CN116108681A

CN116108681A - Method, device, equipment and storage medium for constructing special-shaped FOV sensor model

Info

Publication number: CN116108681A
Application number: CN202310148533.3A
Authority: CN
Inventors: 张峻荧; 王士焜; 周正; 苏芮琦; 高海龙
Original assignee: Wuhan Da'an Technology Co ltd; Xiangyang Daan Automobile Test Center Co Ltd
Current assignee: Wuhan Da'an Technology Co ltd; Xiangyang Daan Automobile Test Center Co Ltd
Priority date: 2023-02-20
Filing date: 2023-02-20
Publication date: 2023-05-12

Abstract

The invention discloses a method, a device, equipment and a storage medium for constructing a special-shaped FOV sensor model, wherein the method comprises the following steps: acquiring parameters of the special-shaped FOV sensor, wherein the parameters comprise: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range; calculating sensor FOV key point coordinates according to parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a sensor detection range; and constructing a model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model map of the sensor FOV. The modeling method and the modeling device can realize accurate modeling of the complex or special-shaped FOV sensor, the modeling fineness is configurable, and the applicability of the model under different software and different testing requirements is greatly improved.

Description

Method, device, equipment and storage medium for constructing special-shaped FOV sensor model

Technical Field

The invention relates to the technical field of automobile simulation tests, in particular to a method, a device, equipment and a storage medium for constructing a special-shaped FOV sensor model.

Background

The sensor object to be simulated or tested is modeled in simulation software to be used for intelligent networking simulation test, and the sensor object to be simulated or tested is an essential key link in the intelligent networking simulation test field. There are generally two ways to model the sensor detection range (i.e., FOV): the first is based on numerical modeling in a parameter definition table, which is only applicable to simple FOV definitions, such as when the FOV is the same for all detection targets and only one value of FOV. The second is to stretch or compress the graph in a horizontal-vertical direction to obtain a similar horizontal-vertical ratio according to the FOV graph provided by a sensor manufacturer, and to use the graph in simulation software after format conversion, wherein the mode is suitable for complex FOV definition, but if the provided image is smaller in pixel size, the stretched/compressed graph can generate larger errors at a single pixel point.

Therefore, how to improve the modeling accuracy of the special-shaped FOV sensor is a technical problem that needs to be solved at present.

Disclosure of Invention

The invention mainly aims to provide a method, a device, equipment and a storage medium for constructing a model of a special-shaped FOV sensor, which can realize accurate modeling of a complex or special-shaped FOV sensor, and the modeling fineness is configurable, so that the applicability of the model under different software and different test requirements is greatly improved.

In a first aspect, the present application provides a method for constructing a shaped FOV sensor model, including the steps of:

acquiring parameters of the special-shaped FOV sensor, wherein the parameters comprise: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range;

calculating sensor FOV key point coordinates according to parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a sensor detection range;

and constructing a model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model map of the sensor FOV.

With reference to the first aspect, as an optional implementation manner, calculating, according to parameters of the shaped FOV sensor, coordinates of a sensor FOV key point includes the steps of:

calculating longitudinal X coordinates and transverse Y coordinates of the detection type according to the detection type, the horizontal FOV of the short distance range and the horizontal FOV of the long distance range;

and determining the sensor FOV key point coordinates according to the longitudinal X coordinates and the transverse Y coordinates of the detection type.

With reference to the first aspect, as an optional implementation manner, determining, by the sensor FOV key point coordinates, a boundary of the sensor FOV includes the steps of:

determining a connection mode between the sensor FOV key points by using an algorithm model of a transition region, wherein the connection mode comprises linear connection and circular curve connection;

the sensor FOV critical points are connected to form a boundary of the sensor FOV.

With reference to the first aspect, as an optional implementation manner, the configuring the model of the sensor FOV to generate a model map of the sensor FOV includes the steps of:

setting the resolution of the sensor FOV image according to the precision requirement of the model of the sensor FOV;

acquiring boundary coordinates of the sensor FOV according to the boundary of the sensor FOV;

and converting the corresponding relation between the distance and the pixel point through the boundary coordinates of the sensor FOV and the resolution of the set sensor FOV image, setting the color of the region in the boundary of the sensor FOV, and finally obtaining the model diagram of the sensor FOV.

With reference to the first aspect, as an optional implementation manner, the area within the boundary is set to a corresponding color according to the same mapping relationship between color and object type established in the simulation software.

In a second aspect, the present application provides a shaped FOV sensor model building apparatus, comprising:

an acquisition module for acquiring parameters of the shaped FOV sensor, the parameters comprising: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range;

the determining module is used for calculating sensor FOV key point coordinates according to the parameters of the special-shaped FOV sensor and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a sensor detection range;

a construction module for constructing a model of the sensor FOV by a boundary of the sensor FOV and configuring the model of the sensor FOV to generate a model map of the sensor FOV.

With reference to the second aspect, as an optional implementation manner, the determining module is further configured to: calculating longitudinal X coordinates and transverse Y coordinates of the detection type according to the detection type, the horizontal FOV of the short distance range and the horizontal FOV of the long distance range;

With reference to the first aspect, as an optional implementation manner, the determining module is further configured to: determining a connection mode between the sensor FOV key points by using an algorithm model of a transition region, wherein the connection mode comprises linear connection and circular curve connection;

In a third aspect, the present application further provides an electronic device, including: a processor; a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of the first aspects.

In a fourth aspect, the present application also provides a computer readable storage medium storing computer program instructions which, when executed by a computer, cause the computer to perform the method of any one of the first aspects.

The application provides a method, a device, equipment and a storage medium for constructing a special-shaped FOV sensor model, wherein the method comprises the following steps: acquiring parameters of the special-shaped FOV sensor, wherein the parameters comprise: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range; calculating sensor FOV key point coordinates according to parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a sensor detection range; and constructing a model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model map of the sensor FOV. The modeling method and the modeling device can realize accurate modeling of the complex or special-shaped FOV sensor, the modeling fineness is configurable, and the applicability of the model under different software and different testing requirements is greatly improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a flowchart of a method for constructing a model of a special-shaped FOV sensor provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a device for modeling a shaped FOV sensor provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a sensor FOV model provided in an embodiment of the present application;

fig. 4 is a schematic diagram of an electronic device provided in an embodiment of the present application;

fig. 5 is a schematic diagram of a computer readable program medium provided in an embodiment of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities.

The embodiment of the application provides a method, a device, equipment and a storage medium for constructing a model of a special-shaped FOV sensor, which can realize accurate modeling of a complex or special-shaped FOV sensor, and the modeling fineness is configurable, so that the applicability of the model under different software and different test requirements is greatly improved.

In order to achieve the technical effects, the general idea of the application is as follows:

a method for constructing a special-shaped FOV sensor model comprises the following steps:

s101: acquiring parameters of the special-shaped FOV sensor, wherein the parameters comprise: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range.

S102: and calculating sensor FOV key point coordinates according to parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a sensor detection range.

S103: and constructing a model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model map of the sensor FOV.

Embodiments of the present application are described in further detail below with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a flowchart illustrating a method for constructing a model of a special-shaped FOV sensor according to the present invention, as shown in fig. 1, the method includes the steps of:

step S101, acquiring parameters of the special-shaped FOV sensor, wherein the parameters comprise: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range.

In particular, the detection type of the shaped FOV sensor, which may be understood as detecting a passenger car or motorcycle or other type of vehicle, the horizontal FOV of the close range and the horizontal FOV of the far range are obtained. For example, as shown in table 1 below:

it is understood that the shaped FOV sensor is acquired as data in a table, wherein the shaped FOV sensor may also be understood as a complex FOV sensor. Furthermore, the FOV is the detection range of the sensor, i.e. FOV.

And S102, calculating sensor FOV key point coordinates according to parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a detection range of the sensor.

Specifically, the longitudinal X-coordinate and the transverse Y-coordinate of the detection type are calculated from the detection type, the horizontal FOV of the close range, and the horizontal FOV of the far range, and the sensor FOV key point coordinates are determined from the longitudinal X-coordinate and the transverse Y-coordinate of the detection type. It will be appreciated that the sensor FOV key coordinates are determined from the abscissa of the probe type by calculating the abscissa of the probe type from the data in the above table. An illustration is readily understood, as shown in table 2 below:

from table 2, it can be seen that the detection types, i.e., the coordinates of key points of the detection range of the passenger car, the longitudinal x-coordinate and the transverse Y-coordinate are calculated according to the data of table 1. By calculating the sensor FOV keypoint coordinates. It should be noted that the purpose of determining the FOV key points is to prepare for the modeling later.

After confirming the FOV key points, determining a connection mode between the sensor FOV key points by utilizing an algorithm model of a transition area, and connecting the sensor FOV key points to form a boundary of the sensor FOV, wherein the connection mode comprises linear connection and circular curve connection.

It will be appreciated that after determining the keypoints, it is necessary to determine what connection mode is used, for example, whether the keypoint 1 and the keypoint 2 are connected by a linear connection or a circular curve, so as to form the FOV boundary, and the keypoint is a boundary point of the detection range of the sensor, and it is to be noted that the connection mode between the two points may also be what connection mode is used by a functional relationship between the two points.

It will be appreciated that it is known how key points 1 and 2 are connected to form FOV boundaries, for example, 5 and 6 are connected by a circular curve to form a circular curve model, and the other points are all linear models.

And step S103, constructing a model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model map of the sensor FOV.

Specifically, according to the connection between key points, forming an FOV boundary, constructing a sensor FOV model by forming the FOV boundary, setting the resolution of a sensor FOV image according to the precision requirement of the sensor FOV model, acquiring the boundary coordinates of the sensor FOV according to the sensor FOV boundary, converting the corresponding relation between the distance and the pixel point by the boundary coordinates of the sensor FOV and the resolution of the sensor FOV image, setting the color of the area in the sensor FOV boundary, and finally obtaining the model diagram of the sensor FOV.

It is convenient to understand and exemplify that the resolution of the FOV map is set according to the sensor modeling accuracy requirement, for example, the map resolution may be 1920×x when the accuracy requirement is high, where X is converted according to the horizontal-vertical maximum coordinate. And according to the calculated boundary coordinates and resolution setting, converting the corresponding relation between the distance and the pixel points, and setting the area in the boundary to be a corresponding color, thereby obtaining the FOV image. It should be noted that, according to the same mapping relationship between color and object type established in the simulation software, the area within the boundary is set to be the corresponding color. It should be noted that, optimization is generally required before the image is generated, and the resolution is adjusted for the purpose of optimizing the image.

Referring to fig. 2, fig. 2 is a schematic diagram of a device for constructing a model of a special-shaped FOV sensor according to the present invention, as shown in fig. 2, the device includes:

the acquisition module 201: it is used for obtaining the parameter of dysmorphism FOV sensor, and the parameter includes: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range.

The determination module 202: the method is used for calculating sensor FOV key point coordinates according to parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a sensor detection range.

The construction module 203: which is used to construct a model of the sensor FOV by the boundary of the sensor FOV and configure the model of the sensor FOV to generate a model map of the sensor FOV.

Further, in one possible implementation, the determining module 202 is further configured to: calculating longitudinal X coordinates and transverse Y coordinates of the detection type according to the detection type, the horizontal FOV of the short distance range and the horizontal FOV of the long distance range;

Further, in one possible implementation, the determining module 202 is further configured to: determining a connection mode between the sensor FOV key points by using an algorithm model of a transition region, wherein the connection mode comprises linear connection and circular curve connection;

Further, in a possible implementation manner, the construction module 203 is further configured to set the resolution of the sensor FOV image according to the accuracy requirement of the model of the sensor FOV;

Further, in one possible implementation manner, the method further includes a setting module, configured to set the area within the boundary to a corresponding color according to the same mapping relationship between the color and the object type established in the simulation software.

Referring to fig. 3, fig. 3 is a schematic view of a sensor FOV model provided in the present invention, as shown in fig. 3:

taking a passenger car detection FOV as an example, 8 key point coordinates are shown in the figure, according to a detection type, a horizontal FOV of a short distance range and a horizontal FOV of a long distance range, calculating a longitudinal X coordinate and a transverse Y coordinate of the detection type, and according to the longitudinal X coordinate and the transverse Y coordinate of the detection type, determining the key point coordinates of the FOV of the sensor.

The key points are eight points of 1, 2..8, and can be regarded as connection points. The boundary points are boundaries formed by the connection of the 8 points, can be considered as boundary contours, and can be sampled to obtain discrete boundary points in the calculation process.

After the coordinates of the key points are determined, the algorithm model of the transition area is utilized to determine whether the key points of the FOV of the sensor are connected by a linear connection or a circular curve, and as can be seen from the figure, the key points 5 and 6 are connected by a circular curve, and other points are connected by the linear connection. It should be noted that the close range mode is the region formed between 7, 5, 6 and 8, and the region formed between the 3, 1, 2 and 4 connections is the far range mode.

The portion of the long-distance boundary covered by the short-distance boundary may be a short-distance region boundary without performing a secondary calculation.

In addition, the color of the FOV chart is the object type, namely the object type can be determined according to the set color, all FOV detection areas of the passenger car can be in pure red (R=255, G=0, B=0), and similarly, the obtained FOV detection areas of the motorcycle can be in yellow. The specific color configuration is completed, and the same mapping relation configuration of 'color-target type' is required to be established in simulation software.

It should be noted that, a color map is synthesized by a target detection, far-distance and near-distance areas; different colors are set for different recognition target types.

After the model map is generated, the model map is imported into software for use, wherein the simulation software includes VTD (Virtual Tes t Drive) and TADs im.

An electronic device 400 according to such an embodiment of the invention is described below with reference to fig. 4. The electronic device 400 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 4, the electronic device 400 is embodied in the form of a general purpose computing device. The components of electronic device 400 may include, but are not limited to: the at least one processing unit 410, the at least one memory unit 420, and a bus 430 connecting the various system components, including the memory unit 420 and the processing unit 410.

Wherein the storage unit stores program code that is executable by the processing unit 410 such that the processing unit 410 performs steps according to various exemplary embodiments of the present invention described in the above-described "example methods" section of the present specification.

The storage unit 420 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 421 and/or cache memory 422, and may further include Read Only Memory (ROM) 423.

The storage unit 420 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

Bus 430 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.

The electronic device 400 may also communicate with one or more external devices (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 400, and/or with any device (e.g., router, modem, etc.) that enables the electronic device 400 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 450. Also, electronic device 400 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 over the bus 430. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 400, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

According to an aspect of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.

Referring to fig. 5, a program product 500 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.

In summary, the method, device, equipment and storage medium for constructing a special-shaped FOV sensor model provided by the application include the following steps: acquiring parameters of the special-shaped FOV sensor, wherein the parameters comprise: the type of detection, the horizontal FOV of the near range, and the horizontal FOV of the far range; calculating sensor FOV key point coordinates according to parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the sensor FOV key point coordinates, wherein the key point is a boundary point of a sensor detection range; and constructing a model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model map of the sensor FOV. The modeling method and the modeling device can realize accurate modeling of the complex or special-shaped FOV sensor, the modeling fineness is configurable, and the applicability of the model under different software and different testing requirements is greatly improved.

The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.

Claims

1. The method for constructing the special-shaped FOV sensor model is characterized by comprising the following steps of:

2. The method of claim 1, wherein calculating sensor FOV keypoint coordinates from parameters of the shaped FOV sensor comprises:

3. The method of claim 1, wherein determining the boundary of the sensor FOV by the sensor FOV key point coordinates comprises:

4. The method of claim 1, wherein configuring the model of the sensor FOV to generate a model map of the sensor FOV comprises:

5. The method of claim 4, wherein said setting the color of the region within the boundary of the sensor FOV comprises:

and setting the region in the boundary to be a corresponding color according to the same mapping relation between the color and the target type in the simulation software.

6. A special-shaped FOV sensor model building apparatus, comprising:

7. The apparatus of claim 6, wherein the means for determining is further for:

8. The apparatus of claim 6, wherein the means for determining is further for:

9. An electronic device, the electronic device comprising:

a processor;

a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 5.

10. A computer readable storage medium, characterized in that it stores computer program instructions, which when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 5.