CN116039498A - Method and device for processing multi-region perception information by domain controller - Google Patents
Method and device for processing multi-region perception information by domain controller Download PDFInfo
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- CN116039498A CN116039498A CN202310337574.7A CN202310337574A CN116039498A CN 116039498 A CN116039498 A CN 116039498A CN 202310337574 A CN202310337574 A CN 202310337574A CN 116039498 A CN116039498 A CN 116039498A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
- B60Q3/70—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors characterised by the purpose
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
- B60Q3/80—Circuits; Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
Abstract
The embodiment of the application provides a method and a device for processing multi-region sensing information by a domain controller. The vehicle body domain controller analyzes the sitting postures and the body shapes of the passengers in the copilot through the information transmitted by the sensors, so that whether the sitting postures of the passengers are abnormal sitting postures or not is determined, safety risks exist, and the pertinence and the intelligence of the vehicle body domain controller are improved; further, the passenger cabin domain controller interacts with the passenger cabin domain controller according to the safety risk level, so that the passenger cabin domain controller sends out corresponding reminding information to prompt passengers to standardize sitting postures, the comprehensiveness of the vehicle body domain controller and the passenger cabin domain controller in the scene of airbag explosion is improved, and the intelligence of the vehicle body domain controller and the passenger cabin domain controller is further improved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for processing multi-region sensing information by using a domain controller.
Background
Today, with the development of economy, automobiles have been taken into thousands of households. However, during long-distance driving, the sitting posture of the passenger in the vehicle is often changed due to the discomfort of the body caused by sedentary sitting, and especially, some sitting postures of the passenger in the secondary driver seat may affect the normal functions of the safety parts in the vehicle, and even the passenger in the dangerous sitting posture may be injured by the deployment of the safety air bag during the collision of the vehicle. For example, if an occupant in a secondary driver seat places his/her feet in the secondary airbag deployment area of the instrument desk for comfort, and an accident occurs at this time to trigger the deployment of the secondary airbag, the occupant's legs are hit, causing serious leg injuries. On the other hand, even if the passenger's leg is not placed on the airbag deployment area of the instrument desk, other objects, if the airbag deployment area of the instrument desk is triggered, the objects placed on the airbag deployment area of the instrument desk fly out due to inertial force, which is highly likely to injure the passenger in the vehicle.
Disclosure of Invention
The embodiment of the application provides a method and a device for processing multi-region perception information by a domain controller, which can improve the intelligence of a vehicle-to-machine algorithm in a scene that passengers in a copilot are injured when an airbag pops up due to an abnormal sitting posture, set multi-stage reminding and corresponding reminding modes for different passengers, and improve the pertinence and the comprehensiveness of the vehicle body domain controller.
In a first aspect, an embodiment of the present application provides a method for processing multi-region awareness information by a domain controller, where the method is applied to a body domain controller of a vehicle, and the vehicle includes the body domain controller and a cabin domain controller, and the method includes:
acquiring weight information sent by a weight sensor arranged on a passenger seat;
determining that a passenger is present in a copilot of the vehicle according to the weight information;
acquiring first pressure information transmitted by a first pressure sensor arranged in a passenger seat airbag deployment area of the vehicle and second pressure information transmitted by a second pressure sensor arranged in a passenger seat;
acquiring distance information sent by a distance sensor arranged at a back of a co-driver seat, wherein the distance sensor is used for measuring the distance between the back of an occupant of the co-driver seat and the back of the co-driver seat;
Estimating the body type grade of an occupant of a copilot of the vehicle according to the weight information and the pressure distribution condition in the second pressure information;
determining whether the occupant has an unusual sitting position according to one or more of the first pressure information, the second pressure information, the distance information and the weight information, wherein the unusual sitting position comprises a passenger lifting foot of the co-driver to a co-driver airbag deployment area, and a distance between a back of the passenger of the co-driver and a back of the co-driver exceeds a preset distance;
determining a category of the out-of-position posture if the occupant is present in the out-of-position posture;
determining a seating posture risk level of the occupant based on the type of the occupant's abnormal seating posture and the body type level;
sending first indication information to the cabin area controller so that the cabin area controller controls the vehicle to send reminding information to prompt the passenger to standardize sitting postures according to the sitting posture risk level of the passenger;
and after the reminding information is sent out for more than a preset time, under the condition that the passenger still has an abnormal sitting posture, controlling the vehicle to execute corresponding operation according to the sitting posture risk level of the passenger and the abnormal sitting posture type so as to reduce the sitting posture risk level of the passenger.
Because no vehicle-to-vehicle system exists for such a scene in the current market, in the embodiment of the application, in the scene that the passenger in the copilot in an abnormal sitting posture is injured by the vehicle-to-vehicle algorithm aiming at the airbag ejection, a sitting posture risk level of the passenger is estimated, and a corresponding reminding mode is set according to the sitting posture risk level, so that the intelligent and comprehensive performance of the vehicle body domain controller aiming at such a scene is improved.
In a further possible implementation manner of the first aspect, the estimating the body type level of the passenger in the passenger seat of the vehicle according to the pressure distribution situation in the weight information and the second pressure information includes:
analyzing the second pressure information to obtain a pressure distribution area on the co-driver's seat;
and calculating the body type grade of the passenger according to the pressure distribution area and the weight information.
In a further possible implementation manner of the first aspect, the determining whether the occupant is in an abnormal sitting position according to one or more of the first pressure information, the second pressure information, the distance information and the weight information includes:
Determining whether a stress condition exists in an airbag unfolding area of a front passenger seat of the vehicle according to the first pressure information;
if the stress condition exists, determining whether the thigh area of the passenger presses the seat surface of the copilot or not according to the second pressure information;
if the weight information is not lower than the weight information before the stress condition exists in the passenger airbag unfolding area of the vehicle, whether the passenger has the legs placed in the passenger airbag unfolding area for bearing is analyzed to determine whether the passenger has an abnormal sitting posture, and the abnormal sitting posture is that the passenger in the passenger seat lifts the feet to the passenger airbag unfolding area.
In a further possible implementation manner of the first aspect, before the controlling the vehicle to perform the corresponding operation according to the seating posture risk level of the occupant and the class of the out-of-normal seating posture, the method further includes:
determining, in the event that it is detected that the current speed of the vehicle exceeds a preset first threshold, out-of-vehicle condition information of the vehicle according to image data of at least one out-of-vehicle camera in which a viewing area of the plurality of out-of-vehicle cameras of the vehicle includes a viewing area at an airbag sensor of the vehicle;
Judging whether the vehicle has the possibility of the airbag popping up according to the information of the condition outside the vehicle.
In a further possible implementation manner of the first aspect, the reminding information includes a flashing warning icon, an in-vehicle display of the vehicle displaying a warning icon, emitting a warning tone, and playing a warning animation, and the sitting posture risk level includes a low risk level, a medium risk level, a high risk level, and a significant risk level.
In a further possible implementation manner of the first aspect, the reminding information corresponding to the low risk level is a flashing warning icon, the reminding information corresponding to the medium risk level is an in-vehicle display of the vehicle displaying a warning icon, the reminding information corresponding to the high risk level is a sending prompt tone, and the reminding information corresponding to the significant risk level is playing a warning animation.
In a further possible implementation manner of the first aspect, the method further includes, after the controlling the vehicle to perform the corresponding operation according to the seating posture risk level of the occupant and the category of the abnormal seating posture:
determining that the sitting position of the passenger in the co-driver seat is a normal sitting position;
Determining the duration that the first pressure information exceeds a preset second threshold value;
and when the duration exceeds a preset third threshold value, sending second indication information to the cabin area controller so that the cabin area controller controls the icon of the vehicle to flash and/or the display to display so as to prompt that a placement object with safety risk is placed in a passenger seat airbag deployment area of the vehicle.
In a second aspect, an embodiment of the present application provides a device for processing multi-region perceptual information by using a domain controller, where the device at least includes a first acquisition unit, a first determination unit, a second acquisition unit, a third acquisition unit, an estimation unit, a second determination unit, a third determination unit, a fourth determination unit, a transmission unit, and a control unit. The domain controller processes the multi-region perceptual information device to implement the method described in any one of the embodiments of the first aspect, and the description of the first obtaining unit, the first determining unit, the second obtaining unit, the third obtaining unit, the estimating unit, the second determining unit, the third determining unit, the fourth determining unit, the sending unit, and the control unit is as follows:
a first acquisition unit configured to acquire weight information transmitted from a weight sensor provided in a passenger seat;
A first determination unit configured to determine that a passenger is present in a front passenger of the vehicle based on the weight information;
a second acquisition unit configured to acquire first pressure information transmitted by a first pressure sensor provided in a passenger seat airbag deployment region of the vehicle and second pressure information transmitted by a second pressure sensor provided in a passenger seat;
a third acquisition unit configured to acquire distance information transmitted by a distance sensor provided at a passenger seat back, wherein the distance sensor is configured to measure a distance between a passenger back of the passenger seat and the passenger seat back;
the estimating unit is used for estimating the body type grade of the passenger of the copilot of the vehicle according to the weight information and the pressure distribution condition in the second pressure information;
a second determining unit configured to determine whether the occupant has an unusual sitting posture according to one or more of the first pressure information, the second pressure information, the distance information, and the weight information, wherein the unusual sitting posture includes a passenger lifting a foot of the passenger to a passenger seat airbag deployment region, and a distance between a back of the passenger and a back of the passenger seat exceeds a preset distance;
A third determination unit configured to determine a category of the unusual sitting posture if the occupant exists in the unusual sitting posture;
a fourth determination unit configured to determine a sitting posture risk level of the occupant based on the type of the abnormal sitting posture of the occupant and the body type level;
the sending unit is used for sending first indication information to the cabin domain controller so that the cabin domain controller controls the vehicle to send reminding information to prompt the passenger to standardize sitting postures according to the sitting posture risk level of the passenger;
and the control unit is used for controlling the vehicle to execute corresponding operations according to the sitting posture risk level of the passenger and the type of the abnormal sitting posture to reduce the sitting posture risk level of the passenger under the condition that the passenger still has the abnormal sitting posture after the reminding information is sent out for longer than the preset time, wherein the corresponding operations comprise reducing the speed of the vehicle.
Because no vehicle-to-vehicle system exists for such a scene in the current market, in the embodiment of the application, in the scene that the passenger in the copilot in an abnormal sitting posture is injured by the vehicle-to-vehicle algorithm aiming at the airbag ejection, a sitting posture risk level of the passenger is estimated, and a corresponding reminding mode is set according to the sitting posture risk level, so that the intelligent and comprehensive performance of the vehicle body domain controller aiming at such a scene is improved.
In a third aspect, embodiments of the present application provide a domain controller processing multi-region awareness information device, the domain controller processing multi-region awareness information device including a processor, a memory, and a communication interface; a memory having a computer program stored therein; the communication interface, when executed by a processor, is adapted to transmit and/or receive data, and the domain controller processes that the multi-region awareness information device may perform the method described in the foregoing first aspect or any of the possible implementations of the first aspect.
It should be noted that, the processor included in the domain controller processing the multi-area sensing information device described in the third aspect may be a processor dedicated to performing the methods (for convenience of distinction, referred to as a dedicated processor), or may be a processor that performs the methods by calling a computer program, for example, a general-purpose processor. In the alternative, the at least one processor may also include both special purpose and general purpose processors.
Alternatively, the above-mentioned computer program may be stored in a memory. For example, the Memory may be a non-transitory (non-transitory) Memory, such as a Read Only Memory (ROM), which may be integrated on the same device as the processor, or may be separately disposed on different devices, and the type of the Memory and the manner in which the Memory and the processor are disposed in the embodiments of the present application are not limited.
In one possible implementation, the at least one memory is located outside the domain controller processing multi-region awareness information device.
In yet another possible embodiment, the at least one memory is located within the domain controller processing multi-region awareness information device.
In yet another possible implementation, a portion of the memory of the at least one memory is located within the domain controller processing multi-region awareness information device and another portion of the memory is located outside the domain controller processing multi-region awareness information device.
In this application, the processor and the memory may also be integrated in one device, i.e. the processor and the memory may also be integrated together.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored therein, which when executed on at least one processor, implements the method described in the foregoing first aspect or any of the alternatives of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising a computer program for implementing the method of the first aspect or any of the alternatives of the first aspect, when said program is run on at least one processor.
Alternatively, the computer program product may be a software installation package, which may be downloaded and executed on a computing device in case the aforementioned method is required.
The technical solutions provided in the third to fifth aspects of the present application may refer to the beneficial effects of the technical solutions in the first aspect and the second aspect, and are not described herein again.
Drawings
The drawings that are used in the description of the embodiments will be briefly described below.
Fig. 1 is a schematic architecture diagram of a vehicle-mounted system according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for processing multi-region sensing information by a domain controller according to an embodiment of the present application;
FIG. 3 is a schematic illustration of an out-of-normal sitting position provided by embodiments of the present application;
fig. 4 is a schematic diagram of a vehicle sending out reminding information according to an embodiment of the present application;
FIG. 5 is a schematic diagram of another vehicle sending out alert information according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a domain controller for processing multi-domain information device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a domain controller processing multi-region-aware information device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The terms "first," "second," "third," and "fourth" and the like in the description and in the claims of this application and in the drawings, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The following describes a system architecture applied to the embodiment of the present application. It should be noted that, the system architecture and the service scenario described in the present application are for more clearly describing the technical solution of the present application, and do not constitute a limitation on the technical solution provided in the present application, and those skilled in the art can know that, with the evolution of the system architecture and the appearance of the new service scenario, the technical solution provided in the present application is also applicable to similar technical problems.
Referring to fig. 1, fig. 1 is a schematic architecture diagram of a vehicle system provided in an embodiment of the present application, where the vehicle system includes a vehicle body domain controller 101 and a cabin domain controller 102, where:
the body domain controller 101 mainly controls various body functions including, but not limited to, control for headlights, rear lights, interior lights, door locks, windows, sunroofs, wipers, electric trunk, smart keys, air conditioners, antennas, gateway communications, and the like;
the vehicle body domain controller 101 obtains information of multiple areas through devices, equipment or components arranged on a vehicle where the vehicle system is located, the multiple areas comprise in-vehicle area information and out-vehicle area information, the in-vehicle area information comprises weight information sent by a weight sensor arranged on a passenger seat, first pressure information transmitted by a first pressure sensor arranged on an airbag unfolding area of the passenger seat of the vehicle, second pressure information sent by a second pressure sensor arranged on the passenger seat, and distance information sent by a distance sensor arranged on a backrest of the passenger seat.
The body area controller 101 may determine whether or not the passenger is present in the passenger seat of the vehicle based on the weight information; determining a body type level of an occupant of a co-driver of the vehicle from the weight information and the second pressure information; determining whether an occupant of the co-driver seat is out of position based on one or more of the first pressure information, the second pressure information, the distance information, and the weight information; further, the vehicle body domain controller 101 may determine a sitting posture risk level of the occupant according to the body type level of the occupant and the type of the abnormal sitting posture, and further send indication information corresponding to the sitting posture risk level to the cabin domain controller 102.
The cabin domain controller 102 mainly controls various electronic information system functions in the intelligent cabin of the vehicle, including a central control system, a vehicle-mounted infotainment system, a head up display, a seat system, an instrument system, a rearview mirror system, a driving behavior monitoring system, a navigation system, and the like;
the cabin domain controller 102 may control the icon or the display in the vehicle to send out corresponding reminding information according to the indication information sent by the vehicle body domain controller 101.
The car body domain controller 101 and the cabin domain controller 102 are both arranged in the vehicle, and both belong to the vehicle-to-machine system, but the areas and functions of the two are different, and the information interaction related in the process belongs to the information interaction in the vehicle-to-machine system.
Referring to fig. 2, fig. 2 is a flowchart of a method for processing multi-region sensing information by a domain controller according to an embodiment of the present application, where the method for processing multi-region sensing information by the domain controller is applied to a body domain controller of a vehicle, and the vehicle includes the body domain controller and a cabin domain controller, and the method for processing multi-region sensing information by the domain controller may be implemented based on the system architecture schematic shown in fig. 1, or may be implemented based on other architectures, and the method includes, but is not limited to, the following steps:
Step S201: weight information transmitted from a weight sensor provided in the passenger seat is acquired.
The method and the device are applied to the scene that passengers in the passenger seat with abnormal sitting postures are injured when the safety airbag pops up, so that whether passengers exist in the passenger seat or not is firstly determined, if so, the sitting postures of the passengers are determined, and then the sitting posture risk level of the passengers is evaluated, so that weight information is obtained in real time, optionally, after the vehicle is detected to stop, the weight information is continuously obtained, and after the vehicle is started or the speed of the vehicle exceeds a certain speed (preferably 25 km/h), the weight information is stopped to be obtained.
The weight sensor, also called weighing sensor, is in fact a device for converting a mass signal into a measurable electrical signal output, optionally, the weight sensor is provided on the upper surface of the passenger seat in contact with the occupant, so that the detected weight of the occupant is more accurate.
Step S202: and determining that the passenger seat of the vehicle has an occupant according to the weight information.
Taking the weight information obtained in real time as an example, if a large change in the obtained weight information is perceived, it is determined that the passenger is present in the passenger seat of the vehicle, and for example, the weight information is increased by more than 50kg in a short time (preferably, 1 second).
In consideration of the fact that the passenger seat does not suddenly have an occupant during the running of the vehicle, the passenger seat of the vehicle is optionally determined comprehensively according to the running state and weight information of the vehicle.
Step S203: and acquiring first pressure information transmitted by a first pressure sensor arranged in a passenger seat airbag deployment area of the vehicle and second pressure information transmitted by a second pressure sensor arranged in a passenger seat.
Optionally, the first pressure sensor is disposed on an upper surface of a passenger airbag deployment area of the vehicle, where the passenger airbag deployment area is typically a console area of the vehicle.
Optionally, the second pressure sensor is disposed on an upper surface of a seat of the passenger seat of the vehicle, which contacts with buttocks and/or legs of an occupant of the passenger seat, and further, the second pressure information includes a pressure distribution area and a pressure duration.
Step S204: distance information sent by a distance sensor arranged at the back of the copilot is acquired.
The distance sensor is used for measuring the distance between the back of the passenger of the co-driver seat and the backrest of the co-driver seat.
Optionally, the distance sensor is arranged at the joint of the backrest top of the seat at the front passenger seat and the headrest.
Step S205: and estimating the body type grade of the passenger seat of the vehicle according to the weight information and the pressure distribution condition in the second pressure information.
Analyzing the obtained second pressure information to obtain a pressure distribution area on the copilot; and calculating the body type grade of the passenger according to the pressure distribution area and the weight information, wherein the body type grade is divided into a first grade, a second grade, a third grade and a fourth grade, and the grade respectively represents the body types of small, medium, slightly fat and fat.
In the above process, the pressure distribution area is used for calculating the contact area between the passenger and the surface of the passenger seat, and in the second pressure information, the area where the plurality of second pressure sensors capable of sensing the pressure signal are located is the contact area between the passenger and the surface of the passenger seat, and the weight information is used for representing the weight of the passenger.
Further, firstly, the body type weight of the passenger is determined according to the contact area and the weight information, the contact area is participated in calculation, and the possibility that the passenger carries a heavy object is mainly considered, so when the contact area of the passenger and the seat surface and the weight information approach to be large or approach to be small, the corresponding body type weight is closer to 1, and when the contact area of the passenger and the seat surface and the weight information approach to be large and are equal to one hour, the corresponding body type weight is closer to 0, and in a practical situation, the body type weight cannot be 0.
The evaluation of the body type class is described below in table 1, specifically as follows:
TABLE 1
The body type grade is divided into a first grade body type grade with the actual weight of less than or equal to 50kg, a second grade body type grade with the actual weight of more than 50kg and less than or equal to 65kg, a third grade body type grade with the actual weight of more than 65kg and less than or equal to 85kg, and a fourth grade body type grade with the actual weight of more than 85 kg.
The contact area between the common medium-sized passenger and the copilot seat is generally 0.23m 2 The weight information is generally 70kg, and the contact area of the occupant A in Table 1 is 0.19m 2 The weight information has a value of 51kg, the contact area and the weight information are smaller than those of common body types, and the weight information is close to 1 and 0.95 when the contact area and the weight information are small; the contact area of the occupant B is 0.26m 2 The value of the weight information was 78kg,the contact area and the weight information are slightly larger than those of common body types, and the contact area and the weight information are close to the large contact area and the weight information, so that the weight of the corresponding body type is close to 1 and is 0.92; the contact area of the occupant C is 0.18m 2 The weight information has a value of 65kg, the contact area and the weight information are obviously large and small, the contact area can simply represent the body shape of the passenger C and is of a small type, but the corresponding weight information has a larger value, so that the weight of the corresponding body shape is relatively close to 0 and is 0.7.
The above data is a contact area calculated according to the seat size of a common vehicle model, and in practical application, the result of weight calculation by the contact area and the value of weight information may be different for different vehicle models.
Firstly, determining the body type of the passenger is mainly used for evaluating the sitting posture risk level of the passenger in the airbag pop-up scene, and the step of evaluating the body type of the passenger through the second pressure information and the weight information has the advantages that the body type of the passenger can be evaluated according to the sensor controlled by the vehicle body domain controller, the evaluation speed is high, the evaluation result is accurate, and the pertinence and the intelligence of the vehicle body domain controller in the scene are improved.
Step S206: determining whether the occupant is out of position based on one or more of the first pressure information, the second pressure information, the distance information, and the weight information.
Wherein the unusual sitting position comprises a passenger of the co-driver's seat lifting his feet to a co-driver's seat airbag deployment area, and a distance between the passenger's back of the co-driver's seat and the back of the co-driver's seat exceeding a preset distance.
Further, the abnormal sitting posture is a condition that the passenger in the passenger seat lifts his feet to the airbag deployment area in the passenger seat, and can be determined according to the first pressure information, the second pressure information and the weight information.
In an alternative embodiment, the unusual sitting position is illustrated in fig. 3, and fig. 3 is a schematic view of an unusual sitting position provided by the examples of the present application. The procedure for determining this unusual sitting position is specifically as follows:
determining whether a stress condition exists in an airbag unfolding area of a front passenger seat of the vehicle according to the first pressure information; if the pressure value in the first pressure information changes after the passenger in the passenger seat is determined, determining that the pressure received by the airbag deployment area of the passenger seat is related to the passenger in the passenger seat;
if a stress condition exists, whether the thigh area of the passenger is pressed against the seat surface of the passenger seat is determined according to the second pressure information, and the thigh area of the passenger is generally contacted with the front end area of the upper surface of the passenger seat, so that whether the thigh area of the passenger is contacted with the seat surface can be determined according to the pressure distribution area in the second pressure information.
If the weight information is not lower than the weight information before the stress condition exists in the passenger airbag unfolding area of the vehicle, analyzing whether the passenger has the legs placed in the passenger airbag unfolding area for bearing so as to determine whether the passenger has an abnormal sitting posture, wherein the abnormal sitting posture is that the passenger in the passenger seat lifts the feet to the passenger airbag unfolding area; considering that an occupant of a passenger seat sits on a seat of the passenger seat if the occupant is in the abnormal sitting posture, and then the foot is tilted up to be placed in the airbag deployment area of the passenger seat of the vehicle, if the weight information after the stress condition exists in the airbag deployment area of the passenger seat of the vehicle is lower than the weight information before the stress condition exists in the airbag deployment area of the passenger seat of the vehicle, and the difference between the weight information is approximately equal to the magnitude of the pressure change in the first pressure information, the abnormal sitting posture of the occupant can be determined.
Further, the abnormal sitting posture is a case that the distance between the back of the passenger of the co-driver and the back of the co-driver exceeds a preset distance, and can be determined according to the distance information.
By the aid of the process, the comprehensiveness of the vehicle body domain controller in the scene is improved, and the intelligence of the vehicle body domain controller in the scene is further improved.
Step S207: if the occupant is present in the out-of-position, a category of the out-of-position is determined.
The abnormal sitting posture categories comprise three categories, wherein the first category is that the passenger of the co-driver seat lifts feet to the expansion area of the safety air bag of the co-driver seat, the second category is that the distance between the back of the passenger of the co-driver seat and the backrest of the co-driver seat exceeds the preset distance, and the third category is that the passenger has the abnormal sitting posture of the first category and the abnormal sitting posture of the second category.
Optionally, according to the above-mentioned confirmation method involving the abnormal sitting posture in step S206, calculation is performed synchronously, so as to determine the type of abnormal sitting posture of the occupant.
Step S208: a seating posture risk level of the occupant is determined based on the class of the occupant's abnormal seating posture and the body type level.
Since different unusual sitting postures and different body types are subject to different injuries in a scene in which an airbag is ejected, the injury level that the occupant may be subjected to due to sitting postures in the scene is represented by the sitting posture risk level.
Neglecting the difference of the body structures of men and women, simply calculating the sitting posture risk degree by different body types, and after passing a real vehicle impact test and a simulated vehicle impact test, knowing that the difference of the body types can bring about the difference of binding force of the safety belt and the difference of rebound force of the safety belt during vehicle impact, the weaker the body type is, the lighter the weight is, the greater the injuries of the crotch and the chest brought by the safety airbag and the safety belt during vehicle impact, and correspondingly, the lower the body type grade is, the higher the risk grade is under the condition of the restraint of the safety belt. Optionally, if the occupant has unbelted, the seating risk level of the occupant is increased accordingly.
The step is described based on the above three types of unusual sitting postures, wherein the first type is that the passenger in the passenger seat lifts the feet to the airbag deployment area in the passenger seat; the second category is that the distance between the back of the passenger of the co-driver seat and the back of the co-driver seat exceeds a preset distance; the third category is that the occupant has both an unusual sitting position of the first category and an unusual sitting position of the second category.
Considering that an irregular sitting posture increases injuries of the occupant in a scene of airbag ejection, when the irregular sitting posture of the occupant is classified, the legs of the occupant are impacted to the head of the occupant by the impact force of the airbag when the airbag is ejected, and crotch injuries and head injuries of the occupant of the irregular sitting posture of the class are increased;
when the abnormal sitting posture of the passenger is in the second category, the head of the passenger is additionally impacted backwards or sideways due to the fact that the head of the passenger is close to the ejection point of the air bag when the air bag is ejected, and the head injury of the passenger is increased;
when the abnormal sitting posture of the passenger is in the third category, the legs of the passenger are impacted to the head of the passenger under the impact of the impact force of the airbag when the airbag is ejected, and the head of the passenger is additionally impacted backwards or sideways due to the fact that the head of the passenger is close to the ejection point of the airbag, so that the crotch of the passenger is damaged, and the head is more damaged.
It should be clear that, firstly, the safety bag mainly affects the head injury of the passenger, and the heads of the passengers in the first class and the third class cannot naturally contact the ejected safety bag due to the blocking of the legs, so that the sitting posture risk level corresponding to the passengers in the first class and the third class is higher than the sitting posture risk level corresponding to the passengers in the second class.
Optionally, the sitting posture risk level includes a low risk level, a medium risk level, a high risk level, and a significant risk level.
In an alternative embodiment, the categories and body type ratings of the occupant's unusual sitting posture, and the corresponding sitting posture risk ratings are illustrated in table 2.
TABLE 2
The first horizontal row from top to bottom in table 2 is a body type level, the first vertical row from left to right is an abnormal sitting posture category, and the area where the vertical row where the body type level is located crosses the horizontal row where the abnormal sitting posture category is located is a sitting posture risk level corresponding to both.
Optionally, the sitting posture risk level in table 2 is a risk level estimated at the first time when the occupant appears abnormal sitting posture, the sitting posture risk level is increased or decreased according to the current speed of the vehicle, when the current speed of the vehicle is lower than 30km/h, the sitting posture risk level corresponding to the occupant in the copilot of the vehicle is decreased by one step, and 30km/h is the lowest speed of most of the air bags popping up in the market; it will be appreciated that most vehicle types will not eject airbags when the vehicle speed is below 30km/h, but the sitting posture risk level will not be empty to normalize the sitting posture of the occupant, considering the possibility of foreseeing the risk.
When the current speed of the vehicle is higher than 60km/h, the sitting posture risk level corresponding to the passenger of the co-driver of the vehicle is increased by one step, when the speed of the vehicle exceeds 60km/h and the impact position and the impact object meet the requirements, the safety air bags of most of the vehicles on the market are ejected, and the faster the vehicle is, the higher the injury suffered by the passenger is when the vehicle is impacted, so the sitting posture risk level is correspondingly increased, but the invention is not limited, specifically because the faster the vehicle is, the more the driver of the vehicle needs to concentrate on driving the vehicle, and the reminding information corresponding to the safety risk possibly interferes with the driving of the driver, therefore, even if the vehicle speed is always increased, the corresponding sitting posture risk level is only increased by one step, so that the passenger definitely needs to change the sitting posture, but the driver is not wanted to be influenced.
Step S209: and sending first indication information to the cabin area controller so that the cabin area controller controls the vehicle to send reminding information to prompt the passenger to standardize sitting postures according to the sitting posture risk level of the passenger.
Optionally, the reminding information comprises a flashing warning icon, an in-vehicle display of the vehicle displays the warning icon, sends out a prompt tone and plays a warning animation, and the sitting posture risk level comprises a low risk level, a medium risk level, a high risk level and a significant risk level.
The reminding information corresponding to the low risk level is a flashing warning icon, the reminding information corresponding to the medium risk level is a warning icon displayed on an in-vehicle display of the vehicle, the reminding information corresponding to the high risk level is a warning sound, and the reminding information corresponding to the important risk level is a playing warning animation.
Fig. 4 is a schematic diagram of a vehicle sending out reminding information, wherein the vehicle in fig. 4 is a vehicle provided with an icon of an abnormal sitting posture and a display in the vehicle, the icon at the upper right side of a steering wheel in fig. 4 is a reminding icon of an abnormal sitting posture, and the reminding icon is lightened and blinks when the risk level of the sitting posture is low; the middle part of the figure 4 is an in-vehicle display, the in-vehicle display is provided with a warning icon pattern, and the warning icon is lightened when the sitting posture risk level is middle risk; and the volume mark is displayed at the upper right side of the display in the vehicle, and when the sitting posture risk level is high risk, the display in the vehicle plays a prompt tone.
With fig. 5 for explaining the playing of the warning animation, fig. 5 is a schematic diagram of another vehicle sending out the reminding information according to the embodiment of the present application, in which an animation that an occupant in an abnormal sitting posture is injured when the airbag pops up is displayed on the display in the vehicle in fig. 5, and the warning animation is played when the risk level of the sitting posture is a heavy risk.
Optionally, when the sitting posture risk level of the passenger is reduced, the reminding information corresponding to the previous sitting posture risk level disappears, and the reminding information corresponding to the current sitting posture risk level is sent out; when the sitting posture risk level of the passenger is increased, the reminding information corresponding to the previous risk level exists continuously, and the reminding information corresponding to the current risk level is sent out.
In an alternative embodiment, if the vehicle does not have an icon and an in-vehicle display that are not in a normal sitting position, the reminding information corresponding to the low risk level and the medium risk level is the unbelted icon and the reminding information corresponding to the high risk level and the significant risk level is the reminding sound played by the playing device in the vehicle.
Step S210: and after the reminding information is sent out for more than a preset time, under the condition that the passenger still has an abnormal sitting posture, controlling the vehicle to execute corresponding operation according to the sitting posture risk level of the passenger and the abnormal sitting posture type so as to reduce the sitting posture risk level of the passenger.
And after the preset time length is 10 seconds, determining whether the sitting posture of the passenger is an abnormal sitting posture according to the process again after the reminding information is sent out for more than the preset time length, and if the sitting posture of the passenger is still the abnormal sitting posture, sending a deceleration indication message to the cabin area controller so that the cabin area controller plays voice information to a driver of the vehicle to prompt the vehicle to decelerate due to the abnormal sitting posture of the passenger in the copilot.
In an alternative embodiment, after the voice information is played for more than a preset time period, determining again whether the sitting posture of the passenger is an abnormal sitting posture, if so, controlling the vehicle to execute corresponding operations according to the current sitting posture risk level and the current abnormal sitting posture type of the passenger so as to reduce the sitting posture risk level of the passenger, wherein the corresponding operations comprise reducing the speed of the vehicle, optionally, reducing the speed of the vehicle by 2km/h each time, and lighting a deceleration prompt lamp behind the vehicle, and responding operations corresponding to low risk levels are reducing the speed of the vehicle by 2km/h; the response operation corresponding to the risk level is to reduce the vehicle speed by 4km/h; the response operation corresponding to the high risk level is to reduce the vehicle speed by 6km/h; the response operation corresponding to the important risk level is to reduce the speed of the vehicle by 8km/h, and it is required to be noted that the speed reduction of the vehicle is realized through electronic braking, and if the speed of the vehicle cannot be reduced, or the driver of the vehicle clearly refuses to reduce the speed of the vehicle through voice, the reminding information is sent out in a circulating way.
In an alternative embodiment, the responsive operation includes moving the seat of the passenger seat rearward.
Determining, before the vehicle is controlled to perform a corresponding operation according to the seating posture risk level of the occupant and the category of the abnormal seating posture, out-of-vehicle condition information of the vehicle according to image data of at least one out-of-vehicle camera in which a viewing area of a plurality of out-of-vehicle cameras of the vehicle includes a viewing area at an airbag sensor of the vehicle in a case where it is detected that a current speed of the vehicle exceeds a preset first threshold;
judging whether the vehicle has the possibility of the airbag popping up according to the information of the condition outside the vehicle.
In an alternative embodiment, the implementation process of judging whether the vehicle has the possibility of airbag ejection according to the vehicle exterior condition information is specifically as follows:
simulating the running track of the other vehicle according to the running state and the first speed information of the other vehicle;
acquiring the current running state and second speed information of the vehicle, and simulating the running track of the vehicle;
determining whether there is a possibility of collision of the other vehicle with the airbag sensor of the vehicle according to the travel locus of the other vehicle and the travel locus of the vehicle;
If there is a possibility of collision between the other vehicle and the airbag sensor of the vehicle, and the current speed of the vehicle exceeds a preset first threshold value, determining that the airbag of the vehicle is popped up.
It should be noted that whether the airbag is opened or not is related to the impact angle and the impact speed, and in general, in the case of an automobile turning over, a slight collision, a side collision, a rear collision, a road shoulder collision, a driving into a large hole, a collision tree, or the like, the airbag may not be opened although serious deformation of the vehicle may be caused. Further, since the airbag system measures the speed of the vehicle after the collision, it is common to make the vehicle hit straight against a wall which is not movable and is not deformable when a safety collision test is performed. To "fire" the airbag, the deceleration of the vehicle is at least 8-9 m/s, the deceleration causing serious injury to the occupants is 80-100 m/s, while the deceleration for a typical emergency braking is only 0.6-0.7 m/s.
In an alternative embodiment, after controlling the vehicle to perform the corresponding operation according to the seating posture risk level of the occupant and the category of the abnormal seating posture, if it is determined that the seating posture of the occupant of the co-driver seat is the normal seating posture; determining a duration of time that the first pressure information exceeds a preset second threshold (preferably 5 newtons); and when the duration exceeds a preset third threshold value (preferably 10 seconds), sending second indication information to the cabin domain controller so that the cabin domain controller controls icon flashing and/or display of the vehicle to prompt a passenger seat airbag deployment area of the vehicle to place a placement object with safety risk.
In the embodiment of the application, the vehicle body domain controller analyzes the sitting posture and the body shape of the passenger in the copilot through the information transmitted by the sensor, so that whether the sitting posture of the passenger is an abnormal sitting posture or not is determined, safety risks exist, and the pertinence and the intelligence of the vehicle body domain controller are improved; further, interaction is performed with the cabin area controller according to the safety risk, so that the cabin area controller sends out corresponding reminding information to prompt passengers to standardize sitting postures, the comprehensiveness of the vehicle body area controller and the cabin area controller in the scene of airbag explosion is improved, and the intelligence of the vehicle body area controller and the cabin area controller is further improved.
The foregoing details the method of embodiments of the present application, and the apparatus of embodiments of the present application is provided below.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a domain controller processing multi-region sensing information device 60 according to an embodiment of the present application, where the domain controller processing multi-region sensing information device 60 may be a vehicle body domain controller or a device in a vehicle body domain controller mentioned above, and the domain controller processing multi-region sensing information device 60 may include a first acquiring unit 601, a first determining unit 602, a second acquiring unit 603, a third acquiring unit 604, an estimating unit 605, a second determining unit 606, a third determining unit 607, a fourth determining unit 608, a transmitting unit 609, and a control unit 610, where the detailed descriptions of the respective units are as follows.
A first acquisition unit 601 for acquiring weight information transmitted from a weight sensor provided in the passenger seat;
a first determining unit 602 for determining that a passenger is present in a front passenger of the vehicle based on the weight information;
a second acquisition unit 603 configured to acquire first pressure information transmitted by a first pressure sensor provided in a passenger seat airbag deployment region of the vehicle and second pressure information transmitted by a second pressure sensor provided in a passenger seat;
a third obtaining unit 604, configured to obtain distance information sent by a distance sensor disposed at a backrest of a passenger seat, where the distance sensor is configured to measure a distance between a backrest of an occupant of the passenger seat and the backrest of the passenger seat;
an estimating unit 605 for estimating a body type level of an occupant of a passenger seat of the vehicle according to the weight information and the pressure distribution condition in the second pressure information;
a second determining unit 606 configured to determine whether an unusual sitting posture exists for the occupant based on one or more of the first pressure information, the second pressure information, the distance information, and the weight information, wherein the unusual sitting posture includes a foot lift of the occupant of the passenger seat to a passenger seat airbag deployment area, and a distance between a back of the occupant of the passenger seat and the passenger seat back exceeds a preset distance;
A third determination unit 607 for determining the category of the unusual sitting posture if the occupant exists;
a fourth determination unit 608 for determining a sitting posture risk level of the occupant based on the type of the abnormal sitting posture of the occupant and the body type level;
a sending unit 609, configured to send first indication information to a cabin domain controller, so that the cabin domain controller controls the vehicle to send reminding information to prompt the passenger to standardize sitting postures according to the sitting posture risk level of the passenger;
and the control unit 610 is used for controlling the vehicle to execute corresponding operation according to the sitting posture risk level of the passenger and the type of the abnormal sitting posture to reduce the sitting posture risk level of the passenger under the condition that the passenger still has the abnormal sitting posture after the reminding information is sent out for more than the preset time.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a domain controller processing multi-region sensing information device 70 according to an embodiment of the present application, where the domain controller processing multi-region sensing information device 70 includes: a processor 701, a communication interface 702 and a memory 703. The processor 701, the communication interface 702, and the memory 703 may be connected by a bus or other means, which is exemplified in the embodiment of the present application.
The processor 701 is a computing core and a control core of the domain controller for processing the multi-area sensing information device 70, and may parse various instructions in the domain controller for processing the multi-area sensing information device 70 and process various data in the domain controller for processing the multi-area sensing information device 70, for example: the processor 701 may be a central processing unit (Central Processing Unit, CPU) that may transmit various types of interaction data between the domain controller and the internal structure of the multi-region sensory information device 70, and so on. Communication interface 702 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI, mobile communication interface, etc.), and may be controlled by processor 701 to receive and transmit data; the communication interface 702 may also be used for the domain controller to handle transmission and interaction of signaling or instructions within the multi-region awareness information device 70. The Memory 703 (Memory) is a Memory device in the domain controller processing multi-area aware information device 70 for storing programs and data. It will be appreciated that the memory 703 here may include both built-in memory of the domain controller handling multi-region awareness information device 70 and extended memory supported by the domain controller handling multi-region awareness information device 70. The memory 703 provides a storage space storing an operating system of the domain controller for processing the multi-region-aware information device 70, and also stores program codes or instructions required for the processor to perform the corresponding operations, and optionally, related data generated after the processor performs the corresponding operations.
Embodiments of the present application provide a computer readable storage medium storing a computer program comprising program instructions that, when executed by a processor, cause the processor to perform the operations performed in the embodiment of fig. 2.
Embodiments of the present application also provide a computer program product that, when run on a processor, performs the operations performed in the embodiment described in fig. 2.
Those skilled in the art will appreciate that implementing all or part of the above-described embodiment methods may be accomplished by a program that instructs related hardware, and the program may be stored in a computer-readable storage medium, and the program may include the above-described embodiment methods when executed. And the aforementioned storage medium includes: various media capable of storing program code, such as ROM, RAM, magnetic or optical disks.
Claims (10)
1. A method of a domain controller for processing multi-region awareness information, the method being applied to a body domain controller of a vehicle including the body domain controller and a cabin domain controller, the method comprising:
Acquiring weight information sent by a weight sensor arranged on a passenger seat;
determining that a passenger is present in a copilot of the vehicle according to the weight information;
acquiring first pressure information transmitted by a first pressure sensor arranged in a passenger seat airbag deployment area of the vehicle and second pressure information transmitted by a second pressure sensor arranged in a passenger seat;
acquiring distance information sent by a distance sensor arranged at a back of a co-driver seat, wherein the distance sensor is used for measuring the distance between the back of an occupant of the co-driver seat and the back of the co-driver seat;
estimating the body type grade of an occupant of a copilot of the vehicle according to the weight information and the pressure distribution condition in the second pressure information;
determining whether the occupant has an unusual sitting position according to one or more of the first pressure information, the second pressure information, the distance information and the weight information, wherein the unusual sitting position comprises a passenger lifting foot of the co-driver to a co-driver airbag deployment area, and a distance between a back of the passenger of the co-driver and a back of the co-driver exceeds a preset distance;
Determining a category of the out-of-position posture if the occupant is present in the out-of-position posture;
determining a seating posture risk level of the occupant based on the type of the occupant's abnormal seating posture and the body type level;
sending first indication information to the cabin area controller so that the cabin area controller controls the vehicle to send reminding information to prompt the passenger to standardize sitting postures according to the sitting posture risk level of the passenger;
and after the reminding information is sent out for more than a preset time, under the condition that the passenger still has an abnormal sitting posture, controlling the vehicle to execute corresponding operation according to the sitting posture risk level of the passenger and the abnormal sitting posture type so as to reduce the sitting posture risk level of the passenger.
2. The method of claim 1, wherein estimating the body type class of the occupant of the passenger seat of the vehicle based on the weight information and the pressure distribution in the second pressure information comprises:
analyzing the second pressure information to obtain a pressure distribution area on the co-driver's seat;
and calculating the body type grade of the passenger according to the pressure distribution area and the weight information.
3. The method of claim 1, wherein the determining whether the occupant is in an out-of-normal sitting position based on one or more of the first pressure information, the second pressure information, the distance information, and the weight information comprises:
determining whether a stress condition exists in an airbag unfolding area of a front passenger seat of the vehicle according to the first pressure information;
if the stress condition exists, determining whether the thigh area of the passenger presses the seat surface of the copilot or not according to the second pressure information;
if the weight information is not lower than the weight information before the stress condition exists in the passenger airbag unfolding area of the vehicle, whether the passenger has the legs placed in the passenger airbag unfolding area for bearing is analyzed to determine whether the passenger has an abnormal sitting posture, and the abnormal sitting posture is that the passenger in the passenger seat lifts the feet to the passenger airbag unfolding area.
4. The method of claim 1, wherein prior to said controlling the vehicle to perform the respective operation according to the occupant's seating risk level and the out-of-position category, the method further comprises:
Determining, in the event that it is detected that the current speed of the vehicle exceeds a preset first threshold, out-of-vehicle condition information of the vehicle according to image data of at least one out-of-vehicle camera in which a viewing area of the plurality of out-of-vehicle cameras of the vehicle includes a viewing area at an airbag sensor of the vehicle;
judging whether the vehicle has the possibility of the airbag popping up according to the information of the condition outside the vehicle.
5. The method of claim 1, wherein the alert information comprises a flashing alert icon, an in-vehicle display of the vehicle displaying an alert icon, sounding a prompt, and playing an alert animation, the sitting risk level comprising a low risk level, a medium risk level, a high risk level, and a significant risk level.
6. The method of claim 5, wherein the alert information corresponding to the low risk level is a flashing alert icon, the alert information corresponding to the medium risk level is an in-vehicle display of the vehicle displaying an alert icon, the alert information corresponding to the high risk level is an alert sound, and the alert information corresponding to the significant risk level is a play alert animation.
7. The method according to any one of claims 1 to 4, wherein after the controlling the vehicle to perform the corresponding operation according to the seating risk level of the occupant and the category of the abnormal seating, the method further comprises:
determining that the sitting position of the passenger in the co-driver seat is a normal sitting position;
determining the duration that the first pressure information exceeds a preset second threshold value;
and when the duration exceeds a preset third threshold value, sending second indication information to the cabin area controller so that the cabin area controller controls the icon of the vehicle to flash and/or the display to display so as to prompt that a placement object with safety risk is placed in a passenger seat airbag deployment area of the vehicle.
8. A domain controller processing multi-region awareness information device, the device comprising:
a first acquisition unit configured to acquire weight information transmitted from a weight sensor provided in a passenger seat;
a first determination unit configured to determine that a passenger is present in a front passenger of the vehicle based on the weight information;
a second acquisition unit configured to acquire first pressure information transmitted by a first pressure sensor provided in a passenger seat airbag deployment region of the vehicle and second pressure information transmitted by a second pressure sensor provided in a passenger seat;
A third acquisition unit configured to acquire distance information transmitted by a distance sensor provided at a passenger seat back, wherein the distance sensor is configured to measure a distance between a passenger back of the passenger seat and the passenger seat back;
the estimating unit is used for estimating the body type grade of the passenger of the copilot of the vehicle according to the weight information and the pressure distribution condition in the second pressure information;
a second determining unit configured to determine whether the occupant has an unusual sitting posture according to one or more of the first pressure information, the second pressure information, the distance information, and the weight information, wherein the unusual sitting posture includes a passenger lifting a foot of the passenger to a passenger seat airbag deployment region, and a distance between a back of the passenger and a back of the passenger seat exceeds a preset distance;
a third determination unit configured to determine a category of the unusual sitting posture if the occupant exists in the unusual sitting posture;
a fourth determination unit configured to determine a sitting posture risk level of the occupant based on the type of the abnormal sitting posture of the occupant and the body type level;
The sending unit is used for sending first indication information to the cabin domain controller so that the cabin domain controller controls the vehicle to send reminding information to prompt the passenger to standardize sitting postures according to the sitting posture risk level of the passenger;
and the control unit is used for controlling the vehicle to execute corresponding operation according to the sitting posture risk level of the passenger and the type of the abnormal sitting posture under the condition that the passenger still has the abnormal sitting posture after the reminding information is sent out for longer than the preset time so as to reduce the sitting posture risk level of the passenger.
9. A domain controller handling multi-region awareness information device, characterized in that it comprises at least one processor, a communication interface for transmitting and/or receiving data, and a memory for storing a computer program, the at least one processor being adapted to invoke the computer program stored in the at least one memory for implementing the method according to any of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run on a processor, implements the method according to any of claims 1-7.
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