CN113515584B - Local map data distribution method, device, electronic equipment and medium - Google Patents
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- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
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- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
The embodiment of the disclosure discloses a local map data distribution method, a device, an electronic device and a medium. One embodiment of the method comprises the following steps: extracting map data from a map database as initial map data; performing data structure conversion on the initial map data to generate target map data; storing the target map data to a cache layer; and distributing the travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer meets the data distribution condition. The implementation mode can reduce the complexity of the whole system and increase the running safety of the vehicle.
Description
Technical Field
Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a local map data distribution method, apparatus, electronic device, and medium.
Background
With the development of car navigation technology, the map data can be used not only for path planning but also for other applications in the vehicle (for example, car light control, enhanced cruise control, etc. safety programs). Currently, when providing a map data service to a vehicle, an advanced driving assistance system data transmission protocol is often adopted to provide a high-precision map data service to the outside through EHP (Electronic Horizon Provider, electronic horizon).
However, when the map data is distributed in the above manner, there are often the following technical problems:
first, EHP services are often built on the basis of high-precision positioning, so that a coupling relationship exists between a high-precision map and the high-precision positioning, the complexity of the whole system is increased, and the driving safety of a vehicle is reduced.
Secondly, the data between the server and the client is difficult to control due to the communication rate, so that the packet loss rate of the data is too high, and the quality of the data provided for the client is further affected.
Disclosure of Invention
The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Some embodiments of the present disclosure propose a local map data distribution method, apparatus, electronic device, and medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a local map data distribution method, the method comprising: extracting map data from a map database as initial map data; performing data structure conversion on the initial map data to generate target map data; storing the target map data to a cache layer; and distributing the travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer meets the data distribution condition.
In a second aspect, some embodiments of the present disclosure provide a partial map data distribution apparatus, the apparatus comprising: an extraction unit configured to extract map data from a map database as initial map data; a data structure conversion unit configured to perform data structure conversion on the initial map data to generate target map data; a storage unit configured to store the target map data to a cache layer; and a distribution unit configured to distribute travel path information corresponding to the target map data in the cache layer to a target client in response to determining that the target map data in the cache layer satisfies a data distribution condition.
In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.
The above embodiments of the present disclosure have the following advantageous effects: the local map data distribution method of some embodiments of the present disclosure can reduce the complexity of the whole system and increase the safety of vehicle driving. In particular, the complexity of the system as a whole is high, and the reason for the low safety of the vehicle running is that: the EHP service is often established on the basis of high-precision positioning, so that a coupling relation exists between a high-precision map and the high-precision positioning, the overall complexity of the system is increased, and the driving safety of a vehicle is reduced. Based on this, the local map data distribution method of some embodiments of the present disclosure first extracts map data from a map database as initial map data; a data base is provided for subsequent generation of target map data. Next, data structure conversion is performed on the initial map data to generate target map data. The server maintains a set of internal stable data structure for abstracting the original map data of the bottom layer so as to relieve the impact of different map data formats on the application layer. Then, the target map data is stored in a buffer layer. The method is used for caching map data in a preset range and used for improving data access efficiency. And finally, distributing the travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer meets the data distribution condition. And decoupling the client and the server, so that the overall complexity of the system is reduced, and the driving safety of the vehicle is improved.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a schematic illustration of one application scenario of a local map data distribution method of some embodiments of the present disclosure;
FIG. 2 is a flow chart of some embodiments of a local map data distribution method according to the present disclosure;
FIG. 3 is a schematic structural view of some embodiments of a local map data distribution apparatus according to the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic view of one application scenario of a local map data distribution method of some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may extract map data from the map database 102 as initial map data 103. Next, the computing device 101 may perform data structure conversion on the above-described initial map data 103 to generate target map data 104. The computing device 101 may then store the target map data 104 to the caching layer. Finally, the computing device 101 may distribute the travel path information 105 corresponding to the target map data 104 in the above-described cache layer to the target client 106 in response to determining that the target map data 104 in the above-described cache layer satisfies the data distribution condition.
The computing device 101 may be hardware or software. When the computing device is hardware, the computing device may be implemented as a distributed cluster formed by a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices listed above. It may be implemented as a plurality of software or software modules, for example, for providing distributed services, or as a single software or software module. The present invention is not particularly limited herein.
It should be understood that the number of computing devices in fig. 1 is merely illustrative. There may be any number of computing devices, as desired for an implementation.
With continued reference to fig. 2, a flow 200 of some embodiments of a local map data distribution method according to the present disclosure is shown. The local map data distribution method includes the steps of:
in step 201, map data is extracted from a map database as initial map data.
In some embodiments, the execution subject of the local map data distribution method (e.g., the computing device 101 shown in fig. 1) may extract map data within a preset range from the map database as initial map data by constructing a trigger. The map database is a database storing real-time map data of each large map maker (for example, a hundred-degree map and a high-german map).
As an example, the above-described preset range may be "beijing city, tongzhou area".
In some optional implementations of some embodiments, the execution subject of the local map data distribution method (e.g., the computing device 101 shown in fig. 1) extracts map data from the map database as initial map data, and may include the steps of:
first, a candidate map data set is extracted from the map database.
Wherein the candidate map data set is a map data set in a map database at the current moment.
And a second step of selecting candidate map data within a preset range from the candidate map data set as the initial map data based on the target position.
The execution subject may select candidate map data within a predetermined range from the candidate map data set as the initial map data based on a target position where a target vehicle is located. The predetermined range may be a circle centered on the target position and having a predetermined distance as a radius. The target position may be represented by longitude and latitude.
As an example, the above target position may be "117.682306, 39.678774". The predetermined distance may be 5 meters.
Step 202, performing data structure conversion on the initial map data to generate target map data.
In some embodiments, the executing entity (e.g., the computing device 101 shown in fig. 1) may perform data structure conversion on the initial map data to generate the data structure-converted initial map data as the target map data. The target data structure may be a data structure preset in the server.
Step 203, storing the target map data in the cache layer.
In some embodiments, the executing entity may store the target map data to the cache layer by using a DAS (Direct Attached Storage, direct memory access) method. The above-mentioned buffer layer can be used for buffering the high-precision map in the preset range.
As an example, the above-mentioned preset range may be "Zhengzhou City in Henan province" in the original district "
In some optional implementations of some embodiments, the executing body stores the target map data to the cache layer, may include the following steps:
first, data analysis is performed on the target map data to generate map analysis data.
The execution subject may analyze the target map data by using an SQL (Structured Query Language ) analysis method to generate map analysis data.
And a second step of storing the map analysis data into a cache layer.
The execution entity may store the map analysis data in a cache layer by using a NAS (Network Attached Storage, network connection storage) method.
In step 204, in response to determining that the target map data in the cache layer satisfies the data distribution condition, the travel path information corresponding to the target map data in the cache layer is distributed to the target client.
In some embodiments, the executing entity may distribute the travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer satisfies the data distribution condition. The data distribution condition may be that the target map data is within a preset position range.
In some optional implementations of some embodiments, the executing body, in response to determining that the target map data in the cache layer meets the data distribution condition, distributes travel path information corresponding to the target map data in the cache layer to the target client, including the following steps:
first, determining a transmission success rate corresponding to the target map data in the cache layer.
The execution body may determine a transmission success rate corresponding to the target map data in the cache layer according to the following formula:
wherein S represents the transmission success rate. p represents a preset packet loss rate. t represents the number of transmission data packets corresponding to the target map data in the buffer layer. n represents the number of redundant accumulations. i represents a redundant accumulation index.
And a second step of determining a redundancy value corresponding to the target map data in the buffer layer based on the transmission success rate in response to determining that the transmission success rate is greater than a first preset threshold.
Wherein, the first preset threshold may be 90%. The execution body may determine the redundancy value corresponding to the target map data in the cache layer according to the following formula:
wherein, R represents redundancy value corresponding to the target map data in the above-mentioned buffer layer.
The above formula is taken as an invention point of the embodiment of the present disclosure, and solves the second technical problem mentioned in the background art, namely "the quality of data provided to the client is low". Factors that result in lower quality data provided to the client tend to be as follows: the data between the server and the client is difficult to control due to the communication speed, so that the packet loss rate of the data is too high, the quality of the data provided for the client is further affected, and the quality of the data provided for the client is lower. If the above factors are solved, the effect of improving the quality of data provided to the client can be achieved. To achieve this, the present disclosure utilizes a redundancy-based sliding window algorithm for data flow control. During algorithm execution, the variable redundancy cumulative index is initialized to zero. For each data packet to be sent to the client, the success rate of the transmission of the data packet is determined based on the above formula. And determining the redundancy value in response to determining that the transmission success rate of the data packet is greater than a preset threshold. The method and the device dynamically adjust the redundancy coefficient based on the transmission success rate of the data packet, and further dynamically change the transmission efficiency of the data, so that the packet loss rate of the data can be reduced, and the quality of the data provided for the client is improved.
And thirdly, distributing the travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the redundancy value corresponding to the target map data in the cache layer is larger than a second preset threshold.
Wherein, the second preset threshold may be 10. The executing body distributes travel path information corresponding to the target map data in the cache layer to the target client, and may include the following sub-steps:
and a first sub-step of carrying out map matching on the target map data to obtain a map matching result. The execution subject may perform map matching on the target map data by using a map matching algorithm based on hidden markov, so as to obtain a map matching result.
And a second sub-step of determining travel path information corresponding to the target map data in the cache layer based on the map matching result. The execution subject may determine the travel path information by a map search method based on the map matching result. The travel path information may be information for characterizing a travel track.
And a third sub-step of distributing the travel path information to the target client. The execution body may control the target device of the target vehicle to travel according to the travel path information based on the travel path information. The target devices may be a brake, a steering wheel, and a throttle.
The above embodiments of the present disclosure have the following advantageous effects: the local map data distribution method of some embodiments of the present disclosure can reduce the complexity of the whole system and increase the safety of vehicle driving. In particular, the complexity of the system as a whole is high, and the reason for the low safety of the vehicle running is that: the EHP service is often established on the basis of high-precision positioning, so that a coupling relation exists between a high-precision map and the high-precision positioning, the overall complexity of the system is increased, and the driving safety of a vehicle is reduced. Based on this, the local map data distribution method of some embodiments of the present disclosure first extracts map data from a map database as initial map data; a data base is provided for subsequent generation of target map data. Next, data structure conversion is performed on the initial map data to generate target map data. The server maintains a set of internal stable data structure for abstracting the original map data of the bottom layer so as to relieve the impact of different map data formats on the application layer. Then, the target map data is stored in a buffer layer. The method is used for caching map data in a preset range and used for improving data access efficiency. And finally, distributing the travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer meets the data distribution condition. And decoupling the client and the server, so that the overall complexity of the system is reduced, and the driving safety of the vehicle is improved.
With further reference to fig. 3, as an implementation of the method shown in the above figures, the present disclosure provides some embodiments of a local map data distribution apparatus, which apparatus embodiments correspond to those method embodiments shown in fig. 2, and which apparatus is particularly applicable in various electronic devices.
As shown in fig. 3, the local map data distribution apparatus 300 of some embodiments includes: an extraction unit 301, a data structure conversion unit 302, a storage unit 303, and a distribution unit 304. Wherein the extraction unit 301 is configured to extract map data from the map database as initial map data; a data structure conversion unit 302 configured to perform data structure conversion on the initial map data to generate target map data; a storage unit 303 configured to store the target map data to a cache layer; and a distribution unit 304 configured to distribute travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer satisfies a data distribution condition.
It will be appreciated that the elements described in the apparatus 300 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting benefits described above with respect to the method are equally applicable to the apparatus 300 and the units contained therein, and are not described in detail herein.
Referring now to FIG. 4, a schematic diagram of an electronic device 400 (e.g., computing device 101 of FIG. 1) suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 4 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
As shown in fig. 4, the electronic device 400 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401, which may perform various suitable actions and processes according to a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
In general, the following devices may be connected to the I/O interface 405: input devices 404 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 shows an electronic device 400 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 4 may represent one device or a plurality of devices as needed.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 409, or from storage 408, or from ROM 402. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing device 401.
It should be noted that, the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be embodied in the apparatus; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: extracting map data from a map database as initial map data; performing data structure conversion on the initial map data to generate target map data; storing the target map data to a cache layer; and distributing the travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer meets the data distribution condition.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes an extraction unit, a data structure conversion unit, a storage unit, and a distribution unit. The names of these units do not constitute a limitation on the unit itself in some cases, and for example, the extraction unit may also be described as "a unit that extracts map data from a map database as initial map data".
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (8)
1. A local map data distribution method, comprising:
extracting map data from a map database as initial map data;
performing data structure conversion on the initial map data to generate target map data;
storing the target map data to a cache layer;
distributing travel path information corresponding to the target map data in the cache layer to a target client in response to determining that the target map data in the cache layer meets a data distribution condition;
wherein the extracting map data from the map database as initial map data includes:
extracting a candidate map data set from the map database;
selecting candidate map data within a preset range from the candidate map data set as the initial map data based on a target position;
wherein the responding to the determination that the target map data in the cache layer meets the data distribution condition distributes the driving path information corresponding to the target map data in the cache layer to the target client side comprises the following steps:
determining a transmission success rate corresponding to the target map data in the cache layer;
and determining a redundancy value corresponding to the target map data in the cache layer based on the transmission success rate in response to determining that the transmission success rate is greater than a first preset threshold.
2. The method of claim 1, wherein the method further comprises:
and controlling the target vehicle corresponding to the target client to run according to the running path information based on the running path information.
3. The method of claim 2, wherein the storing the target map data to a cache layer comprises:
performing data analysis on the target map data to generate map analysis data;
and storing the map analysis data to a cache layer.
4. The method of claim 3, wherein the distributing travel path information corresponding to the target map data in the cache layer to the target client in response to determining that the target map data in the cache layer satisfies a data distribution condition, further comprises:
and distributing the driving path information corresponding to the target map data in the cache layer to a target client in response to determining that the redundancy value corresponding to the target map data in the cache layer is larger than a second preset threshold.
5. The method of claim 4, wherein the distributing travel path information corresponding to the target map data in the cache layer to the target client comprises:
carrying out map matching on the target map data in the cache layer to obtain a map matching result;
determining travel path information corresponding to the target map data in the cache layer based on the map matching result;
and distributing the driving path information to a target client.
6. A local map data distribution apparatus comprising:
an extraction unit configured to extract map data from a map database as initial map data;
a data structure conversion unit configured to perform data structure conversion on the initial map data to generate target map data;
a storage unit configured to store the target map data to a cache layer;
a distribution unit configured to distribute travel path information corresponding to target map data in the cache layer to a target client in response to determining that the target map data in the cache layer satisfies a data distribution condition;
wherein the extraction unit is further configured to: extracting a candidate map data set from the map database; selecting candidate map data within a preset range from the candidate map data set as the initial map data based on a target position;
wherein the distribution unit is further configured to: determining a transmission success rate corresponding to the target map data in the cache layer; and determining a redundancy value corresponding to the target map data in the cache layer based on the transmission success rate in response to determining that the transmission success rate is greater than a first preset threshold.
7. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-5.
8. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-5.
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