SE1650557A1

SE1650557A1 - Motor Vehicle and Method for Controlling the Same

Info

Publication number: SE1650557A1
Application number: SE1650557A
Authority: SE
Inventors: Malinen Samuel; Hjorth Lars
Original assignee: Scania Cv Ab
Priority date: 2016-04-26
Filing date: 2016-04-26
Publication date: 2017-10-27
Also published as: DE102017003655B4; SE541201C2; DE102017003655A1

Abstract

A motor vehicle (100) is selectively operable in either an autonomous driving mode or a manual driving mode. When the motor vehicle (100) is operated in the autonomous driving mode, a processing unit (110) determines whether or not a set of criteria are fulfilled for operating the motor vehicle (100) in the manual driving mode. In response to a manual-operation command (CMD) and if the set of criteria are fulfilled, operation of the motor vehicle (100) in the manual driving mode is effected. A set of sensors (120) register at least one signal that forms a basis for determining whether or not said set of criteria are fulfilled. Via a wireless interface (140), a communication unit (130) receives the manual-operation command (CMD) from a resource (160) external to the motor vehicle (100). Hence, the external resource (160) may control the motor vehicle (100) to operate in the manual driving mode.(Fig. 1)

Description

Motor Vehicle and Method for Controlling the Same THE BACKGROUND OF THE INVENTION AND PRIOR ART The present invention relates generally to solutions for operatinga motor vehicle in an autonomous driving mode and a manualdriving mode respectively. More particularly, the invention rela-testo a motor vehicle according to the preamble of claim 1 and acorresponding method. The invention also relates to a computerprogram product and a non-transitory computer readable me-dium.

Today, there is strong trend towards increased use of automa-tically operated road vehicles. Naturally, this is associated withmany technical obstacles. Especially, changing safely betweenan autonomous and a manual driving mode has proven to bechallenging. Below follows some examples of relatively recentsolutions in this area.

US 2013/0002416 reveals systems and methods for switchingbetween manual-mode steering and autonomous-mode steering,including a steering wheel assembly sending a signal to an auto-nomous driving electronic control unit, to engage autonomous-mode steering, in response to an autonomous interface steeringwheel of the assembly having been moved from a first positionto a second position.

US 6,356,819 describes a method and apparatus that allows forsafely operating a vehicle when an automatic steering controlfeature of a guidance control system is in operation. One or mo-re sensors are used to determine whether the operator is in thevehicle. lf the sensors detect that the operator has left the ve-hicle, the vehicle is shut off. The safety system includes one ormore software programs that operate to determine whether theguidance control system is operating properly. More specifically,a control unit is coupled to the microprocessor and the steeringcontrol mechanism for determining whether or not an error con- dition has occurred. ln the event that an error condition has oc-curred, the guidance control system is disengaged and controlof the vehicle is turned over to the operator. ln one embodiment,the safety system determines whether the operator is ready totake control of the vehicle prior to disengaging the guidancecontrol system. lf the operator is not ready to take control of thevehicle, the vehicle is shut off.

US 2015/0283998 discloses a method for transition between dri-ving modes of a vehicle. The driving modes include an autono-mous driving (AD) mode, a partly autonomous driving (PAD) mo-de and a manual driving (l\/lD) mode. A transition from the PADmode to the AD mode is performed by enabling the AD mode. Atransition from the AD mode to the PAD mode is performed byreleasing a steering wheel lock when the PAD mode is in an en-abled state. A transition from the MD mode to the AD mode isperformed by enabling the AD mode. A transition from the ADmode to the l\/lD mode is performed by releasing the steeringwheel lock when the PAD mode is in a disabled state. A systemfor performing the method and a vehicle including the systemare also disclosed.

US 2015/0070160 describes a method and arrangement are forhandover warning in a vehicle having autonomous driving capa-bilities and a vehicle controller configured to control unmannedautonomous travel. A processor may be configured to monitor ifthere is a need to transition from unmanned autonomous travelto manual control of the vehicle. A detecting arrangement maybe configured to monitor a vehicle driver and evaluate the vehic-le driver's readiness to assume the act of driving the vehicle. Awarning arrangement may be configured to provide warning in-formation when driver-handover is requested by the processor,which warning arrangement may be further configured to adaptwarning information timing in respect to the evaluated vehicledriver's readiness to assume the act of driving the vehicle. Awarning output system may be configured to output the time ad-apted warning information to a vehicle passenger compartment.

US 2015/0284009 shows a solution for switching between auto-nomous and manual driving modes. ln order to do so, the ve-hicle's computer may conduct a series of environmental, system,and driver checks to identify certain conditions. The computermay correct some of these conditions and also provide a driverwith a checklist of tasks for completion. Once the tasks havebeen completed and the conditions are changed, the computermay allow the driver to switch from the manual to the autono-mous driving mode. The computer may also make a determina-tion, under certain conditions, that it would be detrimental to thedriver's safety or comfort to make a switch from the autonomousdriving mode to the manual driving mode.

PROBLEIVIS ASSOCIATED WITH THE PRIOR ART Thus, various solutions already exist for switching between au-tonomous and manual driving modes. However, the existing so-lutions all rely on locally generated commands or signals fortransitioning from one mode to the other. This, in turn, is proble-matic inter alia because such a locally oriented approach cannottackle driving situations that require relatively long advance no-tice in space and/or time.

SUMMARY OF THE INVENTION The object of the present invention is therefore to solve the abo-ve problem, and thus offer an improved handling of a motor ve-hicle that is selectively operable in either an autonomous drivingmode or a manual driving mode.

According to one aspect of the invention, the object is achievedby the initially described motor vehicle, wherein the motor vehic-le contains a communication unit configured to receive a ma-nual-operation command via a wireless interface. The manual-operation command is generated by a resource external to themotor vehicle.

This motor vehicle is advantageous because it enables a com-mand central or other off-board entity to prompt manual opera-tion of the vehicle should this be deemed necessary, for examp-le with respect to circumstances which are beyond the normalreach of the vehicle”s own sensor systems. Such circumstancesmay be an accident on the road upon which the vehicle travels,which accident is known to the off-board entity, however cannotbe registered by the motor vehicle itself. Problematic traffic and/or weather situations are other examples of such circumstances.

According to one preferred embodiment of this aspect of the in-vention the set of sensors includes: a pressure sensitive sensorconfigured to determine whether or not a person is sitting in adriver”s seat of the motor vehicle; an image-based sensor con-figured to register a state of alertness of a driver of the motor ve-hicle; an image-based sensor configured to determine whether ornot the driver has his/her gaze directed towards a roadway onwhich the motor vehicle is driven; and/or a touch sensor configu-red to determine whether or not the driver has his/her hands ona steering wheel of the motor vehicle. Consequently, key datareflecting the driver”s readiness to take over the driving respon-sibility can be acquired very efficiently.

According to another preferred embodiment of this aspect of theinvention the motor vehicle contains at least alerting unit. lf themotor vehicle is operated in the autonomous driving mode, themanual-operation command is received and less than all thecriteria are fulfilled for operating in the manual mode, the pro-cessing unit is further configured to cause the at least one aler-ting unit to generate at least one alert signal. Thereby, a driverof the motor vehicle is informed that a requested operation of themotor vehicle in the manual driving mode is prevented due to adriver-related issue. lf within a predetermined period after ha-ving generated the alert signal, all the criteria in said set of crite-ria are still not fulfilled, the processing unit is configured tocause the motor vehicle to be stopped. Namely, in such a case,it has been determined that the vehicle can neither be operated automatically nor manually.

According to a further preferred embodiment of this aspect ofthe invention the motor vehicle includes at least alarm unit con-figured to generate at least one signal notifying a driver of themotor vehicle acoustically, optically, mechanically and/or tacti-cally that the manual driving mode is about to be activated. Mo-reover, before effecting operation of the motor vehicle in the ma-nual driving mode, the processing unit is configured to cause atleast one of the at least one alarm unit to generate at least oneof said at least one signal. lf and only if thereafter a predefineddriver confirmation signal has been received, the processing unitis configured to effect operation of the motor vehicle in the ma-nual driving mode. Hence, both the driver and the vehicle recei-ve confirmation that the manual driving mode will be effected.

According to yet another preferred embodiment of this aspect ofthe invention the predefined driver confirmation signal is repre-sented by activation of a non-driving related input member and/or activation of a driving related input member. Thus, the drivermay manipulate a dashboard button as well as operate a stan-dard driving device to confirm that he/she will take over the dri-ving responsibility. Specifically, the non-driving related inputmember may be represented by an on-screen button, a push but-ton, a rocker, a key or a turn knob; and the driving related inputmember may be represented by a steering wheel, an accele-ration pedal, a brake pedal, a clutch pedal or a gearshift lever.

According to still another preferred embodiment of this aspect ofthe invention, after having effected operation of the motor ve-hicle in the manual driving mode, the processing unit is configu-red to cause a confirmation message to be sent over the wire-less interface. The confirmation message is configured to notifythe external resource that the motor vehicle is being operated inthe manual driving mode. Thereby, the command central is infor-med of the fact that the responsibility for the vehicle has beentransferred successfully to the driver.

According to another aspect of the invention, the object is achie-ved by the method described initially, wherein a manual-opera-tion command is received via a wireless interface. The manual-operation command is presumed to have generated by a resour-ce external to the motor vehicle. The advantages of this method,as well as the preferred embodiments thereof, are apparent fromthe discussion above with reference to the proposed motorvehicle.

According to a further aspect of the invention the object isachieved by a computer program product, which is loadable intothe memory of a computer, and includes software for performingthe above proposed method when executed on a computer.

According to another aspect of the invention the object is achie-ved by a non-transitory computer readable medium, having aprogram recorded thereon, where the program is make a compu-ter perform the method proposed above when the program isloaded into the computer.

Further advantages, beneficial features and applications of thepresent invention will be apparent from the following descriptionand the dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS The invention is now to be explained more closely by means ofpreferred embodiments, which are disclosed as examples, andwith reference to the attached drawings, where: Figure 1 shows a schematic view of a motor vehicle accor-ding to one embodiment of the invention togetherwith a system for communicating with the motorvehicle; and Figure 2 illustrates, by means of a flow diagram, a method according to the invention.

DESCRIPTION OF PREFERRED EMBODIMENTS OF THE IN-VENTION lnitially, we refer to Figure 1 showing a schematic view of a mo-tor vehicle 100 according to one embodiment of the invention.Figure 1 also represents a system for communicating with themotor vehicle 100 as well as with other motor vehicles, for ex-ample within a fleet of vehicles.

The motor vehicle 100 is configured to be selectively operated ineither an autonomous driving mode or a manual driving mode.The motor vehicle 100 includes a processing unit 110, a set ofsensors 120 and a communication unit 130.

The sensors in the set of sensors 120 are configured to registervarious signals that form a basis for determining whether or nota set of criteria are fulfilled for operating the motor vehicle 100 inthe manual driving mode of operation. For instance, the set ofsensors 120 may contain a pressure sensitive sensor configuredto determine whether or not a person is sitting in a driver”s seatof the motor vehicle 100; an image-based sensor configured toregister a state of alertness of a driver of the motor vehicle 100;an image-based sensor configured to determine whether or notthe driver has his/her gaze directed towards a roadway on whichthe motor vehicle 100 is driven; a touch sensor configured to de-termine whether or not the driver has his/her hands on a steeringwheel of the motor vehicle 100 and/or breathalyzer configured todetermine whether or not the driver is under the influence of al-cohol or any other breath detectable drug.

The processing unit 110 is configured to receive signals from theset of sensors 120, and based thereon, determine whether or notthe set of criteria are fulfilled for operating the motor vehicle 100in the manual driving mode.

The processing unit 110 is further configured to receive a ma-nual-operation command ClVlDm from the communication unit130. lf (a) the motor vehicle 100 is currently being operated in the autonomous driving mode, (b) the manual-operation com-mand ClVlDm has been received, and (c) the set of criteria arefulfilled for operating the motor vehicle 100 in the manual drivingmode of operation, the processing unit 110 is configured to ef-fect operation of the motor vehicle 100 in the manual driving mo-de.

The communication unit 130, in turn, is configured to receive themanual-operation command ClVlDm via a wireless interface 140,e.g. implemented by a mobile/cellular communication system ora WiFi connection. A communication infrastructure, which mayinclude radio base stations 175 and one or more networks 170,for example represented by the Internet, preferably interconnectsthe wireless interface 140 with a resource 160 external to themotor vehicle 100. Namely, according to the invention, it is pre-sumed that the manual-operation command ClVlDm has been ge-nerated by the external resource 160. Consequently, a commandcentral may be the source of the manual-operation commandClVlDm. However, the manual-operation command ClVlDm mayequally well have been generated by another motor vehicle, andmay have been forwarded to the motor vehicle either directlyfrom that other vehicle, or more preferably, by passing via thecommand central.

One major advantage of such an external origin of the manual-operation command ClVlDm is that the trigger for switching to ma-nual driving can be initiated well in advance (say 30 seconds ormore) of a point in time when manual driving is actually required.This provides ample of time to warn the driver, and prompthim/her to take his/her position in the driver”s seat and preparefor the driving task. The purely vehicle-based trigger systems ge-nerally has a much shorter advance-notice horizon correspon-ding to at most a couple of hundred meters, or around 5 to 7 se-conds for typical speeds. ln order to inform the driver that a requested manual operationof the motor vehicle 100 is prevented due to a driver-related issue, the motor vehicle 100 preferably contains at least alertingunit. Specifically, if the motor vehicle 100 is operated in the au-tonomous driving mode, the manual-operation command ClVlDmis received, and the processing unit 110 finds that less than allthe criteria are fulfilled for operating the motor vehicle 100 in themanual driving mode, the processing unit 110 is preferably confi-gured to cause the at least alerting unit to generate at least onealert signal. Further, if within a predetermined period after ha-ving generated the alert signal(s) one or more of the criteria arefor operating the motor vehicle 100 in the manual driving modeare still not fulfilled, the processing unit 110 is configured to cau-se the motor vehicle 100 to be stopped, for example by forcingthe vehicle to the side of the road and halt there.

Alternatively, or additionally, the motor vehicle 100 contains atleast alarm unit configured to generate at least one signal noti-fying a driver of the motor vehicle 100 acoustically, optically,mechanically and/or tactically that the manual driving mode isabout to be activated. This type of notification is preferably ge-nerated also if all the criteria for operating the motor vehicle 100in the manual driving mode are fulfilled, and before actually ef-fecting operation of the motor vehicle 100 in the manual drivingmode, it is advantageous if the processing unit 110 is configuredto effect operation of the motor vehicle 100 in the manual drivingmode if and only if a predefined driver confirmation signal hasbeen received.

The predefined driver confirmation signal, in turn, may be repre-sented by activation of a non-driving related input member and/or activation of a driving related input member. Here, the non-driving related input member may be an on-screen button, apush button, a rocker, a key and/or a turn knob; while the drivingrelated input member may be a steering wheel, an accelerationpedal, a brake pedal, a clutch pedal and a gearshift lever. Hen-ce, there is a large degree of freedom as to how the driver caninteract with the processing unit 110 to indicate that he/she isready to take over the responsibility for driving the motor vehicle 100.

Once operation of the motor vehicle 100 in the manual drivingmode has been effected, the processing unit 110 is preferablyconfigured to cause a confirmation message ACKm to be sentvia the communication unit 130 and over the wireless interface140. The confirmation message ACKm contains an identity of themotor vehicle 100 and is configured to notify the resource 160that the motor vehicle 100 is now being operated in the manualdriving mode, i.e. as requested by the manual-operation com-mand ClVlDm.

Preferably, the processing unit 110 contains, or is in communi-cative connection with a memory unit storing a computer pro-gram product, which includes software for making at least oneprocessor in the processing unit 110 execute the above-descri-bed actions when the computer program product is run on the atleast one processor.

To sum up, we will now we will describe the method according toone preferred embodiment of the invention with reference to theflow diagram in Figure 2. The method described by the flow dia-gram in Figure 2 is preferably executed by the processing unit110. ln a first step 210, it is checked if the motor vehicle is operatedin the autonomous driving mode. lf not, the procedure loops backand stays in step 210; and otherwise, a step 220 follows. ln step 220, it is checked if a manual-operation command hasbeen received from an external resource via a wireless interface.lf not, the procedure loops back to step 210; and otherwise, astep 230 follows. ln step 230, it is checked if all the criteria are fulfilled for operatingthe motor vehicle in the manual driving mode. lf so, a step 240follows in which operation in the manual mode of operation is ef-fected; and otherwise, the procedure continues to a step 250. 11 ln step 250, at least one alert signal is generated, which is con-figured to inform a driver of the motor vehicle that manualoperation of the motor vehicle has been requested, however isprevented due to a driver-related issue, for example becausethere is no person in driver”s seat.

Then, in a step 260, it is checked if a predetermined period afterhaving generated the alert signal has expired. lf so, a step 270follows, and otherwise, the procedure loops back to step 250. ln step 270, it is checked again if all the criteria are fulfilled foroperating the motor vehicle in the manual driving mode. lf so,step 240 follows; and otherwise, the procedure continues to astep 280. ln step 280, the motor vehicle is caused to be stopped.Thereafter, the procedure ends.

All of the process steps, as well as any sub-sequence of steps, des-cribed with reference to Figure 2 above may be controlled bymeans of a programmed computer apparatus. Moreover, al-though the embodiments of the invention described above withreference to the drawings comprise a computer apparatus andprocesses performed in a computer apparatus, the invention thusalso extends to computer programs, particularly computer pro-grams on or in a carrier, adapted for putting the invention intopractice. The program may be in the form of source code, objectcode, a code intermediate source and object code such as inpartially compiled form, or in any other form suitable for use inthe implementation of the process according to the invention.The program may either be a part of an operating system, or bea separate application. The carrier may be any non-transitoryentity or device capable of carrying the program. For example,the carrier may comprise a storage medium, such as a Flash me-mory, a ROM (Read Only Memory), for example a DVD (DigitalVideo/Versatile Disk), a CD (Compact Disc) or a semiconductorROM, an EPROM (Erasable Programmable Read-Only Memory),an EEPROM (Electrically Erasable Programmable Read-OnlyMemory), or a magnetic recording medium, for example a floppy 12 disc or hard disc. Alternatively, the carrier may be an integratedcircuit in which the program is embedded, the integrated circuitbeing adapted for performing, or for use in the performance of,the relevant processes.

The term “comprises/comprising” when used in this specificationis taken to specify the presence of stated features, integers,steps or components. However, the term does not prec|ude thepresence or addition of one or more additional features, inte-gers, steps or components or groups thereof.

The invention is not restricted to the described embodiments inthe figures, but may be varied freely within the scope of theclaims.

Claims

13 Claims

1. A motor vehicle (100) configured to be selectively operatedin either an autonomous driving mode or a manual driving mode,the motor vehicle (100) comprising:a processing unit (110) configured to:determine whether or not a set of criteria are fulfilledfor operating the motor vehicle (100) in the manual drivingmode, and in response to a manual-operation command(ClVlDm) and if a set of criteria are fulfilled while the motorvehicle (100) is operated in the autonomous driving mode,effect operation of the motor vehicle (100) in the ma-nual driving mode; anda set of sensors (120) configured to register at least onesignal forming a basis for determining whether or not said set ofcriteria are fulfilled,characterized in that the motor vehicle (100) further comprisesa communication unit (130) configured to receive the manual-operation command (ClVlDm) via a wireless interface (140), themanual-operation command (ClVlDm) being generated by a re-source (160) external to the motor vehicle (100).

2. The motor vehicle (100) according to claim 1, wherein theset of sensors (120) comprises at least one of: a pressure sensitive sensor configured to determine whe-ther or not a person is sitting in a driver”s seat of the motor ve-hicle (100); an image-based sensor configured to register a state ofalertness of a driver of the motor vehicle (100); an image-based sensor configured to determine whether ornot the driver has his/her gaze directed towards a roadway onwhich the motor vehicle (100) is driven; and a touch sensor configured to determine whether or not thedriver has his/her hands on a steering wheel of the motor vehicle(100). 14

3. The motor vehicle (100) according to any one of claims 1or 2, comprising at least alerting unit, and if the motor vehicle(100) is operated in the autonomous driving mode, the manual-operation command (ClVlDm) is received and less than all thecriteria in said set of criteria are fulfilled, the processing unit(110) is further configured to: cause the at least alerting unit to generate at least onealert signal informing a driver of the motor vehicle (100) that arequested operation of the motor vehicle (100) in the manualdriving mode is prevented due to a driver-related issue; and, ifwithin a predetermined period after having generated the alertsignal less than all the criteria in said set of criteria are fulfilled, cause the motor vehicle (100) to be stopped.

4. The motor vehicle (100) according to any one of the pre-ceding claims, comprising at least alarm unit configured to gene-rate at least one signal notifying a driver of the motor vehicle(100) acoustically, optically, mechanically and/or tactically thatthe manual driving mode is about to be activated; and beforeeffecting operation of the motor vehicle (100) in the manualdriving mode, the processing unit (110) is configured to: cause at least one of the at least one alarm unit to gene-rate at least one of said at least one signal, and effect operation of the motor vehicle (100) in the manualdriving mode if and only if a predefined driver confirmation signalhas been received.

5. The motor vehicle (100) according to claim 4, the predefi-ned driver confirmation signal is represented by at least one of:activation of a non-driving related input member and activation ofa driving related input member.

6. The motor vehicle (100) according to claim 5, wherein: the non-driving related input member is represented by atleast one of an on-screen button, a push button, a rocker, a keyand a turn knob; and the driving related input member is represented by at leastone of a steering wheel, an acceleration pedal, a brake pedal, aclutch pedal and a gearshift lever.

7. The motor vehicle (100) according to any one of thepreceding claims, wherein after having effected operation of themotor vehicle (100) in the manual driving mode, the processingunit (110) is configured to : cause a confirmation message (ACKm) to be sent over thewireless interface (140), the confirmation message (ACKm) beingconfigured to notify the said resource (160) that the motor ve-hicle (100) is being operated in the manual driving mode.

8. A method performed in a motor vehicle (100) configured tobe selectively operated in either an autonomous driving mode ora manual driving mode, the method comprising: when the motor vehicle (100) is operated in the autono-mous driving mode, checking if a manual-operation command(ClVlDm) has been received, and if so determining, via a set of sensors (120), whether or not aset of criteria are fulfilled for operating the motor vehicle (100) inthe manual driving mode, and if all the criteria in said set of cri-teria are fulfilled, effecting operation of the motor vehicle (100) in the manualdriving mode,characterized by: receiving the manual-operation command(ClVlDm) via a wireless interface (140), the manual-operationcommand (ClVlDm) being generated by a resource (160) externalto the motor vehicle (100).

9. The method according to claim 8, wherein determiningwhether or not the set of criteria are fulfilled for operating themotor vehicle (100) in the manual driving mode comprises atleast one of: determining whether or not a person is sitting in a driver”sseat of the motor vehicle (100) via a pressure sensitive sensor; 16 registering a state of alertness of a driver of the motorvehicle (100) via an image-based sensor; determining whether or not the driver has his/her gaze di-rected towards a roadway on which the motor vehicle (100) isdriven via an image-based sensor; and determining whether or not the driver has his/her hands ona steering wheel of the motor vehicle (100) via a touch sensor.

10. The method according to any one of claims 8 or 9, whereinif the motor vehicle (100) is operated in the autonomous drivingmode, the manual-operation command (CMDm) is received andless than all the criteria in said set of criteria are fulfilled, themethod further comprises: generating at least one alert signal configured to inform adriver of the motor vehicle (100) that a requested operation ofthe motor vehicle (100) in the manual driving mode is preventeddue to a driver-related issue; and, if within a predetermined pe-riod after having generated the alert signal less than all thecriteria in said set of criteria are fulfilled, causing the motor vehicle (100) to be stopped.

11. The method according to any one of claims 8 to 10, furthercomprising: before effecting operation of the motor vehicle (100) in themanual driving mode, notifying a driver of the motor vehicle(100) acoustically, optically, mechanically and/or tactically thatthe manual driving mode is about to be activated; and effecting operation of the motor vehicle (100) in the manualdriving mode if and only if a predefined confirmation signal fromthe driver has been received.

12. The method according to claim 11, wherein the predefinedconfirmation signal is generated by activating at least one of: anon-driving related input member and activating a driving relatedinput member. 17

13. The method according to any one of claims 8 to 12, where-in after having effected operation of the motor vehicle (100) inthe manual driving mode, the method comprises: sending a confirmation message (ACKm) over the wirelessinterface (140), the confirmation message (ACKm) being configu-red to notify the said resource (160) that the motor vehicle (100)is being operated in the manual driving mode.

14. A computer program product loadable into a memory of atleast one computer, comprising software for performing the me-thod according to any of the claims 8 to 13 when executed onthe at least one computer.

15. A non-transitory computer readable medium having a pro-gram recorded thereon, where the program is to make at leastone computer perform the method of any of the claims 8 to 13when executed on the at least one computer.