DE102018210594A1 - Device and method for adapting a driving characteristic of one's own vehicle when driving with an activated adaptive distance control system - Google Patents

Abstract

The invention relates to a device (16) for adapting a driving characteristic of one's own vehicle (10) when driving with an activated adaptive distance control system to a preset target speed, comprising: an input interface (18) for receiving route data of a route section ahead; means (18a) for recognizing a preceding vehicle; a vehicle interface (20) for receiving vehicle data of the own vehicle; an adaptation unit (22) for determining at least one adaptation value for adapting a driving characteristic of the own vehicle based on the received route data of the preceding route section and the vehicle data of the own vehicle; and an output unit (24) for outputting the at least one determined adaptation value to a control unit (30) of the own vehicle. The invention further relates to a method for adapting a driving characteristic of a vehicle (10) when driving with an activated adaptive distance control system and a preset target speed, as well as a driver assistance system (28) and a vehicle (10).

Description

The present invention relates to a device for adapting a driving characteristic of one's own vehicle when driving with an activated adaptive distance control system and preset target speed, and a corresponding method, as well as a driver assistance system and a vehicle.

Modern vehicles (cars, vans, trucks, motorcycles, but also transport vehicles in an industrial environment, etc.) include a variety of driver assistance systems that provide the driver with information and control individual functions of the vehicle in a partially or fully automated manner. Due to the progressive development in the field of autonomous and semi-autonomous vehicles, the influence and scope of driver assistance systems is constantly increasing. The development of ever more precise sensors makes it possible to record the surroundings and traffic and to control individual functions of the vehicle more or less without driver intervention. Driver assistance systems can help to increase safety in traffic and improve driving comfort, especially when driving long distances.

A relevant functional area of driver assistance systems is the automatic regulation of a vehicle's speed. So-called adaptive driving assistants (AFA) support the driver when accelerating and braking, keeping speed and distance, guiding the lane (for example in speed ranges from 0 to 250 km / h) and in traffic jams. A cruise control enables a preset speed to be maintained without the driver having to actively accelerate or brake. Adaptive cruise control (ACC) is based on the fact that automated acceleration and braking keep a preset distance from a vehicle in front constant. The speed of the vehicle in front is adapted and the vehicle in front is tracked, so to speak.

A problem here can be if a vehicle in front of the vehicle changes lane or leaves the lane when leaving. In this case, the driver assistance system of the vehicle accelerates to a preset maximum speed. If the further course of the route has a speed limit or a curve, the acceleration process may have to be interrupted by the driver or an assistance system and braking must be initiated. As a result, driving comfort may be impaired or the safety of the vehicle and the occupants may be endangered. Furthermore, the directly consecutive acceleration and deceleration cycles can lead to increased fuel consumption.

In this context, the object of the present invention is to improve the driving comfort and the fuel consumption of a vehicle when driving with activated adaptive driving assistant.

The object is achieved with the features of the independent claims. Advantageous embodiments of the invention are the subject of dependent claims.

• einer Eingangsschnittstelle zum Empfangen von Streckendaten eines vorausliegenden Streckenabschnitts;
• einer Fahrzeugschnittstelle zum Empfangen von Fahrzeugdaten des eigenen Fahrzeugs;
• einer Anpassungseinheit zum Ermitteln mindestens eines Anpassungswertes zum Anpassen einer Fahreigenschaft des eigenen Fahrzeugs basierend auf den empfangenen Streckendaten des vorausliegenden Streckenabschnitts und den Fahrzeugdaten des eigenen Fahrzeugs; und
• einer Ausgabeeinheit zum Ausgeben des mindestens einen ermittelten Anpassungswertes an eine Steuereinheit des eigenen Fahrzeugs.

In a first aspect, the present invention relates to a device for adapting a driving characteristic of one's own vehicle when driving with an activated adaptive distance control system and preset target speed, with:

• an input interface for receiving route data of a preceding route section;
• a vehicle interface for receiving vehicle data of the own vehicle;
• an adaptation unit for determining at least one adaptation value for adapting a driving characteristic of the own vehicle based on the received route data of the preceding route section and the vehicle data of the own vehicle; and
• an output unit for outputting the at least one determined adaptation value to a control unit of one's own vehicle.

In a further aspect, the invention relates to a driver assistance system for regulating a speed of one's own vehicle
a device as described above; and
a control unit for controlling a drive and braking system of the own vehicle in order to regulate the speed of the own vehicle in the route section ahead based on the determined adaptation value for the speed.

• einer Vorrichtung wie zuvor beschrieben oder mit einem Fahrerassistenzsystem wie zuvor beschrieben;
• einem Antriebs- und Bremssystem zum Beschleunigen und Verzögern des Fahrzeugs;
• einem Fahrzeuginformationssystem zum Bereitstellen von Fahrzeugdaten des eigenen Fahrzeugs; und
• einem Sensor zum Ermitteln von Streckendaten eines vorausliegenden Streckenabschnitts und/oder eine Straßenkartendatenbank.

In a further aspect, the invention relates to a vehicle with:

• a device as described above or with a driver assistance system as described above;
• a drive and brake system for accelerating and decelerating the vehicle;
• a vehicle information system for providing vehicle data of the own vehicle; and
• a sensor for determining route data of a route section lying ahead and / or a road map database.

Further aspects of the invention relate to a corresponding method and a computer program product with program code for carrying out the steps of the method when the program code is executed on a computer, and to a storage medium on which a computer program is stored which, when it is executed on a computer, performing the method described herein.

Preferred embodiments of the invention are described in the dependent claims. It goes without saying that the device, the method, the driver assistance system, the vehicle and the computer program product can be designed in accordance with the configurations described for the device and the driver assistance system in the dependent claims.

The device according to the invention is used to adapt a driving characteristic of one's own vehicle when driving with an activated adaptive distance control system and a preset target speed. It is provided that on the one hand vehicle data of the own vehicle and on the other hand route data of a route section lying ahead are taken into account in order to adapt a driving characteristic of the own vehicle. When driving through the curve, data from a section of the route ahead is included.

Route data in the sense of the present invention include, in particular, physical characteristics or properties of a route. In particular, such properties can be a radius of curvature of a curve, a slope, a number of lanes on the route, a surface condition of the route and / or a route type such as, for example, a motorway, a country road or a federal road. Route data in the sense of the present invention can in particular also include information about physical objects which are arranged on, next to or on the route. Such physical objects can be, for example, delimitation posts, traffic signs, information signs or signal systems.

Depending on the route section ahead, it is not necessary or, for safety reasons, not recommended that your own vehicle accelerate to the target speed preset in the adaptive distance control system if the adaptive distance control system has lost the vehicle in front. The expression “lost” is further understood to mean that the adaptive distance control system no longer recognizes a vehicle in front, according to which it regulates the speed of one's own vehicle and the distance between one's own vehicle and the vehicle in front.

The device according to the invention makes it possible to take into account a route section lying ahead in order to adapt a driving characteristic of one's own vehicle before driving through the curve. The section of the route ahead is analyzed in order to determine the properties of your own vehicle, e.g. adjust the vehicle speed when driving around the curve. It is avoided that the adaptive cruise control system, when it has lost the vehicle in front, accelerates to a speed which is inappropriate for the section of the road ahead because this speed e.g. is not permitted due to upcoming speed limits or because the section of road ahead requires braking, which would otherwise have caused unnecessary fuel consumption. Compared to previous approaches, predictive driving is improved as future dangerous situations are recognized in good time. Furthermore, compared to previous approaches, fuel consumption is reduced by the improved predictive driving.

In particular, it is advantageous if a device according to the invention is integrated in a driver assistance system for regulating the speed of one's own vehicle. This can be done, for example, by integrating hardware and / or by adapting software accordingly.

A driving characteristic of a vehicle is understood here to mean in particular a characteristic of the vehicle that can be adapted by changing a parameter during the operation of the vehicle. A curve here means in particular a change of direction in the course of a road or a path, by means of which a centrifugal force is brought about above a predefinable threshold. An acceleration sensor for measuring the centrifugal force in a vehicle can be used, for example, to determine whether a curve is being traveled or not. An adaptation value can in particular be an absolute or relative change value, by means of which a change in a driving characteristic can be quantified.

In a preferred embodiment, the adaptation unit is for determining a Adaptation value for a speed of your own vehicle. The speed of your own vehicle is adjusted based on the nature of the route section ahead. In particular, the target speed set in the adaptive distance control system is not accelerated if the section of road ahead does not allow a corresponding speed due to corresponding traffic regulations or does not allow because of the course of the section of the route. Rather, the vehicle is brought to a speed adapted to the section of the route ahead. By avoiding acceleration to the preset target speed, future dangerous situations in the curve are avoided. Furthermore, it is avoided that later braking is necessary due to the curve being driven in or started too quickly, as a result of which fuel was unnecessarily consumed in the preceding acceleration process.

In one embodiment of the invention, the route data of the route section ahead comprise the route course and / or speed information. Furthermore, the vehicle data of the own vehicle include a vehicle type of the own vehicle. Furthermore, the adaptation unit is designed to determine an adaptation value for reducing the preset target speed of the own vehicle if the section of road ahead does not allow a preset target speed to be reached.

In one embodiment of the invention, the input interface is designed to receive route data of the route section ahead of it from a sensor of one's own vehicle, in particular from a camera, a radar, lidar and / or ultrasonic sensor and / or from a road map database. On the one hand, the route data of the route section lying ahead can be determined within one's own vehicle by means of a sensor or an integrated road map database. On the other hand, it is also possible for the route data of the route section ahead to be transmitted via a vehicle communication unit, e.g. from a cloud service. By using our own sensors, it can be ensured that there is no dependency on external data sources. By using data transmitted by a cloud service, current, precise and extensive road data can be received.

In one embodiment of the invention, the vehicle interface is designed to receive environmental data of the vehicle; and the adaptation unit is designed to determine the adaptation value based on the environmental data. In addition to the route data of the route section lying ahead, environmental data can also be taken into account when determining the adaptation value. In this context, environmental data is understood in particular to be data that describe a current environment of the vehicle. For example, it can be determined by means of a rain sensor whether the ground is (with high probability) wet or a statement can be made with regard to possible slippery roads by means of a temperature sensor. The additional consideration of such environmental data when determining the adaptation value ensures that the driving characteristics of one's own vehicle are adapted as optimally as possible to the section of the road ahead and the environment in order to enable a fuel-efficient driving style on the one hand and high driving comfort with safe and swift cornering on the other.

The vehicle data of the own vehicle can include at least one vehicle type, a vehicle weight and / or a chassis setting. The adaptation unit for determining an adaptation value can be designed for setting a chassis component of the own vehicle, in particular a damper setting. The adjustment of a damper setting makes it possible for the driving behavior of the vehicle to be adapted for driving through the curve. This leads to improved driving comfort and increases safety when cornering.

In one embodiment of a driver assistance system according to the invention, the driver assistance system comprises a user interface for the input of a maximum target speed by a user, the control unit being designed to regulate the speed of the own vehicle in the preceding section of the route if a speed of the own vehicle is lower than the target speed. Distance control systems (ACC) in particular are usually based on the fact that a maximum desired speed is entered by a user, which should not be exceeded. According to the invention, in addition to this maximum setpoint, the determined adaptation value for the maximum possible speed in the preceding section of the route is taken into account. The section of road ahead, for example a curve, is thus traversed more slowly than the set speed previously entered by the user via the user interface in the adaptive distance control system. In other words, if it is recognized that the route section ahead, because of its course, its nature or due to traffic signs, does not allow driving through at the preset target speed, then the Adjusted the speed of your own vehicle accordingly.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the combination indicated in each case, but also in other combinations or on their own without departing from the scope of the present invention.

• 1 eine schematische Darstellung eines eigenen Fahrzeugs und eines vorausfahrenden Fahrzeugs entlang eines Streckenabschnitts;
• 2 eine schematische Darstellung einer erfindungsgemäßen Vorrichtung;
• 3 eine schematische Darstellung eines erfindungsgemäßen Fahrerassistenzsystems;
• 4 eine schematische Darstellung eines erfindungsgemäßen Fahrzeugs;
• 5 eine schematische Darstellung eines erfindungsgemäßen Verfahrens.

The invention is described and explained in more detail below on the basis of a few selected exemplary embodiments in conjunction with the accompanying drawings. Show it:

• 1 a schematic representation of a vehicle and a vehicle in front along a route section;
• 2 a schematic representation of a device according to the invention;
• 3 a schematic representation of a driver assistance system according to the invention;
• 4 a schematic representation of a vehicle according to the invention;
• 5 a schematic representation of a method according to the invention.

In the 1 is shown a traffic situation in which your own vehicle 10 a vehicle in front 12 follows when driving on a route. The vehicle in front 12 is here in relation to your own vehicle 10 in a section of the route ahead. The vehicle 12 the route is at the exit 14a leave. After leaving the route, ie after turning into the exit 14a , your own vehicle 10 no longer have a vehicle in front.

Through the use of a driver assistance system, in particular an adaptive cruise control (ACC), in your own vehicle 10 automatically set the acceleration and deceleration so that a distance between your own vehicle 10 and the vehicle in front 12 is kept constant within a predeterminable tolerance.

Loses your own vehicle 10 now the vehicle in front 12 , ie the adaptive cruise control recognizes the vehicle in front 12 not anymore, because it has driven around a curve (not shown) or the route at an exit 14a the cruise control accelerates your own vehicle 10 to a maximum target speed previously set by a user. Under certain circumstances, however, this maximum target speed may be too high for the route section ahead. Or in the section of the route ahead, a speed limit is prescribed which is below the preset maximum target speed of the cruise control. Your own vehicle 10 In this case, takes into account the route section ahead with regard to the nature and any existing traffic signs and adjusts the speed in the route section ahead accordingly.

The solution according to the invention provides that the own vehicle 10 when using the driver assistance system, for example an adaptive distance control system, route data of the route section ahead 14 considered. There will be information about the section of the route ahead 14 in order to then when the own vehicle 10 the vehicle in front 12 loses, ie the adaptive cruise control no longer relates to a vehicle in front, the speed or the acceleration of your own vehicle 10 to a section of the route ahead 14 adapt. Route data from a route database can also be used for this. This route database can be used in your own vehicle 10 be kept available, for example in a navigation system with street map data or via an external cloud service.
By means of the information about the route section ahead 14 It can be determined whether the route section ahead can be driven on at all with the preset maximum target speed in the distance control system. Be it because of the nature of the section of the route ahead, e.g. surface quality or course of the route, or because of possible speed limits.

In the 2 is a device according to the invention 16 shown schematically. The device includes an input interface 18 , a vehicle interface 20 , an adjustment unit 22 and an output unit 24 , Optionally, as indicated by the dashed line, the device also includes a communication unit 26 , The device 16 preferably corresponds to an expansion for a cruise control, an ACC system or an AFA system

The input interface 18 is used to receive route data of a route section lying ahead. The route data can either be queried via a road map database implemented in your own vehicle or obtained via an external cloud service. In both cases, the length, curve radius, surface quality and Speed specifications can be received on a section of the route ahead.

For this, the input interface 18 be connected to a sensor of your own vehicle and receive its sensor data and process it if necessary. In particular, the use of a camera is possible, from which camera data are received that show the route section ahead. An image of the section of the route ahead is thus evaluated. For example, a camera image can be evaluated and the traffic signs in the route section ahead or the route course of the route section ahead can be recognized. It is also possible for data from a radar, lidar and / or ultrasound sensor to be received via the input interface. The input interface can, for example, be connected to a corresponding bus system within the vehicle and connected to the corresponding sensors of the vehicle. It is also possible for the input interface to receive data from several sensors and, if necessary, to pre-process them.

As an alternative or in addition to receiving data from one or more sensors of one's own vehicle, it is possible for the input interface 18 is designed to receive the route data via an external cloud service. For this, the input interface 18 For example, be connected to a corresponding communication system that is suitable for communicating with an external cloud service, for example via a mobile communication network.

The vehicle interface 20 is used to receive vehicle data from your own vehicle. For example, data on weight, size, speed, vehicle type, chassis setting etc. can also be received as vehicle data. The vehicle interface 20 can also be connected to a vehicle bus system for data reception. But it is also possible that the vehicle interface 20 communicates with an internal or external database in order to obtain the corresponding vehicle data of your own vehicle.

The adjustment unit 22 is designed to evaluate the vehicle data of the own vehicle and the route data of the preceding route section and to determine an adjustment value for a vehicle property of the own vehicle based thereon, for example a speed. For example, calculations or lookup operations can be carried out for this purpose.

An output unit is used to carry out the actual control and adaptation of the driving characteristics of one's own vehicle based on the determined adaptation value 24 provided that forwards the determined adaptation value to a control unit. The adaptation unit can also be connected to a vehicle bus. For example, the control unit can communicate directly with an engine and / or brake control unit. The communication advantageously takes place with a corresponding unit of a driver assistance system.

The adjustment value can be used to adjust different vehicle properties. In particular, it is advantageous if the speed of one's own vehicle is adjusted. For this purpose, the adaptation value can contain an absolute or relative indication of an acceleration of the vehicle. For example, the acceleration can be reduced by an adaptation value in the form of an absolute value (in m / s ² ), which is passed on to a drive control device.

In the 3 is a driver assistance system according to the invention 28 which is a device according to the invention 16 as well as a control unit 30 and optionally a user interface 32 includes.

The driver assistance system 28 corresponds in particular to a cruise control. Based on a determined adaptation value for the acceleration or the speed, the control unit 30 a drive and braking system of a vehicle is controlled so that acceleration and / or deceleration of the vehicle can be achieved. In particular, the driver's own vehicle can be accelerated appropriately for the section of the route ahead, so that a speed is reached at which the section of the route ahead can be traveled safely and with a high level of driving comfort. The acceleration can be adjusted in such a way that fuel-saving driving is made possible.

The driver assistance system 28 corresponds in particular to a cruise control. Based on a determined adjustment value for the speed, the control unit 30 a drive and braking system of a vehicle is controlled so that acceleration and / or deceleration of the vehicle can be achieved. In particular, the vehicle can be slowed in relation to the vehicle in front if the acceleration is reduced or even a deceleration is actively caused by a braking intervention.

In current driver assistance systems, a maximum speed is usually set via the user interface 32 given, then the control unit 30 is designed to regulate the distance to the vehicle in front only when the maximum speed has not been exceeded. If, however, there is no vehicle in front, or if one is not recognized, the control unit is designed to accelerate the vehicle to a speed which is greater than that via the user interface 32 set maximum speed corresponds. According to the invention, the control unit 30 However, it is designed in such a way that, taking into account the route data of a section of the route ahead, the acceleration of one's own vehicle is regulated in such a way that the own vehicle can drive through the section of the route ahead with a high level of driving comfort and with the lowest possible fuel consumption.

The user interface 32 can be designed, for example, as a touchscreen display in the interior of one's own vehicle.

In the 4 is a vehicle according to the invention 34 shown schematically. The vehicle includes a driver assistance system 28 , whose input interface 18 to a sensor 36 connected. In the exemplary embodiment shown, the sensor is attached in the front area of the vehicle below the radiator grille and corresponds to a camera or an image sensor of a camera. The section of the road ahead can be detected via the camera.

In the illustrated embodiment, the vehicle includes 34 also a vehicle communication unit 38 , The vehicle communication unit 38 allows communication with an external cloud service to provide route data. In particular, direct wireless communication or indirect communication can take place via a mobile radio network and via an Internet server. The route data received from the external cloud service is then sent via the input interface 18 to the driver assistance system 28 transmitted. The vehicle also includes 34 a drive and braking system 40 , which can be integrated, for example, in a central vehicle control unit or in an engine control unit and through which the vehicle can be accelerated or decelerated.

The vehicle also includes a vehicle information system 42 to which the vehicle interface 20 of the driver assistance system 28 is connected to receive the vehicle data. The vehicle information system 42 can, for example, correspond to a central control unit of the vehicle and the communication can take place via a vehicle bus system.

In the 5 a method according to the invention is shown schematically. The method includes the steps of receiving S10 sensor data related to the absence of a preceding vehicle, the reception S11 of route data of a preceding route section, the reception S12 of vehicle data of the own vehicle, the determination S14 at least one adjustment value and spending S16 the adaptation value to a control unit. The method according to the invention can in particular be implemented as software which extends the functionality of an existing driver assistance system and which uses the sensors and control technology already present in the vehicle. So sensors that are already in vehicles can often be used, so that a hardware change is not necessary.

The invention has been described and explained comprehensively with reference to the drawings and the description. The description and explanation are to be understood as examples and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will occur to those skilled in the art using the present invention, as well as upon a detailed analysis of the drawings, the disclosure, and the following claims.

In the claims, the words "comprise" and "with" do not exclude the presence of further elements or steps. The undefined article "a" or "an" does not exclude the existence of a plurality. A single element or a single unit can perform the functions of several of the units mentioned in the claims. An element, a unit, a device and a system can be partially or completely implemented in hardware and / or in software. The mere mention of some measures in several different dependent claims is not to be understood to mean that a combination of these measures cannot also be used advantageously. A computer program can be stored / distributed on a non-volatile data carrier, for example on an optical memory or on a semiconductor drive (SSD). A computer program can be distributed together with hardware and / or as part of hardware, for example by means of the Internet or by means of wired or wireless communication systems. Reference signs in the claims are not to be understood as restrictive.

LIST OF REFERENCE NUMBERS

10

Own vehicle

12

vehicle in front

14

section ahead

14a

Exit in the section ahead

16

contraption

18

Input interface

20

Vehicle interface

22

matching unit

24

output unit

26

communication unit

28

Driver assistance system

30

control unit

32

User interface

34

vehicle

36

sensor

38

Vehicle communication system

40

Drive and brake system

42

Vehicle Information System

44

communication unit

Claims (11)

Device (16) for adapting a driving characteristic of one's own vehicle (10) when driving with an activated adaptive distance control system to and a preset target speed, with: an input interface (18) for receiving route data of a preceding route section; means (18a) for recognizing a preceding vehicle; a vehicle interface (20) for receiving vehicle data of the own vehicle; an adaptation unit (22) for determining at least one adaptation value for adapting a driving characteristic of the own vehicle based on the received route data of the preceding route section and the vehicle data of the own vehicle; and an output unit (24) for outputting the at least one determined adaptation value to a control unit (30) of one's own vehicle. Device (16) according to one of the preceding claims, wherein the adaptation unit (22) is designed to determine an adaptation value for a desired speed of the own vehicle (10). Device (16) according to one of the preceding claims, wherein the route data of the preceding route section comprise the route course and / or speed information and the vehicle data of the own vehicle (10) comprise a vehicle type of the own vehicle; and the adaptation unit (22) is designed to determine an adaptation value for reducing the preset target speed of the own vehicle if the section of the road ahead does not allow a preset target speed to be reached. Device (16) according to one of the preceding claims, wherein the input interface (18) is designed to receive route data of the route section ahead from a sensor (36) of the driver's vehicle (10), in particular from a camera, a radar, lidar and / or ultrasonic sensor and / or received from a road map database. Device (16) according to one of the preceding claims, wherein the vehicle interface (20) is designed to receive environmental data of the vehicle; and the adaptation unit (22) is designed to determine the adaptation value based on the environmental data. Device (16) according to one of the preceding claims, wherein the vehicle data of the own vehicle (10) comprise at least one vehicle type, a vehicle weight and / or a chassis setting. Driver assistance system for regulating a speed of one's own vehicle (10), with a device (16) according to one of the Claims 1 to 6 ; and a control unit (30) for controlling a drive and brake system (40) of the own vehicle in order to regulate the speed of the own vehicle (10) in the preceding section of the route based on the determined adaptation value for the speed. Driver assistance system after Claim 7 , with a user interface (32) for inputting a maximum target speed by a user, the control unit (30) being designed to regulate the speed of the own vehicle (10) in the preceding route section, if a speed of the own vehicle (10) is lower than the target speed. Vehicle (10) with: a device (16) according to one of the Claims 1 to 6 or with a driver assistance system (28) according to one of the Claims 7 and 8th ; a drive and brake system (40) for accelerating and decelerating the vehicle; a vehicle information system (42) for providing vehicle data of the own vehicle (10); and a sensor (36) for determining route data of a route section lying ahead and / or a road map database. Method for adapting a driving characteristic of one's own vehicle (10) when driving with an activated adaptive distance control system and preset target speed, comprising the steps: Receiving (S10) sensor data relating to the absence of a preceding vehicle (12); Receiving (S11) data on the route ahead; Receiving (S12) vehicle data of the own vehicle; Determining (S14) at least one adaptation value for adapting a driving characteristic of the own vehicle based on the preceding route section and the vehicle data of the own vehicle; and Outputting (S16) the at least one determined adaptation value to a control unit of one's own vehicle. Computer program product with program code for performing the steps of the method according to Claim 10 if the program code is executed on a computer.

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