CN114919573A

CN114919573A - Method and device for avoiding collision when vehicle is stationary

Info

Publication number: CN114919573A
Application number: CN202210614701.9A
Authority: CN
Inventors: 张勇; 陈文勇
Original assignee: Huaqin Technology Co Ltd
Current assignee: Huaqin Technology Co Ltd
Priority date: 2022-05-30
Filing date: 2022-05-30
Publication date: 2022-08-19

Abstract

A method and a device for avoiding collision when a vehicle is stationary are used for automatically avoiding collision of other vehicles when the vehicle is in a stationary state after being stopped. The method comprises the following steps: starting the electronic fence after the vehicle is parked; and if the target vehicle which is possible to collide with the vehicle is judged to be present around the vehicle, controlling the vehicle to avoid the target vehicle in the range of the electronic fence.

Description

Method and device for avoiding collision when vehicle is stationary

Technical Field

The application relates to the technical field of automatic driving, in particular to a method and a device for avoiding collision when a vehicle is static.

Background

The automatic driving vehicle depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, and operates the vehicle automatically and safely without active operation of personnel.

In the existing automatic driving technology, when an obstacle or a vehicle with potential collision hazards is identified in the vehicle driving process, a driving path can be automatically planned, so that the vehicle can avoid the obstacle or the vehicle with the potential collision hazards according to the driving path. However, when the vehicle is in a stationary state after being stopped, no technical scheme for automatically avoiding collision of other vehicles exists.

Disclosure of Invention

The application provides a method and a device for avoiding collision when a vehicle is stationary, which are used for automatically avoiding collision of other vehicles when the vehicle is in a stationary state after being stopped.

In a first aspect, an embodiment of the present application provides a method for avoiding a collision when a vehicle is stationary, where the method includes: starting the electronic fence after the vehicle is parked; and if the target vehicle which is possible to collide with the vehicle is judged to be present around the vehicle, controlling the vehicle to avoid the target vehicle in the range of the electronic fence.

Among the above-mentioned technical scheme, can be judging the vehicle around appear probably with this vehicle bump's target vehicle after, the automatic control vehicle dodges target vehicle, and then avoids because of colliding with other vehicles or the loss of property that the scratch brought. And the target vehicle is avoided within the range of the electronic fence by limiting the vehicle, so that the vehicle can be avoided within a safety range, and other vehicles around the vehicle are prevented from being collided during avoiding.

Optionally, the method further includes: measuring the shortest distance between the vehicle and other vehicles around; and if the shortest distance is smaller than a preset threshold value, judging that target vehicles which are possibly collided with the vehicle appear around the vehicle.

According to the technical scheme, the shortest distance between the vehicle and other vehicles around the vehicle is measured in real time and is compared with the preset threshold value, the target vehicle which is possibly collided with the vehicle can be found in time, and then the target vehicle can be avoided in time.

Optionally, the controlling the vehicle to avoid the target vehicle within the range of the electronic fence includes: predicting the position where collision is possible, and determining an avoidance direction and a steering angle according to the position where collision is possible; planning an avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; and controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoiding path.

According to the technical scheme, the avoidance path can be accurately and reasonably planned for vehicle avoidance.

Optionally, the determining an avoidance direction according to the predicted position where the collision is likely to occur includes: controlling the vehicle to travel backward and the steering wheel to turn left if the potential collision location is in front of the vehicle and to the left of a central axis of the vehicle; controlling the vehicle to travel backward and the steering wheel to turn right if the potential collision location is forward of the vehicle and to the right of a central axis of the vehicle; if the position where the collision is likely to occur is behind the vehicle and to the left of the central axis of the vehicle, controlling the vehicle to travel forward and the steering wheel to turn left; if the potential collision location is behind the vehicle and to the right of the vehicle's center axis, the vehicle is controlled to travel forward and the steering wheel is controlled to turn right.

According to the technical scheme, the avoidance direction of the vehicle during avoidance can be determined more accurately, and the planned avoidance path is more accurate.

Optionally, the step of determining a steering angle according to the predicted position where the collision is likely to occur includes: and determining the steering angle of the vehicle according to the distance between the position where the collision is possibly caused and the central axis of the vehicle, the width of the vehicle and the maximum steering angle of the vehicle.

According to the technical scheme, the steering angle of the vehicle during avoidance can be determined more accurately, and the planned avoidance path is more accurate.

Optionally, after controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance track, the method further includes: and if the obstacle is identified to exist on the avoidance path, controlling the vehicle to stop avoiding or replanning the avoidance path.

According to the technical scheme, when the obstacle is identified to exist on the avoidance path, the vehicle can be controlled to stop avoiding or the avoidance path can be re-planned, and then the obstacle is prevented from being collided in the process of avoiding the vehicle.

Optionally, after the controlling the vehicle to avoid the target vehicle within the range of the electronic fence, the method further includes: and sending a notification message to the mobile terminal bound with the vehicle, wherein the notification message is used for notifying the user of the avoidance event.

According to the technical scheme, the user can timely know the avoidance event.

In a second aspect, an embodiment of the present application provides a device for avoiding a collision when a vehicle is stationary, including:

the sensing module is used for starting the electronic fence after the vehicle stops;

and the control module is used for controlling the vehicle to avoid the target vehicle in the range of the electronic fence if the target vehicle which is possibly collided with the vehicle is judged to appear around the vehicle.

Optionally, the sensing module is further configured to measure a shortest distance between the vehicle and other vehicles around the vehicle; the device further comprises a judging module, wherein the judging module is used for judging that target vehicles which are possibly collided with the vehicle appear around the vehicle if the shortest distance is smaller than a preset threshold value.

Optionally, the device further includes a processing module, configured to predict a position where a collision may occur, and determine an avoidance direction and a steering angle according to the position where the collision may occur; planning an avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; and the control module is further used for controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoiding path.

Optionally, the control module is further configured to control the vehicle to travel backward and steer the steering wheel left if the position where the collision is likely to occur is in front of the vehicle and on the left side of the central axis of the vehicle; controlling the vehicle to travel backward and the steering wheel to turn right if the potential collision location is forward of the vehicle and to the right of a central axis of the vehicle; if the position where the collision is likely to occur is behind the vehicle and to the left of the central axis of the vehicle, controlling the vehicle to travel forward and the steering wheel to turn left; if the potential collision location is behind the vehicle and to the right of the vehicle's center axis, the vehicle is controlled to travel forward and the steering wheel is controlled to turn right.

Optionally, the processing module is further configured to determine a steering angle of the vehicle according to a distance between the position where the collision is likely to occur and a central axis of the vehicle, a vehicle width of the vehicle, and a maximum steering angle of the vehicle.

Optionally, the control module is further configured to control the vehicle to stop avoiding or to re-plan the avoidance path if it is identified that the obstacle exists on the avoidance path.

Optionally, the processing module is further configured to send a notification message to the mobile terminal bound to the vehicle, where the notification message is used to notify the user of the avoidance event.

In a third aspect, an embodiment of the present application further provides a computing device, including:

a memory for storing program instructions;

a processor for calling the program instructions stored in said memory and for executing the method as described in the various possible designs of the first aspect according to the obtained program instructions.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium, in which computer-readable instructions are stored, and when the computer-readable instructions are read and executed by a computer, the method described in the first aspect or any one of the possible designs of the first aspect is implemented.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flowchart of a method for avoiding collision when a vehicle is stationary according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present application;

fig. 3 is a schematic flow chart of avoiding a target vehicle within an electric fence according to an embodiment of the present application;

fig. 4 is a schematic flowchart illustrating a specific process of a method for avoiding collision when a vehicle is stationary according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of an embodiment of a collision avoidance apparatus for a vehicle at rest;

fig. 6 is a computing device provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the embodiments of the present application, a plurality means two or more. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or order.

Fig. 1 schematically illustrates a method for avoiding collision when a vehicle is stationary according to an embodiment of the present application, where the method includes the following steps, as shown in fig. 1:

step 101, opening the electronic fence after the vehicle is parked.

In the embodiment of the application, the electronic fence is a parking range defined after a vehicle parks, and when the vehicle parks in a parking space, the marking line of the parking space can be identified to be used as the electronic fence of the vehicle; when the vehicle is parked in a non-parking space, the electronic fence of the vehicle can be used in a preset range. For example, as shown in fig. 2, after the car a is parked in the parking space, a line drawn from the parking space is used as an electronic fence for the car a.

And 102, if the target vehicle which is possible to collide with the vehicle is judged to be present around the vehicle, controlling the vehicle to avoid the target vehicle in the range of the electronic fence.

It should be noted that, in order to prevent the vehicle from colliding with other surrounding vehicles or obstacles when the vehicle is avoiding the target vehicle, the position of the electronic fence is fixed after the electronic fence is opened, the vehicle only avoids the target vehicle within the range of the electronic fence, and any position of the vehicle is not allowed to exceed the limited range of the electronic fence.

For example, as shown in fig. 2, in the process that the vehicle B drives into the parking space, if the vehicle a determines that the vehicle B may collide with the vehicle a, the vehicle a is controlled to avoid the vehicle B within the range of the electronic fence.

In step 202, the shortest distance between the vehicle and other vehicles around the vehicle may be measured by a sensor mounted on the vehicle, and whether there is a target vehicle that may collide with the vehicle may be determined according to the shortest distance and the magnitude of a preset threshold. Specifically, if the shortest distance is smaller than a preset threshold, it is determined that a target vehicle that may collide with the vehicle is present around the vehicle. And if the shortest distance is greater than or equal to the preset threshold value, judging that the vehicle is safe at the moment. The distance between the electronic fence and the vehicle can be used as a preset threshold value, or can be set according to actual requirements.

Optionally, when it is determined that a target vehicle which may collide with the vehicle appears around the vehicle, the vehicle may be controlled to emit a sound or a signal to prompt a driver of the target vehicle to pay attention to a driving distance.

If it is determined that a target vehicle which may collide with the vehicle appears around the vehicle, the vehicle is automatically started and an automatic driving mode is started, so that the vehicle is automatically controlled to avoid the target vehicle within the range of the electronic fence.

Fig. 3 schematically illustrates a method for avoiding a target vehicle in the range of an electronic fence according to an embodiment of the present application, and as shown in fig. 3, the method includes the following steps:

and 301, predicting the position where the collision is possible, and determining an avoidance direction and a steering angle according to the position where the collision is possible.

And 302, planning an avoidance path of the vehicle according to the avoidance direction, the steering angle and the preset avoidance speed.

And 303, controlling the vehicle to avoid the target vehicle in the range of the electronic fence according to the avoiding path.

In the avoidance process, if the obstacle is identified to exist on the avoidance path, the vehicle is controlled to stop avoidance, or the avoidance path is re-planned, so that the obstacle is prevented from being collided in the avoidance process of the vehicle.

In step 301, an avoidance direction is determined according to a position where a collision is likely to occur, including the following four cases:

(1) if the position where the collision is likely to occur is in front of the vehicle and to the left of the central axis of the vehicle, the vehicle is controlled to travel to the rear and the steering wheel is controlled to turn left.

(2) If the position where the collision is likely to occur is in front of the vehicle and to the right of the central axis of the vehicle, the vehicle is controlled to travel to the rear and the steering wheel is controlled to turn to the right.

(3) If the position where the collision is likely to occur is at the rear of the vehicle and on the left side of the center axis of the vehicle, the vehicle is controlled to travel forward and the steering wheel is controlled to turn left.

(4) If the position where the collision is likely is at the rear of the vehicle and at the right side of the center axis of the vehicle, the vehicle is controlled to travel forward and the steering wheel is controlled to turn right.

For example, as shown in fig. 2, when the vehicle B enters the parking space, it is determined that the position where the vehicle B may collide with the vehicle a is in front of the vehicle a and on the right side of the central axis of the vehicle a, the vehicle a is controlled to travel backward and the steering wheel is steered to the right, so as to avoid collision.

Further, the steering angle of the vehicle may be determined according to a distance between a location where a collision is likely to occur and a central axis of the vehicle, a vehicle width of the vehicle, and a maximum steering angle of the vehicle.

Specifically, the steering angle of the vehicle may be determined by equation one.

Optionally, after the vehicle is controlled to avoid the target vehicle within the range of the electronic fence, a notification message may be sent to the mobile terminal bound to the vehicle, where the notification message is used to notify the user of the avoidance event, so that the user can know the avoidance event in time. In addition, the notification message may further include an avoidance path of the vehicle in the avoidance event, so that the user can timely know the avoidance process of the avoidance event.

For better understanding of the embodiments of the present application, fig. 4 exemplarily shows a specific flowchart of a method for avoiding a collision when a vehicle is stationary, as shown in fig. 4, including the following steps:

step 401, opening the electronic fence after the vehicle is parked.

Step 402, determine if there is a potential for a collision with the target vehicle.

Judging whether the shortest distance between the vehicle and other surrounding vehicles is smaller than a preset threshold value or not, if so, executing a step 403; otherwise, step 408 is repeated.

And step 403, planning an avoidance path.

And step 404, judging whether an obstacle exists on the avoidance path.

If yes, go to step 407; otherwise, step 405 is performed.

And 405, avoiding the target vehicle according to the avoiding path.

Step 406, determining whether the vehicle exceeds the electronic fence.

If yes, go to step 407; otherwise, step 404 is performed.

And 407, stopping avoidance.

Step 408, keeping still.

The application embodiment provides, can appear probably with this vehicle bump's target vehicle back around judging the vehicle, the automatic control vehicle dodges the target vehicle, and then avoids because of colliding or scraping the loss of property that brings with other vehicles. And the target vehicle is avoided within the range of the electronic fence by limiting the vehicle, so that the vehicle can be avoided within a safety range, and other vehicles around the vehicle are prevented from being collided during avoiding.

Based on the same technical concept, fig. 5 exemplarily shows a device for avoiding collision when a vehicle is stationary according to an embodiment of the present application. As shown in fig. 5, the apparatus 500 includes:

the sensing module 501 is used for starting the electronic fence after the vehicle stops;

the control module 502 is configured to, if it is determined that a target vehicle that may collide with the vehicle appears around the vehicle, control the vehicle to avoid the target vehicle within the range of the electronic fence.

Optionally, the sensing module 501 is further configured to measure a shortest distance between the vehicle and other vehicles around the vehicle; the device further includes a determining module 503, configured to determine that a target vehicle that may collide with the vehicle appears around the vehicle if the shortest distance is smaller than a preset threshold.

Optionally, the apparatus further includes a processing module 504, configured to predict a position where a collision may occur, and determine an avoidance direction and a steering angle according to the position where the collision may occur; planning an avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed; the control module 502 is further configured to control the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoidance path.

Optionally, the control module 502 is further configured to control the vehicle to run backward and steer left by the steering wheel if the position where the collision may occur is in front of the vehicle and on the left side of the central axis of the vehicle; if the position where the collision is possible is in front of the vehicle and on the right side of the central axis of the vehicle, controlling the vehicle to run backwards and a steering wheel to steer to the right; if the position where the collision is likely to occur is behind the vehicle and to the left of the central axis of the vehicle, controlling the vehicle to travel forward and the steering wheel to turn left; if the potential collision location is rearward of the vehicle and to the right of the central axis of the vehicle, the vehicle is controlled to travel forward and the steering wheel is controlled to turn right.

Optionally, the processing module 504 is further configured to determine a steering angle of the vehicle according to a distance between the position where the collision is likely to occur and a central axis of the vehicle, a vehicle width of the vehicle, and a maximum steering angle of the vehicle.

Optionally, the control module 502 is further configured to control the vehicle to stop avoiding or to re-plan an avoidance path if it is identified that an obstacle exists on the avoidance path.

Optionally, the processing module 504 is further configured to send a notification message to the mobile terminal bound to the vehicle, where the notification message is used to notify the user of the avoidance event.

Based on the same technical concept, the embodiment of the present application provides a computing device, as shown in fig. 6, including at least one processor 601 and a memory 602 connected to the at least one processor, where a specific connection medium between the processor 601 and the memory 602 is not limited in the embodiment of the present application, and a bus connection between the processor 601 and the memory 602 in fig. 6 is taken as an example. The bus may be divided into an address bus, a data bus, a control bus, etc.

In the embodiment of the present application, the memory 602 stores instructions executable by the at least one processor 601, and the at least one processor 601 may execute the above-mentioned method for avoiding a collision when the vehicle is stationary by executing the instructions stored in the memory 602.

The processor 601 is a control center of the computing device, and can connect various parts of the computing device by using various interfaces and lines, and perform resource setting by executing or executing instructions stored in the memory 602 and calling data stored in the memory 602. Alternatively, processor 601 may include one or more processing units, and processor 601 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 601. In some embodiments, the processor 601 and the memory 602 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.

The processor 601 may be a general-purpose processor, such as a Central Processing Unit (CPU), a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, configured to implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in a processor.

The memory 602, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 602 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory 602 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 602 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

Based on the same technical concept, embodiments of the present application further provide a computer-readable storage medium storing a computer-executable program for causing a computer to perform the method for avoiding a collision when a vehicle is stationary, which is listed in any of the above manners.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A method of collision avoidance when a vehicle is stationary, the method comprising:

starting the electronic fence after the vehicle is parked;

and if the target vehicle which is possible to collide with the vehicle is judged to be present around the vehicle, controlling the vehicle to avoid the target vehicle in the range of the electronic fence.

2. The method of claim 1, further comprising:

measuring the shortest distance between the vehicle and other vehicles around;

and if the shortest distance is smaller than a preset threshold value, judging that target vehicles which are possibly collided with the vehicle appear around the vehicle.

3. The method of claim 1, wherein said controlling said vehicle to avoid said target vehicle within a range of said electronic fence comprises:

predicting the position where collision is possible, and determining an avoidance direction and a steering angle according to the position where collision is possible;

planning an avoidance path of the vehicle according to the avoidance direction, the steering angle and a preset avoidance speed;

and controlling the vehicle to avoid the target vehicle within the range of the electronic fence according to the avoiding path.

4. The method of claim 3, wherein determining an avoidance direction based on the location of the potential collision comprises:

controlling the vehicle to travel backward and the steering wheel to turn left if the potential collision location is in front of the vehicle and to the left of a central axis of the vehicle;

controlling the vehicle to travel backward and the steering wheel to turn right if the potential collision location is forward of the vehicle and to the right of a central axis of the vehicle;

if the position where the collision is likely to occur is behind the vehicle and to the left of the central axis of the vehicle, controlling the vehicle to travel forward and the steering wheel to turn left;

if the potential collision location is behind the vehicle and to the right of the vehicle's center axis, the vehicle is controlled to travel forward and the steering wheel is controlled to turn right.

5. The method of claim 4, wherein determining a steering angle based on the location of the potential collision comprises:

and determining the steering angle of the vehicle according to the distance between the position where the collision is possibly caused and the central axis of the vehicle, the width of the vehicle and the maximum steering angle of the vehicle.

6. The method of claim 3, wherein after said controlling said vehicle to avoid said target vehicle within said electronic fence according to said avoidance trajectory, further comprising:

and if the obstacle is identified to exist on the avoidance path, controlling the vehicle to stop avoidance or replanning the avoidance path.

7. The method of claim 1, wherein after controlling the vehicle to avoid the target vehicle within range of the electronic fence, further comprising:

and sending a notification message to the mobile terminal bound with the vehicle, wherein the notification message is used for notifying the user of the avoidance event.

8. A device for collision avoidance when a vehicle is stationary, comprising:

the processing module is used for starting the electronic fence after the vehicle stops;

and the judging module is used for controlling the vehicle to avoid the target vehicle in the range of the electronic fence if judging that the target vehicle which is possibly collided with the vehicle appears around the vehicle.

9. A computing device, comprising:

a memory for storing program instructions;

a processor for calling program instructions stored in said memory and for executing the method of any one of claims 1 to 7 in accordance with the obtained program instructions.

10. A computer readable storage medium comprising computer readable instructions which, when read and executed by a computer, cause the method of any one of claims 1 to 7 to be carried out.