CN113805191A - Laser radar multi-machine crosstalk prevention method and device and storage medium - Google Patents
Laser radar multi-machine crosstalk prevention method and device and storage medium Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention relates to a method, a device and a storage medium for preventing multi-machine crosstalk of a laser radar, wherein the method comprises the following steps: randomly generating verification information every preset first time length at intervals, wherein the verification information is used for controlling the on-off of a part of time intervals of the laser signal; emitting laser signals, wherein the laser signals comprise a check pulse and a ranging pulse, and controlling the on-off of the check pulse according to the check information; receiving an echo signal; demodulating the echo signal, and judging whether the echo signal contains the check information, if so, the echo signal is a normal signal, and if not, the echo signal is an abnormal signal; and carrying out scanning order decision and jump according to the validation result. The method consists of a dynamic verification technology and a space-time jump multiplexing technology, and aims to achieve the optimal balance between the radar scanning rate and the detection accuracy rate under the condition of coexistence of multiple computers.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a laser radar multi-machine crosstalk prevention method, a laser radar multi-machine crosstalk prevention device and a laser radar multi-machine crosstalk prevention storage medium.
Background
The current laser radar system carries out multi-angle multi-time measurement on the flight time or the angle of a single beam or a plurality of beams of laser pulses, thereby obtaining three-dimensional space information. Under general conditions, laser light spot of laser radar is less, and it is also less to receive detection module reception angle simultaneously, and when the laser radar quantity that is online simultaneously in the space of being close to is less, the probability that 2 or a plurality of radars scanned same exploration space simultaneously is very little, therefore the probability of mutual crosstalk is just very little. Under the condition that the application is not popularized yet at present, the problem of multi-radar crosstalk is not outstanding, but under a small probability, the problem of crosstalk still exists. When the laser radar is popular in the application fields of electric vehicles and the like, the probability of the occurrence of a plurality of radars in the same space is very high, the probability of the simultaneous scanning of 2 or more radars to the same detection space is also greatly increased, the laser pulse received by the existing laser radar in a certain time range cannot be distinguished from the laser echo transmitted by the existing laser radar or the laser beam or the reflected echo transmitted by other radars, so that crosstalk occurs, the detection of wrong space information can be caused, and the error can be fatal in the application scenes with extremely high safety requirements of automatic driving of motor vehicles and the like. Aiming at the problem, a scheme is that each radar uses an identifiable unique identification code, and the method can distinguish different radar pulses, but has the defects that the code length of the unique code is very long, so that the single-point single measurement time is long, the average laser power is high, the safety is weakened, and the scanning speed of the radar is low; meanwhile, the method needs the unified identification standard of all radars, and is difficult to realize; moreover, an attacker can acquire the radar identifier and establish scanning synchronization by monitoring the scanning light spot, and for malicious disguised identifier attacks, the method can be induced to output wrong spatial information, so that huge security holes exist.
Disclosure of Invention
In order to reduce radar multi-machine crosstalk and decoy attacks, the application provides a laser radar multi-machine crosstalk prevention method, a laser radar multi-machine crosstalk prevention device and a storage medium.
In a first aspect, the present application provides a method for preventing multi-machine crosstalk for a laser radar, which is composed of a dynamic verification technique and a space-time hopping multiplexing technique, and aims to achieve an optimal balance between a radar scanning rate and a detection accuracy rate under the condition that multiple machines coexist.
The following technical scheme is adopted specifically:
a laser radar multi-machine crosstalk prevention method comprises the following steps: randomly generating dynamic verification information every preset first time interval, wherein the verification information is used for controlling the on-off of part of time intervals of the laser signal to form verified binary code elements; emitting a laser signal, wherein the laser signal comprises a verification pulse and a ranging pulse, and the laser pulse is controlled to be switched on and off by the verification information; receiving a echo signal within a certain time window period; demodulating the echo signal, and judging whether the echo signal contains matched check information, wherein if yes, the echo signal is a normal signal, and if not, the echo signal is an abnormal signal.
By adopting the technical scheme, the validation information in the laser signal is randomly generated and is generated once every first time interval, so that the possibility of crosstalk between the laser signal and other laser signals can be reduced, and locked trap attacks can be prevented.
Further, when the received echo signal is an abnormal signal, the scanning space sequence of the emitted laser in the point cloud is randomly adjusted.
By adopting the technical scheme, the crosstalk probability is reduced and the synchronous locking of crosstalk is prevented through the space-time hopping multiplexing technology. When the echo signal is an abnormal signal, it is indicated that other laser radars scan the same point as the laser radar, and in order to avoid the other radars from continuing to scan the same next point as the laser radar, the scanning space sequence of the emitted laser signal in the point cloud is adjusted.
Further, when the received echo signal is an abnormal signal, the scanning space direction of the emitted laser in the point cloud is randomly adjusted.
By adopting the technical scheme, when the echo signal is an abnormal signal, the other laser radar and the laser radar are used for scanning the same point, and the scanning space direction of the laser signal in the point cloud is randomly adjusted to avoid the other radars and the laser radar continuing to scan the same next point.
Further, the frequency of receiving the abnormal signals is recorded or the probability of the abnormal signals appearing in all echo signals is calculated, and when the frequency of the abnormal signals exceeds a frequency threshold or the probability of the abnormal signals exceeds a probability threshold, a risk level and an alarm signal are output.
By adopting the technical scheme, the received abnormal signal or the output error measurement point result is a small probability event, and the system reasonably corrects and prevents errors through an algorithm according to the physical space-time continuity, so that the risk can be controlled within a safety range. When the probability of the abnormal signal exceeds a preset probability threshold, an alarm signal needs to be sent out to inform human intervention.
Further, a specific method for adjusting the scanning spatial order of the emitted laser signals in the point cloud is as follows: and randomly generating an initial scanning point of the laser signal scanned in the point cloud, and sending out the laser signal by the randomly adjusted initial scanning point.
By adopting the technical scheme, the initial scanning point scanned by the laser in the point cloud is changed, so that the possibility of scanning the same point with other laser signals at the same time can be reduced.
Further, a specific method for adjusting the scanning space direction of the emitted laser signal in the point cloud is as follows: and randomly generating the scanning space direction of the laser signal in the point cloud, and sending the laser signal in the randomly adjusted scanning space direction.
By adopting the technical scheme, the spatial direction of the laser scanning in the point cloud is changed, so that the possibility of scanning the same point with other laser signals at the same time can be reduced.
In a second aspect, the present application provides a laser radar multi-machine crosstalk prevention apparatus, which adopts the following technical scheme:
a lidar multi-machine crosstalk prevention apparatus, the apparatus comprising: the verification information generation module is used for randomly generating verification information every preset first time interval, and the verification information is used for controlling the on-off of a laser signal in a part of time interval; the laser sending module is used for sending laser signals, wherein the laser signals comprise check pulses and ranging pulses, and the on-off of the check pulses is controlled according to the check information; the laser receiving module is used for receiving echo signals; and the verification information verification module is used for demodulating the echo signal and judging whether the echo signal contains verification information, if so, the echo signal is a normal signal, and if not, the echo signal is an abnormal signal.
Furthermore, the device also comprises a laser adjusting module which is used for adjusting the scanning space sequence and the scanning space direction of the laser signal.
Further, the system also comprises an alarm module for recording the times of receiving the abnormal signals or calculating the probability of the abnormal signals appearing in all the echo signals, and when the times of the abnormal signals exceed a time threshold or the probability of the abnormal signals exceeds a probability threshold, outputting a risk level and an alarm signal.
In a third aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium storing a computer program which can be loaded by a processor and which performs the method of any one of claims 1 to 6.
In summary, the present application includes at least one of the following beneficial technical effects:
1. by the radar dynamic verification technology, the randomly generated verification information is added into the laser signal, the radar scanning rate and the detection accuracy can be considered at the same time, and the optimal decision combination is achieved.
2. Through the radar dynamic verification technology, the crosstalk error between the laser signal and other laser signals is prevented, and the spoofing attack can be effectively prevented.
3. By adopting the dynamic code, under the condition of the same identification code length, the crosstalk errors which are intensively and suddenly generated during repeated code in a unique code mode can be dispersed into individual discrete crosstalk errors which randomly occur among radar individuals, and the risk of subsequent initiation is reduced by combining an error correction mechanism.
4. Through the space-time jump multiplexing technology, when crosstalk is detected, the scanning space direction and the scanning space sequence are randomly adjusted, the possibility that the laser signal and other laser signals scan the same point again is reduced, scanning synchronous interference caused by multiple machines is avoided, and the probability of subsequent crosstalk and the possibility of attack locking are effectively reduced.
Drawings
FIG. 1 is a flowchart of a method for preventing multi-machine crosstalk of a laser radar according to the present application;
FIG. 2 is a schematic diagram of the laser signal during normal scanning;
FIG. 3 is a schematic diagram of the principle of random spatial hopping and random direction change of laser signals in the presence of crosstalk;
fig. 4 is a system block diagram of the laser radar multi-machine crosstalk prevention device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
The embodiment of the invention provides a laser radar multi-machine crosstalk prevention method, which comprises the following steps as shown in figure 1:
s1: and randomly generating verification information at every preset first time interval, wherein the verification information is used for controlling the on-off of part of time intervals of the laser signal to form verified binary code elements.
In the embodiment of the present application, the partial period of the laser signal is a partial symbol of the laser signal. The length of the laser signal section period is the number of symbols, and is represented by the code length.
The relationship between the code length L and the effective rate of the check E is given by the following equation:
E=1-(1/2)^(L)；
the code length of the dynamic code can influence the scanning speed of the radar, so the code length is not suitable to be too long or too short, the radar outputs a three-dimensional lattice of a physical world, and the radar has certain error correction capability on detection errors of extremely individual points due to the continuity of physical space-time. Therefore, the code length is set by controlling the effective rate E within a certain range.
S2: and emitting a laser signal, wherein the laser signal comprises a check pulse and a ranging pulse, and the check pulse is controlled to be switched on and off by the check information.
In the embodiment of the present application, the first duration is a preset time length, which is a time interval between two laser signal transmissions in the present application. The validation information is a randomly generated code, in one embodiment, the dynamic verification is realized by binary code elements, and the randomly generated code is composed of '0' and '1', wherein the logic '1' emits laser and the logic '0' does not emit; alternatively, a logic "0" fires the laser and a logic "1" does not fire.
In the embodiment of the present application, the randomly generated code may be combined with the fixed identification code to form a dynamic check code.
And a dynamic check code generation process:
the random number generator generates a plurality of random numbers and generates a random generation code;
allocating a fixed identification code preset in advance;
assembling the parts into a dynamic check code, wherein the assembling form of the dynamic check code can be as follows:
(start code +) fixed identification code + randomly generated code + fixed identification code;
(start code +) fixed identification code + random generation code;
a start code + a random generation code;
a start code, a random generation code and a fixed identification code;
(start code +) fixed identification code + random generated code + fixed identification code + random generated code;
(start code +) fixed identification code and randomly generated code.
The randomly generated code can be verified by determining the location of the randomly generated code from the start code or the fixed identification code.
The random generated code can be generated by a single chip microcomputer or an FPGA (field programmable gate array), for example, one of the generators of the random generated code is used for extracting a random signal from an oscillation loop formed by NOT gates in the FPGA in series.
The start code is the start mark of the scanning point check communication, and when the fixed identification code is fixed to start with the light output bit, the start code can be omitted. The fixed identification code can be an identification mark distributed to the radar device by a radar manufacturer, can be a unique identification and also can be a non-unique identification, the success rate of verification is guaranteed at a certain probability, and the risk of identification crosstalk is controlled. The randomly generated code is a group of binary code strings which are composed of random number bit strings dynamically generated by a random number generator in the radar device, and the scanning process can be performed one code at a time or one code at a time, preferably one code at a time. If a plurality of fixed identification codes are included in a dynamic check code, the plurality of fixed identification codes may be the same or different.
S3: the echo signal is received back within a certain time window period.
In the embodiment of the present application, the time window period is a maximum time range from the time when the laser signal is emitted to the time when the echo signal is formed by internal reflection within a certain distance to the receiving end. The echo signal is a laser signal received by the laser radar, and does not represent a signal reflected by a laser signal emitted by the laser radar, and may be a signal reflected by a laser signal emitted by another laser radar or a laser signal directly emitted by another laser radar.
S4: demodulating the echo signal, and judging whether the echo signal contains the check information, if so, the echo signal is a normal signal, and if not, the echo signal is an abnormal signal.
In an implementation mode, taking logic "1" to emit laser and logic "0" not to emit as an example, a random check code may be modulated to the width of a single laser emission pulse, the check information is checked by the position of the check information in the echo signal to complete dynamic check and identification, when the width of the random check code of the echo signal obtained by the check is completely consistent with the random check code of the emitted laser signal, it is indicated that the echo signal contains the check information, the echo signal is a normal signal, the ranging pulse in the echo signal may be used for ranging and constructing a three-dimensional image, otherwise, the echo signal is an abnormal signal, and the abnormal signal is not used for ranging and constructing a three-dimensional image.
In another embodiment, a dynamic verification code may be modulated onto the interval of two laser pulses, and the identification of the dynamic verification is accomplished by verifying the width of the interval of the return pulse.
In the embodiment of the present application, the method further includes the following steps:
and when the received echo signals are abnormal signals, randomly adjusting the scanning space direction of the emitted laser signals in the point cloud and/or randomly adjusting the scanning space sequence of the emitted laser signals in the point cloud.
In one embodiment, randomly adjusting the scanning spatial direction of the lasing signals in the point cloud and randomly adjusting the scanning spatial order of the lasing signals in the point cloud may be performed separately, and in some embodiments, adjusting the scanning spatial direction of the lasing signals in the point cloud and adjusting the scanning spatial order of the lasing signals in the point cloud may be performed simultaneously.
The specific method for randomly adjusting the scanning space sequence of the laser signals in the point cloud comprises the following steps: and randomly generating an initial scanning point of the laser signal scanned in the point cloud, and sending out the laser signal by the randomly adjusted initial scanning point. Wherein the jumped scanning initial scanning point is generated by a random number generator.
The specific method for randomly adjusting the scanning space direction of the laser signal in the point cloud comprises the following steps: and randomly generating the scanning space direction of the laser signal in the point cloud, and sending the laser signal in the randomly adjusted scanning space direction. The spatial direction of the scan is generated by a random number generator.
The scanning space order and the scanning space direction can be randomly adjusted under the condition of crosstalk independently or can be randomly adjusted under the condition of crosstalk.
In one embodiment, taking the example that the scanning space order and the scanning space direction are randomly adjusted, referring to fig. 2, in a normal case, the scanning performs a certain regular sequential scanning in the field space, such as: the initial scanning point (x, y) has the initial position of (0,0), x is unchanged first, and y is completed from 0 to ymaxThen x +1, completes the next row y from 0 to ymaxScanning of (2). Finish line by line to (x)max, ymax) And then back to (0, 0).
When crosstalk is detected, crosstalk is avoided by spatial random hopping and random change of direction.
Referring to FIG. 3, for example, scan to (x)1,y1) Crosstalk occurs at a position and the next scanning point is (x)2,y2)；
The spatial jump may be: x is the number of2= x1+a，y2=y1+ b, wherein a and b are random numbers respectively, that is, the scanning space sequence is adjusted;
the next scanning point is (x)3,y3) The direction of the two-dimensional scan in the imaging field of view can then be defined by a randomly generated random number c.
For example:
c is a random number of 0-3;
c =0, then x3=x2(+1)，y3= y2+1, i.e. first y forward scan, then x forward scan;
c =1, then x3=x(+1)2，y3= y21, i.e. first y negative scan and then x positive scan;
c =2, then x3=x2(-1)，y3= y2+1, i.e. scanning first in positive y direction and then in negative x direction;
c =3, then x3=x2(-1)，y3= y21, i.e. first y negative scan and then x negative scan;
thereby realizing the adjustment of the scanning space direction.
(x4,y4) To (x)max, ymax) The scanning is performed according to the random number selected above, and the scanning is returned to the origin (0,0) again, and the scanning of the next field of view is started.
Embodiments of the present application may further include the steps of:
and recording the frequency of receiving the abnormal signals or calculating the probability of the abnormal signals appearing in all echo signals, outputting a risk level when the frequency of the abnormal signals exceeds a frequency threshold or the probability of the abnormal signals exceeds a probability threshold, and sending an alarm signal.
In one embodiment, the alarm mode of the abnormal signal may be based on the number of times of occurrence of the abnormal signal, and the alarm signal is sent only when the number of times of the abnormal signal exceeds a preset threshold value. In some embodiments, since the frequency of laser scanning is very high, the number of times of occurrence of abnormal signals may be very large, but the probability is very small, so an alarm manner of abnormal signals may be set, or the probability of occurrence of abnormal signals may be used as a reference for evaluation, and the calculation manner of the probability of occurrence of abnormal signals is as follows: the number of occurrences of an abnormal signal/the number of occurrences of an echo signal = the probability of the occurrence of an abnormal signal.
The specific way of sending the alarm signal may be to set multiple levels of sequentially increasing thresholds, where different thresholds correspond to different alarm signals to indicate the emergency degree of the alarm, and the higher the threshold is, the higher the corresponding emergency degree is. To alert a human operator to an intervention in the application of the radar, such as exiting an automatic mode during assisted driving.
According to the method and the device, the check information changes randomly along with time in a dynamic check code mode, so that the collected laser pulse can be identified, the occurrence of crosstalk errors can be prevented, and meanwhile, the occurrence of attack can be identified and prevented. Meanwhile, when the occurrence of crosstalk is detected, the probability of the occurrence of the crosstalk can be further reduced by randomly jumping the sequence and the direction of a scanning space, and the scanning synchronous interference caused by multiple machines is avoided. Because the check code changes dynamically, the probability that crosstalk is generated and cannot be identified can be controlled to be very small, and the application safety cannot be influenced by a single point detection error with a small probability, so that the code length of the dynamic check code can be much shorter than that of the unique code. By the method, under the condition of the same identification code length, the crosstalk errors which are intensively and violently generated when the unique code is repeated can be dispersed into individual discrete crosstalk errors which randomly occur among radar individuals, and the risk of subsequent triggering is reduced.
The application also discloses laser radar prevents multimachine crosstalk device, refers to fig. 4, and the device includes:
the verification information generation module is used for randomly generating verification information at intervals of a preset first time length, and the verification information is used for controlling the on-off of partial time intervals of the laser signal to form a verified binary code element;
the laser transmitting module is used for transmitting laser signals, the laser signals comprise check pulses and ranging pulses, and the check pulses are controlled to be switched on and off by the check information;
the laser receiving module is used for receiving echo signals within a certain time window period;
and the verification information verification module is used for demodulating the echo signal and judging whether the echo signal contains matched verification information, if so, the echo signal is a normal signal, and if not, the echo signal is an abnormal signal.
And the laser adjusting module is used for adjusting the scanning space sequence and the scanning space direction of the laser signal.
And the alarm module is used for recording the times of receiving the abnormal signals or calculating the probability of the abnormal signals appearing in all echo signals, and outputting risk levels and alarm signals when the times of the abnormal signals exceed a time threshold or the probability of the abnormal signals exceeds a probability threshold.
For specific limitations of the apparatus for preventing multiple-machine crosstalk of the laser radar, reference may be made to the above limitations of the method for preventing multiple-machine crosstalk of the laser radar, and details thereof are not repeated herein. All or part of each module in the laser radar multi-machine crosstalk prevention device can be realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the laser radar multi-machine crosstalk prevention method is implemented.
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. 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 invention.
Claims (10)
1. A laser radar multi-machine crosstalk prevention method is characterized by comprising the following steps:
randomly generating verification information every preset first time length at intervals, wherein the verification information is used for controlling the on-off of part of time intervals of the laser signal to form verified binary code elements;
emitting laser signals, wherein the laser signals comprise a check pulse and a ranging pulse, and the check pulse is controlled to be switched on and off by the check information;
receiving a echo signal within a certain time window period;
demodulating the echo signal, and judging whether the echo signal contains matched check information, wherein if yes, the echo signal is a normal signal, and if not, the echo signal is an abnormal signal.
2. The lidar multi-machine crosstalk prevention method according to claim 1, wherein when the received echo signal is an abnormal signal, a scanning spatial order of the emitted laser signal in the point cloud is randomly adjusted.
3. The laser radar multi-machine crosstalk prevention method according to claim 1 or 2, wherein when the received echo signal is an abnormal signal, the scanning space direction of the emitted laser signal in the point cloud is randomly adjusted.
4. The laser radar multi-machine crosstalk prevention method according to claim 1, wherein the number of times that abnormal signals are received is recorded or the probability that the abnormal signals appear in all echo signals is calculated, and when the number of times that the abnormal signals exceed a number threshold or the probability that the abnormal signals exceed a probability threshold, a risk level and an alarm signal are output.
5. The laser radar multi-machine crosstalk prevention method according to claim 2, wherein the specific method for randomly adjusting the scanning space sequence of the emitted laser signals in the point cloud is as follows:
and randomly generating an initial scanning point of the laser signal scanned in the point cloud, and sending out the laser signal by the randomly adjusted initial scanning point.
6. The laser radar multi-machine crosstalk prevention method according to claim 3, wherein the specific method for randomly adjusting the scanning space direction of the emitted laser signal in the point cloud is as follows:
and randomly generating the scanning space direction of the laser signal in the point cloud, and sending the laser signal in the randomly adjusted scanning space direction.
7. A laser radar multi-machine crosstalk prevention apparatus, comprising:
the verification information generation module is used for randomly generating verification information every preset first time interval, and the verification information is used for controlling the on-off of a laser signal in a part of time interval;
the laser sending module is used for sending laser signals, the laser signals comprise check pulses and ranging pulses, and the on-off of the check pulses is controlled according to the check information;
the laser receiving module is used for receiving echo signals;
and the verification information verification module is used for demodulating the echo signal and judging whether the echo signal contains verification information, if so, the echo signal is a normal signal, and if not, the echo signal is an abnormal signal.
8. The lidar multi-machine crosstalk prevention apparatus of claim 7, further comprising a laser adjustment module for adjusting a scanning space sequence and a scanning space direction of the laser signal.
9. The lidar multi-machine crosstalk prevention device according to claim 7, further comprising an alarm module for recording the number of times the abnormal signal is received or calculating the probability of the abnormal signal appearing in all the echo signals, and outputting a risk level and an alarm signal when the number of times the abnormal signal exceeds a threshold number or the probability of the abnormal signal exceeds a threshold probability.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 6.
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