CN114827403A - Vehicle-mounted image acquisition system, control method, vehicle and storage medium - Google Patents
Vehicle-mounted image acquisition system, control method, vehicle and storage medium Download PDFInfo
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention relates to a vehicle-mounted image acquisition system, a control method for vehicle-mounted image acquisition, a vehicle and a storage medium. The vehicle-mounted image acquisition system comprises: the first module comprises a first image acquisition unit and a first light supplement unit used for the first image acquisition unit; the second module comprises a second image acquisition unit and a second light supplement unit used for the second image acquisition unit; and a control unit configured to: receiving a first driving signal from a first image capturing unit and a second driving signal from a second image capturing unit; performing a logical or operation on the first drive signal and the second drive signal to generate a third drive signal; and driving the first light supplementing unit and the second light supplementing unit by using a third driving signal, wherein the first light supplementing unit and the second light supplementing unit are simultaneously turned on or off according to the third driving signal.
Description
Technical Field
The present invention relates to the field of automobiles, and more particularly to an on-vehicle image capturing system, a control method for on-vehicle image capturing, a vehicle, and a storage medium.
Background
In order to further guarantee the safety of drivers and passengers, in-cabin monitoring technology is developed and becomes necessary technology for protecting driving safety, realizing cabin intellectualization and stepping toward automatic driving. More and more vehicle cabin environments are deployed with multiple image capturing devices (e.g., cameras) for image capturing at the same time, and these image capturing devices may generate exposure interference at some time points during the image capturing process, so that images cannot be captured normally.
At present, there are two main methods for solving the mutual exposure interference between a plurality of image acquisition devices: one is a wavelength division multiplexing scheme, i.e., each image capture device is configured to operate in different wavelength bands (e.g., 850 nm and 940 nm), and exposure interference is avoided by filtering techniques, however, this scheme still has the possibility of red exposure; another is a time-division multiplexing scheme, i.e. completely staggering the exposure times of the image acquisition devices, which has the disadvantage of limiting the exposure times and reducing the frame rate.
Disclosure of Invention
According to an aspect of the present invention, there is provided an in-vehicle image capturing system including: the first module comprises a first image acquisition unit and a first light supplement unit used for the first image acquisition unit; the second module comprises a second image acquisition unit and a second light supplement unit used for the second image acquisition unit; and a control unit configured to: receiving a first driving signal from the first image acquisition unit and a second driving signal from the second image acquisition unit; performing a logical OR operation on the first drive signal and the second drive signal to generate a third drive signal; and driving the first light supplementing unit and the second light supplementing unit by using the third driving signal, wherein the first light supplementing unit and the second light supplementing unit are simultaneously turned on or off according to the third driving signal.
Alternatively or additionally to the above, in a system according to an embodiment of the invention, the control unit is further configured to trigger the first image capturing unit and the second image capturing unit with a frame synchronization signal, wherein the frame synchronization signal is used to synchronize frame start times of the first image capturing unit and the second image capturing unit.
Alternatively or additionally to the above, in the system according to an embodiment of the present invention, the first image capturing unit is configured to generate the first driving signal based on at least the frame synchronization signal and a first exposure time of the first image capturing unit, wherein the first driving signal is at a high level during a start exposure time of a first pixel row to an end exposure time of a last pixel row of the current frame.
Alternatively or additionally to the above, in the system according to an embodiment of the invention, the second image capturing unit is configured to generate the second driving signal based on at least the frame synchronization signal and a second exposure time of the second image capturing unit, wherein the second driving signal is at a high level during a period from a start exposure time to an end exposure time of a pixel row of a current frame.
Alternatively or additionally to the above, in the system according to an embodiment of the present invention, the first fill-in light unit and the second fill-in light unit are configured to: supplementing light when the third driving signal is at a high level; and when the third driving signal is at a low level, the light is not supplemented.
Alternatively or additionally to the above, in the system according to an embodiment of the invention, the exposure mode of the first image capturing unit is rolling shutter exposure, and the exposure mode of the second image capturing unit is global exposure.
Alternatively or additionally to the above, in a system according to an embodiment of the invention, the first module and the second module are deployed in the same cabin environment.
According to another aspect of the present invention, there is provided a control method for vehicle-mounted image capturing, including the steps of: A. receiving a first driving signal from a first image capturing unit and a second driving signal from a second image capturing unit; B. performing a logical OR operation on the first drive signal and the second drive signal to generate a third drive signal; and C, driving a first light supplementing unit used for the first image acquisition unit and a second light supplementing unit used for the second image acquisition unit by using the third driving signal, wherein the first light supplementing unit and the second light supplementing unit are simultaneously turned on or turned off according to the third driving signal.
Alternatively or additionally to the above, a method according to an embodiment of the invention further comprises: D. and triggering the first image acquisition unit and the second image acquisition unit by using a frame synchronization signal, wherein the frame synchronization signal is used for synchronizing the frame start time of the first image acquisition unit and the frame start time of the second image acquisition unit.
Alternatively or additionally to the above, a method according to an embodiment of the invention further comprises: e1, generating the first driving signal based on at least the frame synchronization signal and the first exposure time of the first image capturing unit, wherein the first driving signal is at high level during the period from the beginning exposure time of the first pixel row to the ending exposure time of the last pixel row of the current frame of the first image capturing unit; and/or E2, generating the second driving signal based on at least the frame synchronization signal and a second exposure time of the second image capturing unit, wherein the second driving signal is at a high level during a start exposure time to an end exposure time of a pixel row of a current frame of the second image capturing unit.
Alternatively or additionally to the above, in the method according to an embodiment of the present invention, in step C, the turning on or off the first and second light supplement units simultaneously according to the third driving signal includes: the first light supplement unit and the second light supplement unit supplement light when the third driving signal is at a high level, and do not supplement light when the third driving signal is at a low level.
According to still another aspect of the present invention, there is provided a vehicle including: an onboard image capture system according to any embodiment of an aspect of the present invention.
According to yet another aspect of the present invention, there is provided a computer readable storage medium having stored thereon program instructions executable by a processor, the program instructions, when executed by the processor, performing a method according to any of the embodiments of an aspect of the present invention.
On one hand, in the scheme for vehicle-mounted image acquisition provided by the invention, the driving signals (e.g., the first driving signal and the second driving signal) of the light supplement lamps (e.g., the first light supplement unit and the second light supplement unit) of each image acquisition device (e.g., the first image acquisition unit and the second image acquisition unit) are logically or-operated, so that the moment when each light supplement lamp starts to light up is the smaller value of the exposure starting moments of each image acquisition device, and the moment when each light supplement lamp stops is the larger value of the exposure ending moments of each image acquisition device, thereby ensuring that the light supplement lamps of each image acquisition device synchronously light up and synchronously stop. Compared with the time division multiplexing scheme, the scheme is not limited by exposure time and camera frame rate, and is not limited by the back-end image signal processing capability.
On the other hand, in the scheme for vehicle-mounted image capturing according to one or more embodiments of the present invention, the same synchronization signal is used to trigger each image capturing device, so as to ensure that each image capturing device outputs synchronously and further reduce exposure interference between the image capturing devices.
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The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings, in which like or similar elements are designated with like reference numerals. The drawings comprise:
FIG. 1 shows a schematic block diagram of an in-vehicle image acquisition system 10 according to one embodiment of the present invention;
FIG. 2 shows a schematic diagram of a rolling shutter exposure mode according to an embodiment of the invention;
FIG. 3 shows a schematic diagram of a global exposure mode according to an embodiment of the invention;
FIG. 4 shows a waveform diagram of a third drive signal according to an embodiment of the invention; and
FIG. 5 shows a schematic flow diagram of a control method 50 for an in-vehicle imaging system, according to an embodiment of the invention.
Detailed Description
In this specification, the invention is described more fully with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that the terms "first", "second", and the like herein are used for distinguishing similar objects, and are not necessarily used for describing a sequential order of the objects in terms of time, space, size, and the like. Furthermore, unless specifically stated otherwise, the terms "comprises," "comprising," and the like, herein are intended to mean non-exclusive inclusion.
In this specification, the term "vehicle" or other similar terms include general motor vehicles such as passenger cars (including sport utility vehicles, buses, trucks, etc.), various commercial vehicles, and the like, and includes hybrid cars, electric cars, plug-in hybrid electric vehicles, and the like. A hybrid vehicle is a vehicle having two or more power sources, such as gasoline powered and electric vehicles.
In this specification, the term "image pickup unit" refers to an apparatus such as a camera, a lens, a video camera, or the like capable of acquiring an image or picture information within a coverage. It should be noted that, in this document, the terms camera, lens, video camera, camera head, etc. are similar in meaning and may be used interchangeably, and the present invention is not limited thereto.
At present, a DMS (Driver Monitor System) camera and an OMS (Occupant Monitor System) camera are commonly used monitoring devices in an intelligent vehicle cabin scene, and the two cameras are independent from each other in terms of function and shape. The exposure mode of the DMS camera is generally global exposure, which detects the driving state of the driver based on an infrared technique and monitors the driver based on the detected driving state. The exposure mode of the OMS camera is generally a rolling shutter type exposure, which detects the riding state of the cabin members based on an infrared technology and monitors the cabin members based on the detected riding state. Because the exposure time of the two cameras working simultaneously is asynchronous, and because the exposure duration of the global exposure is shorter than that of the rolling shutter exposure, the infrared light emitted by the DMS camera can cause crosstalk to the OMS camera, so that the OMS camera has the problem of flicker of picture brightness.
In some related arts, in order to solve the above-mentioned exposure interference, the operating band of the DMS camera is determined to be 850 nm, and the operating band of the OMS camera is determined to be 940 nm, so that the exposure interference between the two is reduced by an optical filtering technique. However, since a light source of 850 nm band is close to a visible light band (780 nm to 400 nm), it may cause interference to a vehicle occupant. Furthermore, a 850 nm light source still has the possibility of red exposure. In other related techniques, the exposures of the OMS camera and the DMS camera are completely staggered in time, which, however, limits the exposure time and reduces the frame rate of the image
In view of the above, the present invention innovatively provides a solution for vehicle-mounted image acquisition, which implements synchronous on and off of light supplement lamps by performing a logical or operation on driving signals of the light supplement lamps for each image acquisition device (e.g., an OMS camera and a DMS camera) and driving the light supplement lamps of each image acquisition device by using a generated output signal (e.g., a third driving signal). According to the scheme for vehicle-mounted image acquisition, the problem of limiting the frame rate and the exposure time of a camera in a time division multiplexing scheme is solved, and the red exposure problem in a wavelength division multiplexing scheme is also avoided.
Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.
Referring now to FIG. 1, a schematic block diagram of an in-vehicle image acquisition system 10 in accordance with one embodiment of the present invention.
As shown in fig. 1, the vehicle-mounted image capturing system 10 includes a first module 110, a second module 120, and a control unit 130, wherein the first module 110 includes a first image capturing unit 111 and a first light supplement unit 112, and the second module 120 includes a second image capturing unit 121 and a second light supplement unit 122.
Illustratively, the first image capturing unit 111 and the second image capturing unit 121 may include, but are not limited to, a camera, a lens, a video camera, and the like capable of acquiring images or video information within a coverage area. Exemplarily, the first image capturing unit 111 and the second image capturing unit 121 may include image sensors.
Alternatively, the first module 110 and the second module 120 may be image capture modules mounted in the same image capture environment. For example, in a cabin scenario, the first module 110 and the second module 120 may be deployed within the same cabin. Illustratively, the first module 110 and the second module 120 are physically independent of each other.
Alternatively, the first image capturing unit 111 and the second image capturing unit 121 may have different exposure patterns. For example, the exposure mode of the first image capturing unit 111 is rolling shutter exposure, and the exposure mode of the second image capturing unit 121 is global exposure; alternatively, the exposure mode of the first image capturing unit 111 is global exposure, and the exposure mode of the second image capturing unit 121 is rolling shutter exposure.
Alternatively, the first image capturing unit 111 may be a camera for cockpit monitoring, and the second image capturing unit 121 may be a camera for driver monitoring. For example, the first image capturing unit 111 may be an OMS camera having a rolling exposure mode, and the second image capturing unit 121 may be a DMS camera having a global exposure mode.
Illustratively, the control unit 130 in the in-vehicle image capturing system 10 may be mounted in the same image capturing environment as the first module 110 and the second module 120. For example, in a cabin scenario, the control unit 130, the first module 110, and the second module 120 may be deployed within the same cabin.
Illustratively, the control unit 130 may also be integrated in the first module 110 and/or the second module 120, or arranged in an external device communicatively coupled with the first module 110 and the second module 120.
Alternatively, the control unit 130 may be configured to trigger the first image capturing unit 111 and the second image capturing unit 121 using a frame synchronization signal for synchronizing frame start times of the first image capturing unit 111 and the second image capturing unit 121.
Compared with the prior art that different exposure synchronizing signals are directly output to the control end of each image acquisition device to achieve synchronization between the turn-on time of the light supplementing lamps and the exposure of the image acquisition devices (such as image sensors), the scheme of driving each image acquisition device by using the same frame synchronizing signal according to the invention can help achieve synchronous turn-on and turn-off of each light supplementing lamp, thereby solving the problem of infrared crosstalk. Illustratively, the frame synchronization signal may be a control signal from outside the in-vehicle image capturing system 10.
Alternatively, after receiving the frame synchronization signal from the control unit 130, the first image capturing unit 111 may generate the first driving signal based on at least the frame synchronization signal and the first exposure time of the first image capturing unit 111; also, the second image pickup unit 121 may generate the second driving signal based on at least the frame synchronization signal and the second exposure time of the second image pickup unit 121.
A process of generating the first driving signal by the first image capturing unit 111 is described below with reference to fig. 2, taking an OMS camera having a rolling shutter type exposure method as an example.
As shown in fig. 2, the exposure of the first image capturing unit (e.g., the first image capturing unit 111 in fig. 1) with the rolling shutter type exposure mode is performed line by line, that is, the pixels are not exposed simultaneously, but the pixels on the same line are exposed simultaneously, and the exposure start times of different lines are different.
It should be noted that the first image capturing unit may perform exposure immediately after receiving the frame synchronization signal, or perform exposure with a delay time, which is not limited in the present invention.
In fig. 2, the first pixel row starts exposure first and ends exposure first, the start exposure time and the end exposure time of the following pixel row are slightly delayed from the previous row and overlap with each other, the exposure time of each pixel row may be the same, and the delay between the pixel rows may be constant. As shown in FIG. 2The first pixel row has a starting exposure time t 1 End exposure time t 2 (ii) a The starting exposure time of the last pixel row is t n-1 End exposure time t n 。
As described previously, after receiving the frame synchronization signal, the first image capturing unit may generate the first driving signal based on at least the frame synchronization signal and the first exposure time of the first image capturing unit. Illustratively, the first drive signal is at the start exposure time t of the first pixel row of the current frame 1 To the end of the exposure time t of the last pixel row n The period is high, and the remaining time of the current frame is low.
With continued reference to fig. 3, the process of generating the second drive signal by the second image capturing unit 121 is described by taking the DMS camera having the global exposure mode as an example.
As shown in fig. 3, the exposure of the second image capturing unit (e.g., the second image capturing unit 121 in fig. 1) having the global exposure mode is performed simultaneously, that is, the exposure process for one frame of image is the whole exposure.
It should be noted that the second image capturing unit may perform exposure immediately after receiving the frame synchronization signal, or perform exposure with a delay time, which is not limited in the present invention.
In fig. 3, the start exposure time of all pixel rows is t a End exposure time t b。 As described previously, after receiving the frame synchronization signal, the second image capturing unit may generate the first driving signal based on at least the frame synchronization signal and the second exposure time of the second image capturing unit. Illustratively, the second drive signal is at the start exposure time t of all pixel rows of the current frame a To the end of the exposure time t b The period is high, and the remaining time of the current frame is low.
Returning now to fig. 1, the first image capturing unit 111 transmits the first driving signal to the control unit 130 after generating it, and similarly, the second image capturing unit 121 also transmits the second driving signal to the control unit 130 after generating it. The control unit 130, after receiving the first and second driving signals, performs a logical or operation on the first and second driving signals and generates a third driving signal.
Fig. 4 exemplarily shows a waveform diagram of the third driving signal. As shown in fig. 4, the rising edge time of the third driving signal corresponds to the smaller value of the rising edge time in the first driving signal and the second driving signal in the current frame, and the falling edge time of the third driving signal corresponds to the larger value of the falling edge time in the first driving signal and the second driving signal in the current frame.
The control unit 130 transmits the generated third driving signal to the first light supplement unit 112 in the first module 110, so as to drive the first light supplement unit 112 to supplement light to the first image acquisition unit 111. Meanwhile, the control unit 130 synchronously transmits the generated third driving signal to the second light supplement unit 122 in the second module 120, so as to drive the second light supplement unit 122 to supplement light to the second image acquisition unit 121.
Optionally, the first supplementary lighting unit 112 and the second supplementary lighting unit 122 may be configured to: supplementing light when the third driving signal is at a high level; and when the third driving signal is at a low level, the light is not supplemented. In this way, the first light supplement unit 112 and the second light supplement unit 122 can be turned on and off simultaneously, thereby solving the problem of exposure interference between the first image capturing unit 111 and the second image capturing unit 121.
With continued reference to FIG. 5, FIG. 5 is a schematic flow chart of a control method 50 for an in-vehicle imaging system, in accordance with one embodiment of the present invention. The onboard image system may be the onboard image system 10 shown in FIG. 1.
In step S510, a first driving signal from a first image capturing unit and a second driving signal from a second image capturing unit are received.
In step S520, performing a logical or operation on the first driving signal and the second driving signal to generate a third driving signal; and
in step S530, a third driving signal is used to drive a first light supplement unit for the first image capturing unit and a second light supplement unit for the second image capturing unit, wherein the first light supplement unit and the second light supplement unit are simultaneously turned on or off according to the third driving signal. Wherein, first light filling unit and second light filling unit open simultaneously or close according to the third drive signal includes: the first light supplementing unit and the second light supplementing unit supplement light when the third driving signal is at a high level, and do not supplement light when the third driving signal is at a low level.
Optionally, in step S540, the first image capturing unit and the second image capturing unit are triggered by a frame synchronization signal, wherein the frame synchronization signal is used for synchronizing frame start times of the first image capturing unit and the second image capturing unit.
Optionally, in step S550, generating a first driving signal based on at least the frame synchronization signal and a first exposure time of the first image capturing unit, wherein the first driving signal is at a high level during a period from a start exposure time of a first pixel row to an end exposure time of a last pixel row of a current frame of the first image capturing unit; and/or generating a second driving signal based on at least the frame synchronization signal and a second exposure time of the second image capturing unit, wherein the second driving signal is at a high level during a period from a start exposure time to an end exposure time of a pixel row of a current frame of the second image capturing unit.
For a detailed description of the method 50, reference may be made to the above description of the vehicle-mounted image capturing system 10, which is not repeated herein.
According to another aspect of the present invention, there is also provided a vehicle comprising a system as shown in fig. 1.
According to another aspect of the invention, there is also provided a computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, carries out the method as shown in fig. 5. The computer-readable storage medium may include Random Access Memory (RAM), such as Synchronous Dynamic Random Access Memory (SDRAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory, other known storage media, and the like.
According to some embodiments of the present invention, the in-vehicle image system enables the fill light of each image capturing device (e.g., the first fill light unit and the second fill light unit) to be turned on and off synchronously by performing a logical or operation on the driving signals (e.g., the first driving signal and the second driving signal) for the fill light (e.g., the first fill light unit and the second fill light unit) of each image capturing device (e.g., the first image capturing unit and the second image capturing unit), and the system is not limited by the exposure time and the camera frame rate and is not limited by the back-end image signal processing capability.
According to some embodiments of the present invention, the vehicle-mounted image system uses the same synchronization signal to trigger each image capturing device, thereby ensuring that each image capturing device outputs synchronously and further reducing exposure interference between the image capturing devices.
It is to be understood that some of the block diagrams shown in the figures of the present invention are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
It should also be understood that in some alternative embodiments, the functions/steps included in the foregoing methods may occur out of the order shown in the flowcharts. For example, two functions/steps shown in succession may be executed substantially concurrently or even in the reverse order. Depending on the functions/steps involved.
In addition, those skilled in the art will readily appreciate that the methods provided by one or more of the above-described embodiments of the present invention may be implemented by a computer program. For example, when a computer storage medium (e.g., a USB flash drive) storing the computer program is connected to a computer, the computer program can be executed to perform the method of one or more embodiments of the present invention.
Although only a few embodiments of the present invention have been described in detail above, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (10)
1. An on-board image acquisition system, comprising:
the first module comprises a first image acquisition unit and a first light supplement unit used for the first image acquisition unit;
the second module comprises a second image acquisition unit and a second light supplement unit used for the second image acquisition unit; and
a control unit configured to:
receiving a first driving signal from the first image acquisition unit and a second driving signal from the second image acquisition unit;
performing a logical OR operation on the first drive signal and the second drive signal to generate a third drive signal; and
and driving the first light supplementing unit and the second light supplementing unit by using the third driving signal, wherein the first light supplementing unit and the second light supplementing unit are simultaneously turned on or off according to the third driving signal.
2. The system of claim 1, wherein the control unit is further configured to trigger the first image acquisition unit and the second image acquisition unit with a frame synchronization signal, wherein the frame synchronization signal is used to synchronize frame start times of the first image acquisition unit and the second image acquisition unit.
3. The system of claim 2, wherein the first image acquisition unit is configured to generate the first drive signal based on at least the frame synchronization signal and a first exposure time of the first image acquisition unit, wherein the first drive signal is high during a starting exposure time of a first pixel row to an ending exposure time of a last pixel row of a current frame.
4. The system of claim 2, wherein the second image acquisition unit is configured to generate the second drive signal based on at least the frame synchronization signal and a second exposure time of the second image acquisition unit, wherein the second drive signal is high during a start exposure time to an end exposure time of a pixel row of a current frame.
5. A control method for vehicle-mounted image acquisition is characterized by comprising the following steps:
A. receiving a first driving signal from a first image capturing unit and a second driving signal from a second image capturing unit;
B. performing a logical OR operation on the first drive signal and the second drive signal to generate a third drive signal; and
C. and driving a first light supplement unit used for the first image acquisition unit and a second light supplement unit used for the second image acquisition unit by using the third driving signal, wherein the first light supplement unit and the second light supplement unit are simultaneously turned on or off according to the third driving signal.
6. The method of claim 5, further comprising:
D. and triggering the first image acquisition unit and the second image acquisition unit by using a frame synchronization signal, wherein the frame synchronization signal is used for synchronizing the frame start time of the first image acquisition unit and the frame start time of the second image acquisition unit.
7. The method of claim 5, further comprising:
e1, generating the first driving signal based on at least the frame synchronization signal and the first exposure time of the first image capturing unit, wherein the first driving signal is at high level during the period from the beginning exposure time of the first pixel row to the ending exposure time of the last pixel row of the current frame of the first image capturing unit; and/or
E2, generating the second driving signal based on at least the frame synchronization signal and a second exposure time of the second image capturing unit, wherein the second driving signal is at a high level during a period from a start exposure time to an end exposure time of a pixel row of a current frame of the second image capturing unit.
8. The method according to claim 5, wherein in step C, the turning on or off the first and second light supplement units simultaneously according to the third driving signal comprises:
the first light supplement unit and the second light supplement unit supplement light when the third driving signal is at a high level, and do not supplement light when the third driving signal is at a low level.
9. A vehicle, characterized in that it comprises a vehicle-mounted image acquisition system according to any one of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method of any one of claims 5 to 8.
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