mounted terminal and the vehicle-mounted automatic driving system, the vehicle-mounted terminal cannot control the automatic driving vehicle to automatically drive through the vehicle-mounted automatic driving system, the automatic driving mode is quickly quitted, and the automatic driving mode is switched to the manual driving mode.

Optionally, the method may further include: if the automatic driving vehicle is not in the automatic driving mode, displaying a problem type selection interface; and responding to the touch operation aiming at the target problem type control, and reporting the fault information of the fault type corresponding to the target problem type control to the server.

Fig. 10 is a schematic diagram of an issue type selection interface according to an embodiment of the present invention, and as shown in fig. 10, the issue type selection interface displays multiple issue type controls. For example, the multiple issue type controls may include: abnormal behavior control, recording early warning control, road condition fault control and other fault control. Different controls may correspond to different failure types.

The user can select a target problem type control in the problem type selection interface according to a fault actually encountered, wherein the target problem type control can be any one of an abnormal behavior control, a recording early warning control, a road condition fault control and other fault controls. The problem type selection interface may also display a fault reporting operation prompt message, for example, "please select a fault type".

Optionally, the fault type corresponding to the target problem type control is as follows: road condition failure; here, the target problem type control may be the traffic fault control, and the method further includes:

displaying a road condition reporting interface; and responding to the touch operation aiming at the target three-dimensional road, and displaying the road condition information of the target three-dimensional road in a road condition reporting interface.

Wherein, the fault information of road condition trouble includes: and (5) road condition information.

In addition, fig. 11 is a schematic view of a road condition reporting interface according to an embodiment of the present invention, and as shown in fig. 11, the road condition reporting interface displays: automatically driving a three-dimensional scene of a position of a vehicle; the three-dimensional scene is displayed with: a plurality of three-dimensional roads. Road condition reporting interface can also display road selection prompt information, and the road selection prompt information can be 'selecting fault road from three-dimensional scene'. And a deselection control can be displayed on the road condition reporting interface and is used for deselecting the road condition reporting interface and displaying the problem type selection interface.

Fig. 12 is a schematic view of a road condition reporting interface according to an embodiment of the present invention, and as shown in fig. 12, the road condition reporting interface displays: and (4) road condition information of the target three-dimensional road.

Optionally, as shown in fig. 11 and 12, the road condition reporting interface has a first display area and a second display area, where the first display area displays the road selection prompt information, and the second display area displays the three-dimensional scene;

responding to the touch operation aiming at the target three-dimensional road, and displaying the road condition information of the target three-dimensional road in a road condition reporting interface; and responding to the touch operation aiming at the target three-dimensional road, canceling the display of the road selection prompt information, and displaying the road condition information of the target three-dimensional road in the first display area.

The road condition information of the target three-dimensional road is used for representing the position, type, speed limit and the like of the target three-dimensional road.

Optionally, fig. 13 is a schematic flow chart of a riding service processing method for an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 13, the displaying road condition information of a target three-dimensional road in a first display area includes:

s601, displaying the road condition information of the target three-dimensional road in the first display area, and continuously operating the control.

As shown in fig. 12, a continuous operation control is also displayed in the first display area. A cancel operation control may also be displayed in the first display area, and a road condition reporting interface shown in fig. 11 is displayed in response to an input touch operation for the cancel operation control.

The method further comprises the following steps:

s602, responding to the touch operation aiming at the continuous operation control, starting recording to obtain a voice file;

the fault information of the road condition fault further comprises: a voice file.

Fig. 14 is a schematic view of a recording interface according to an embodiment of the present invention, and as shown in fig. 14, the recording interface may display recording countdown information, a recording cancel control, and a three-dimensional scene; the recording countdown information and the recording cancel control may be displayed in a first display area, and the three-dimensional scene may be displayed in a second display area. The user may complete the recording within a preset time period, e.g., 30 seconds, as characterized by the recording countdown information. In response to the input touch operation for the recording cancellation control, the vehicle-mounted terminal may display a road condition reporting interface as shown in fig. 12.

Fig. 15 is a schematic view of an upload interface according to an embodiment of the present invention, and as shown in fig. 15, upload prompt information may be displayed in a first display area, and a three-dimensional scene may be displayed in a second display area.

Optionally, as shown in fig. 2, the graphical user interface further presents a service instruction control, and the method further includes: and responding to the input switching operation aiming at the service instruction control, and switching between the function of starting the service instruction and the function of closing the service instruction.

Optionally, as shown in fig. 2, the graphical user interface is also presented with an exit system control; the method further comprises the following steps: and responding to the input exit operation aiming at the exit system control, and presenting an exit confirmation interface.

Fig. 16 is a schematic diagram of an exit confirmation interface according to an embodiment of the present invention, as shown in fig. 16, the exit confirmation interface includes: the system comprises a confirmation control, a cancellation control and first exit prompt information, wherein the confirmation control can be used for indicating to confirm exit, and the cancellation control can be used for indicating to cancel exit; the first exit prompt message may be "please confirm whether to exit the system".

Or if the driver is in the automatic driving mode, responding to the input exit operation aiming at the exit system control, and presenting an exit prompt interface comprising exit prompt information. Fig. 17 is a schematic diagram of an exit prompt interface according to an embodiment of the present invention, and as shown in fig. 17, the exit prompt interface includes: a second exit prompt and confirmation prompt control; and responding to the input touch operation aiming at the prompt information confirming control, and determining that the user reads the quit prompt information. For example, the second exit prompt message may be "prohibit exit from the system in the automatic driving mode".

Optionally, as shown in fig. 2, the graphical user interface further presents a return control, and switches and displays the graphical user interface as a main interface in response to the touch operation for the return control. The graphical user interface is also presented with automatic data, which may include time data and/or driving speed data, for example. The graphical user interface also presents the picture information around the vehicle as collected by the onboard camera.

Optionally, as shown in fig. 2, the graphical user interface is further presented with other content controls, and the method may further include: and responding to the input information display operation aiming at other content controls, and displaying the detail information interface.

Fig. 18 is a schematic diagram of a detail information interface according to an embodiment of the present invention, and as shown in fig. 18, the following information is displayed in the detail information interface: the system comprises server real-time information, riding user vehicle-mounted terminal information and blacklist information; and responding to the expansion operation aiming at the server real-time information, and expanding and displaying the server real-time information. And a return menu control is displayed in the detail information interface, and the detail information interface is switched and displayed as a user graphical interface in response to touch operation aiming at the return menu control.

Fig. 19 is a schematic structural diagram of a riding service processing device for an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 19, the device includes:

a detection module 1901, configured to detect whether a riding service instruction sent by a server is received if an autonomous vehicle is in an autonomous driving mode;

a receiving module 1902, configured to receive, if a riding service instruction is not received, an input selection operation for a first target site control;

a determining module 1903, configured to determine, in response to the selecting operation, a first planned path from the location of the autonomous vehicle to a station corresponding to the first target station control;

a control module 1904 configured to control the autonomous vehicle to travel based on the first planned path;

a display module 1905, configured to display the first planned path in a preset map in a main interface of the automatic driving module.

Optionally, the apparatus further comprises:

the first display module is used for displaying the information of the order receiving position and the path re-planning control of the riding service instruction in the main interface if the riding service instruction is received;

the planning module is used for responding to the input touch operation aiming at the path re-planning control, performing path re-planning on the automatic driving vehicle and obtaining a second planned path from the position of the automatic driving vehicle to the order receiving position;

the first control module is used for controlling the automatic driving vehicle to run based on the second planned path;

the first switching module is used for switching the first planning path in the preset map into the second planning path.

Optionally, the apparatus further comprises:

the second control module is used for controlling the automatic driving vehicle to run based on the third planned path;

and the second switching module is used for switching the second planned path in the preset map into a third planned path.

Optionally, the first display module is further configured to display information of the order receiving position, the path re-planning control, and the arrival control in the main interface;

the device still includes:

Optionally, the apparatus further comprises:

Optionally, the graphical user interface further displays: a lane change control; the device still includes:

Optionally, the graphical user interface further shows: the website seeks the control, and the device still includes:

the third display module is used for responding to touch operation aiming at the site searching control and displaying a site searching interface, and the site searching interface is provided with a site searching box and controls of all sites;

the third determining module is used for responding to query information input through the site search box or responding to touch operation aiming at the second target site control to determine the second target site control; determining a fourth planned path from the position of the autonomous vehicle to a site corresponding to the second target site control;

Optionally, the graphical user interface further shows: and (3) reporting the control by the fault, wherein the device further comprises:

and the fifth display module is used for displaying an exit interface of the automatic driving mode if the automatic driving vehicle is in the automatic driving mode, and exit indication information is displayed in the exit interface.

Optionally, the exit interface further displays: exiting the control; the device still includes:

and the disconnection module is used for responding to touch operation aiming at the exit control, disconnecting the communication connection between the vehicle-mounted terminal and the vehicle-mounted automatic driving system and switching the vehicle-mounted terminal and the vehicle-mounted automatic driving system into a manual driving mode.

Optionally, the apparatus further comprises:

the sixth display module is used for displaying a problem type selection interface if the automatic driving vehicle is not in the automatic driving mode, and the problem type selection interface displays a plurality of problem type controls;

Optionally, the fault type corresponding to the target problem type control is as follows: road condition failure; the device still includes:

a seventh display module, configured to display a road condition reporting interface, where the road condition reporting interface displays: automatically driving a three-dimensional scene of a position of a vehicle; the three-dimensional scene is displayed with: a plurality of three-dimensional roads; responding to the touch operation aiming at the target three-dimensional road, and displaying the road condition information of the target three-dimensional road in a road condition reporting interface; the fault information of the road condition fault comprises: and (5) road condition information.

Optionally, the road condition reporting interface has a first display area and a second display area, and the eighth display module is configured to display the road selection prompt information in the first display area and display the three-dimensional scene in the second display area; responding to the touch operation aiming at the target three-dimensional road, and displaying the road condition information of the target three-dimensional road in a road condition reporting interface; and responding to the touch operation aiming at the target three-dimensional road, canceling the display of the road selection prompt information, and displaying the road condition information of the target three-dimensional road in the first display area.

Optionally, the eighth display module is configured to display the road condition information of the target three-dimensional road in the first display area, and continue to operate the control;

the device still includes:

the recording module is used for responding to the touch operation aiming at the continuous operation control, starting recording and obtaining a voice file; the fault information of the road condition fault further comprises: a voice file.

The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.

These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

Fig. 20 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention, where the vehicle-mounted terminal includes: a processor 2001, a memory 2002.

The memory 2002 is used to store programs, and the processor 2001 calls the programs stored in the memory 2002 to perform the above-described method embodiments. The specific implementation and technical effects are similar, and are not described herein again.

Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods 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 other various media capable of storing program codes.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A riding service processing method of an automatic driving vehicle is characterized by being applied to a vehicle-mounted terminal presenting a graphical user interface, wherein the vehicle-mounted terminal is mounted on the automatic driving vehicle, and the graphical user interface displays a plurality of station controls, and the method comprises the following steps:

controlling the autonomous vehicle to travel based on the first planned path;

2. The method of claim 1, wherein the method further comprises:

controlling the autonomous vehicle to travel based on the second planned path;

3. The method of claim 2, wherein the method further comprises:

controlling the autonomous vehicle to travel based on the third planned path;

4. The method of claim 3, wherein the information, path re-planning control to expose the pick-up location of the ride service instruction in the host interface comprises:

the method further comprises the following steps:

5. The method of claim 2, wherein the method further comprises:

6. The method of claim 2, wherein the graphical user interface further displays: a lane change control; the method further comprises the following steps:

7. The method of claim 1, wherein the graphical user interface further exhibits thereon: the site finding control, the method further comprising:

and displaying the fourth planned path in a preset map in the main interface.

8. The method of claim 1, wherein the graphical user interface further exhibits thereon: and reporting the control by the fault, wherein the method further comprises the following steps:

9. The method of claim 8, wherein the exit interface further displays: exiting the control; the method further comprises the following steps:

10. The method of claim 8, wherein the method further comprises:

11. The method of claim 10, wherein the target issue type control corresponds to a fault type of: road condition failure; the method further comprises the following steps:

12. The method as claimed in claim 11, wherein the road condition reporting interface has a first display area and a second display area, the first display area displays the road selection prompt information, and the second display area displays the three-dimensional scene;

13. The method as claimed in claim 12, wherein said displaying the traffic information of the target three-dimensional road in the first display area comprises:

the method further comprises the following steps:

14. A riding service processing apparatus for an autonomous vehicle, applied to a vehicle-mounted terminal presenting a graphical user interface, mounted on the autonomous vehicle, the graphical user interface displaying a plurality of station controls, the apparatus comprising:

15. A vehicle-mounted terminal characterized by comprising: a memory storing a computer program executable by the processor, and a processor implementing the method of any of the preceding claims 1-13 when executing the computer program.

16. A storage medium having stored thereon a computer program which, when read and executed, implements the method of any of claims 1-13.