CN109927625A - A kind of information projecting method and device - Google Patents
A kind of information projecting method and device Download PDFInfo
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- CN109927625A CN109927625A CN201910185892.XA CN201910185892A CN109927625A CN 109927625 A CN109927625 A CN 109927625A CN 201910185892 A CN201910185892 A CN 201910185892A CN 109927625 A CN109927625 A CN 109927625A
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Abstract
A kind of information projecting method and device provided by the embodiments of the present application, wherein this method comprises: obtaining the present running route information of target vehicle；The driving intention information of target vehicle is determined based on present running route information；Driving intention information is projected.The driving intention information of target vehicle can be shown by projection pattern by information projecting method provided by the embodiments of the present application, to ensure that other vehicles or pedestrians can understand the driving intention of the target vehicle in time, the safety of vehicle driving is thereby further ensured that.
Description
Technical field
This application involves technical field of vehicle, in particular to a kind of information projecting method and device.
Background technique
With the development of vehicle especially unmanned vehicle technology, unmanned vehicle can be used under several scenes, such as: benefit
Cargo is transported with unmanned vehicle；Road environment information is acquired using unmanned vehicle, in order to which to map carries out timely update etc..
Currently, unmanned vehicle driving on the road during, be only capable of through turn signal to other vehicles or pedestrians presenting banks
Intention is sailed, for example, still turning around, or doubling to the left, being both needed to the left regardless of unmanned vehicle is intended in the process of moving
Left steering lamp flashing is controlled to express, causes other vehicles or pedestrians that cannot accurately receive the real driving intention of unmanned vehicle.
In this way, once other vehicles or pedestrians could not accurately receive the driving intention of unmanned vehicle, it would be possible to lead to nobody
Vehicle and other vehicles or pedestrians generate collision, cause the unnecessary person, property loss.
As it can be seen that needing a kind of technical solution that can show various driving intentions to other vehicles or pedestrians.
Summary of the invention
In view of this, the embodiment of the present application is designed to provide a kind of information projecting method and device, throwing can be passed through
Shadow mode shows the driving intention information of target vehicle, to ensure that other vehicles or pedestrians can understand the target vehicle in time
Driving intention, thereby further ensure that the safety of vehicle driving.
In a first aspect, the embodiment of the present application provides a kind of information projecting method, wherein include:
Obtain the present running route information of target vehicle；
The driving intention information of the target vehicle is determined based on the present running route information；
The driving intention information is projected.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, wherein
The present running route information of target vehicle is determined according to following steps, comprising:
Determine the target vehicle according to the surrounding enviroment information in preset travel route information driving process；
The preset travel route information is updated according to the surrounding enviroment information, obtains the target vehicle
Present running route information.
With reference to first aspect, the embodiment of the present application provides second of possible embodiment of first aspect, wherein
The driving intention information that the target vehicle is determined based on the present running route information, comprising:
Obtain the current location information of the target vehicle；
Based on the mapping relations, described between each location information in each travel routes information and each driving intention information
Current location information determines the driving intention information of the target vehicle.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, wherein
It is described to project the driving intention information, comprising:
The driving intention information is projected using the projection device being arranged on the target vehicle.
The third possible embodiment with reference to first aspect, the embodiment of the present application provide the 4th of first aspect
Kind possible embodiment, wherein the projection device being arranged on using the target vehicle by the driving intention information into
Before row projection, further includes:
Obtain the current pose information of the target vehicle；
According to the present running route information, the current pose information, the projection device attribute information and
Pre-stored map information determines road surface projected position corresponding with the driving intention information；
The driving intention information is projected using the projection device being arranged on the target vehicle, comprising:
Using the projection device being arranged on the target vehicle, by the driving intention information on the determining road surface
Projected position is projected.
With reference to first aspect, the embodiment of the present application provides the 5th kind of possible embodiment of first aspect, wherein
It is described the driving intention information is projected before, further includes:
Determine projection of shape information corresponding with the driving intention information；
It is described to project the driving intention information, comprising:
The driving intention information is projected according to determining projection of shape information.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the present application provide the 6th of first aspect
The possible embodiment of kind, wherein project the driving intention information according to determining projection of shape information described
Before, further includes:
Obtain the travel speed change information of the target vehicle；
Determine projected color information corresponding with the travel speed change information；
It is described to project the driving intention information according to determining projection of shape information, comprising:
The driving intention information is pressed according to determining projection of shape information and by the travel speed change information
It is projected according to determining projected color information.
Second aspect, the embodiment of the present application also provides a kind of information projection arrangements, wherein includes:
Route acquiring module, for obtaining the present running route information of target vehicle；
It is intended to determining module, for determining the driving intention of the target vehicle based on the present running route information
Information；
It is intended to projection module, for projecting the driving intention information.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, wherein
The route acquiring module is specifically used for:
Determine the target vehicle according to the surrounding enviroment information in preset travel route information driving process；
The preset travel route information is updated according to the surrounding enviroment information, obtains the target vehicle
Present running route information.
In conjunction with second aspect, the embodiment of the present application provides second of possible embodiment of second aspect, wherein
The intention determining module is specifically used for:
Obtain the current location information of the target vehicle；
Based on the mapping relations, described between each location information in each travel routes information and each driving intention information
Current location information determines the driving intention information of the target vehicle.
A kind of information projecting method and device provided by the embodiments of the present application, wherein this method comprises: obtaining target carriage
Present running route information；The driving intention information of target vehicle is determined based on present running route information；Traveling is anticipated
Figure information is projected.By information projecting method provided by the embodiments of the present application target carriage can be shown by projection pattern
Driving intention information avoid nothing to ensure that other vehicles or pedestrians can understand the driving intention of the target vehicle in time
People's vehicle and other vehicles or pedestrians generate collision, cause the unnecessary person, property loss, thereby further ensure that vehicle row
The safety sailed.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment
Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 shows a kind of flow chart of information projecting method provided by the embodiment of the present application；
Fig. 2 shows the flow charts of another kind information projecting method provided by the embodiment of the present application；
Fig. 3 shows the flow chart of another kind information projecting method provided by the embodiment of the present application；
Fig. 4 shows the flow chart of another kind information projecting method provided by the embodiment of the present application；
Fig. 5 A shows the flow chart of another kind information projecting method provided by the embodiment of the present application；
Fig. 5 B shows the flow chart of another kind information projecting method provided by the embodiment of the present application；
Fig. 6 shows a kind of structural schematic diagram of information projection arrangement provided by the embodiment of the present application；
Fig. 7 shows the structural schematic diagram of another kind information projection arrangement provided by the embodiment of the present application；
Fig. 8 shows the structural schematic diagram of server provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected of the application
Embodiment.Based on embodiments herein, those skilled in the art are obtained without making creative work
Every other embodiment, shall fall in the protection scope of this application.
Currently, unmanned vehicle driving on the road during, be only capable of through turn signal to other vehicles or pedestrians presenting banks
Intention is sailed, for example, still turning around, or doubling to the left, being both needed to the left regardless of unmanned vehicle is intended in the process of moving
Left steering lamp flashing is controlled to express, it, will once other vehicles or pedestrians could not accurately receive the driving intention of unmanned vehicle
It may cause unmanned vehicle and other vehicles or pedestrians generate collision, cause the unnecessary person, property loss.It is asked for above-mentioned
Topic, a kind of information projecting method and device provided by the embodiments of the present application can show various rows to other vehicles or pedestrians
Intention is sailed, unmanned vehicle and other vehicles or pedestrians is avoided to generate collision, causes the unnecessary person, property loss.
To be projected to a kind of information disclosed in the embodiment of the present application first convenient for understanding the embodiment of the present application
Method describes in detail.
As shown in Figure 1, being the flow chart of information projecting method provided by the embodiments of the present application, the specific steps are as follows:
S101, the present running route information for obtaining target vehicle.
Here, present running route information includes present running route, can also include each in the present running route
The speed-limiting messages etc. of position.
The present running route that target vehicle includes according to present running route information, can safety it is enterprising in road
Every trade is sailed.
Specifically, present running route information can be obtained according to method as shown in Figure 2, wherein specific steps are such as
Under:
S201, determine target vehicle according to the surrounding enviroment information in preset travel route information driving process；
S202, preset travel route information is updated according to surrounding enviroment information, obtains the current line of target vehicle
Sail route information.
Here, for target vehicle before being driven out to garage, server can be target vehicle according to the task of target vehicle
The corresponding velocity information of each position point, the time point etc. of preset travel route and preset travel route are pre-set, is come
Obtain preset travel route information.
Target vehicle will travel after being driven out to garage according to preset travel route information.Here, target vehicle
During traveling, various traffic conditions can be encountered, for example, the traffic congestion for the initiation that has a car accident on road, public
Road road administration personnel repair to road or maintain and roadblock is arranged etc., and target vehicle can use to be installed on target vehicle
Multiple sensors accurately perceive surrounding enviroment information.
Target vehicle in real time can be adjusted preset travel route information, update according to surrounding enviroment information,
And then present running route information is obtained, target vehicle will be according to the present running route for including in present running route information
It is travelled, and then ensures that target vehicle can drive safely.
S102, the driving intention information that target vehicle is determined based on present running route information.
Here, the driving intention information of target vehicle includes the driving intention of target vehicle, for example, will turn left, i.e., will
Doubling to the right etc..
In specific implementation, the driving intention information of target vehicle can be determined according to method as shown in Figure 3,
In, the specific steps are as follows:
S301, the current location information for obtaining target vehicle；
S302, based between each location information in each travel routes information and each driving intention information mapping relations,
Current location information determines the driving intention information of target vehicle.
Here it is possible to obtain the present bit confidence of target vehicle in real time according to the positioning system installed on target vehicle
Breath.Wherein it is possible to judge whether target vehicle is travelled according to preset travel route information according to current location information, if
It is not that can be adjusted to preset travel route information.
Specifically, including multiple location informations in present running route information, and each location information is corresponding with one
A driving intention information, wherein the driving intention information of first position is driving intention of the first position to the second position.
It, can be in each location information and each driving intention information after determining the current location information of target vehicle
Between mapping relations in, search the corresponding driving intention information of current location information, as the driving intention letter of target vehicle
Breath.
S103, driving intention information is projected.
After determining the driving intention information of target vehicle, server can control the projection being arranged on target vehicle
Equipment projects the driving intention information, to achieve the purpose that show various driving intentions to other vehicles or pedestrians,
So that other vehicles or pedestrians can accurately receive the driving intention of target vehicle, unmanned vehicle and other are avoided
Vehicles or pedestrians generate collision, cause the unnecessary person, property loss.
In specific implementation, the projection device being arranged on using target vehicle carries out driving intention information to project it
Before, road surface projection position of the projection device when being projected on road surface can be further determined that according to method as shown in Figure 4
It sets.
S401, the current pose information for obtaining target vehicle；
S402, according to present running route information, current pose information, projection device attribute information and prestore ground
Figure information determines road surface corresponding with driving intention information projected position.
Here it is possible to acquire target vehicle in real time according to sensors such as the antenna attitude measuring instruments installed on target vehicle
Current pose information.
Specifically, target vehicle during traveling, can encounter the road of upward slope or descending, at this point, server can
To determine according to present running route information, current pose information, the attribute information of projection device and pre-stored map information
Road surface corresponding with driving intention information projected position, and then avoid projection device that from cannot believing the driving intention of target vehicle
Breath is accurate, clearly casts out.
Wherein, the attribute information of projection device includes the intrinsic parameter and outer parameter etc. of projection device.
By the above method, road surface projected position can be accurately calculated, and utilizes projection device by target vehicle
Driving intention information accurately, is clearly cast out.
In specific implementation, reflecting between each driving intention information and corresponding projection of shape information can be preset
Penetrate relationship, for example, " doubling to the right " can the projection of shape shown in Fig. 5 A indicate that " turning around to the left " can be with shown in Fig. 5 B
Shape representation etc..
In above-mentioned mapping relations, projection of shape information corresponding with the driving intention information of target vehicle is searched, and press
It is projected according to the projection of shape for including in projection of shape information.
It is worth noting that can according to demand or different projection of shape is arranged to express same driving intention in hobby
Information, Fig. 5 A and Fig. 5 B can be used as one of which, and the embodiment of the present application is not specifically limited in this embodiment.
Further, in the process of moving, it can use the acceleration transducer acquisition target carriage installed on target vehicle
Travel speed change information, for example, current target vehicle be accelerate or slow down.
In specific implementation, it can preset between travel speed change information and corresponding projected color information
Mapping relations carry out with red target vehicle deceleration corresponding for example, target vehicle is accelerated to carry out with green corresponding.This
In, after collecting the travel speed change information of target vehicle, it can search in the mapping relations and become with travel speed
Change the corresponding projected color information of information.
While being projected driving intention information corresponding projection of shape information, travel speed can be changed
The corresponding projected color information of information is projected.Wherein it is possible to which projection of shape information and projected color information are combined
It is projected again later, for example, being " bending to right " in the driving intention for determining target vehicle, and the target vehicle is in and subtracts
When the state of speed, the corresponding projection of shape that " can will bend to right " is set as red, and red projection of shape is thrown
It penetrates.
It, i.e., will using the projection device installed on target vehicle by information projecting method provided by the embodiments of the present application
The driving intention information and travel speed change information of target vehicle are incident upon at determining road surface projected position, can be to it
The various driving intentions of the cheer and bright displaying target vehicle of his vehicles or pedestrians, avoid unmanned vehicle and other vehicles or pedestrians
Collision is generated, the unnecessary person, property loss is caused, further ensures that the safety of vehicle driving.
Based on the same inventive concept, the embodiment of the present application also provides information corresponding with information projecting method projections to fill
It sets, since the principle that the device in the embodiment of the present application solves the problems, such as is similar to the embodiment of the present application above- mentioned information projecting method,
Therefore the implementation of device may refer to the implementation of method, and overlaps will not be repeated.
Shown in Figure 6, information projection arrangement provided by the another embodiment of the application includes:
Route acquiring module 601, for obtaining the present running route information of target vehicle；
It is intended to determining module 602, for determining the driving intention information of target vehicle based on present running route information；
It is intended to projection module 603, for projecting driving intention information.
In one embodiment, above-mentioned route acquiring module 601 is specifically used for:
Determine target vehicle according to the surrounding enviroment information in preset travel route information driving process；
Preset travel route information is updated according to surrounding enviroment information, obtains the current driving road of target vehicle
Line information.
In another embodiment, above-mentioned intention determining module 602 is specifically used for:
Obtain the current location information of the target vehicle；
Based on the mapping relations, described between each location information in each travel routes information and each driving intention information
Current location information determines the driving intention information of the target vehicle.
In yet another embodiment, above-mentioned intention projection module 603, is specifically used for:
Driving intention information is projected using the projection device being arranged on target vehicle.
In another embodiment, information projection arrangement further include:
Posture obtains module 604, for obtaining the current pose information of target vehicle；
Projected position determining module 605, for according to present running route information, current pose information, projection device
Attribute information and pre-stored map information determine road surface corresponding with driving intention information projected position；
It is intended to projection module 603 to believe driving intention also particularly useful for using the projection device being arranged on target vehicle
Breath is projected in determining road surface projected position.
It is shown in Figure 7, in another embodiment, information projection arrangement further include:
Projection of shape determining module 606, for determining projection of shape information corresponding with driving intention information；
It is intended to projection module 603, is thrown also particularly useful for by driving intention information according to determining projection of shape information
It penetrates.
In another embodiment, information projection arrangement further include:
Velocity variations obtain module 607, for obtaining the travel speed change information of target vehicle；
Projected color determining module 608, for determining projected color information corresponding with travel speed change information；
It is intended to projection module 603, according to determining projection of shape information and is incited somebody to action also particularly useful for by driving intention information
Travel speed change information is projected according to determining projected color information.
As shown in figure 8, being the structural schematic diagram of server provided by the embodiments of the present application, comprising: processor 801, storage
Device 802 and bus 803, the storage of memory 802 execute instruction, when server operation, between processor 801 and memory 802
It is communicated by bus 803, following processing is executed when machine readable instructions are executed by processor 801:
Obtain the present running route information of target vehicle；
The driving intention information of target vehicle is determined based on present running route information；
Driving intention information is projected.
Optionally, in the method that processor 801 executes, the present running route of target vehicle is determined according to following steps
Information, comprising:
Determine target vehicle according to the surrounding enviroment information in preset travel route information driving process；
Preset travel route information is updated according to surrounding enviroment information, obtains the current driving road of target vehicle
Line information.
Optionally, in the method that processor 801 executes, the traveling of target vehicle is determined based on present running route information
Intent information, comprising:
Obtain the current location information of the target vehicle；
Based on the mapping relations, described between each location information in each travel routes information and each driving intention information
Current location information determines the driving intention information of the target vehicle.
Optionally, in the method that processor 801 executes, driving intention information is projected, comprising:
Driving intention information is projected using the projection device being arranged on target vehicle.
Optionally, in the method that processor 801 executes, the projection device being arranged on using target vehicle is anticipated traveling
Before figure information is projected, further includes:
Obtain the current pose information of target vehicle；
Believed according to present running route information, current pose information, the attribute information of projection device and pre-stored map
Breath determines road surface corresponding with driving intention information projected position；
Driving intention information is projected using the projection device being arranged on target vehicle, comprising:
Using the projection device being arranged on target vehicle, driving intention information is carried out in determining road surface projected position
Projection.
Optionally, in the method that processor 801 executes, before driving intention information is projected, further includes:
Determine projection of shape information corresponding with driving intention information；
Driving intention information is projected, comprising:
Driving intention information is projected according to determining projection of shape information.
Optionally, processor 801 execute method in, by driving intention information according to determining projection of shape information
Before being projected, further includes:
Obtain the travel speed change information of target vehicle；
Determine projected color information corresponding with travel speed change information；
Driving intention information is projected according to determining projection of shape information, comprising:
By driving intention information according to determining projection of shape information and by travel speed change information according to determining
Projected color information is projected.
The computer program product of information projecting method and device provided by the embodiment of the present application, including store journey
The computer readable storage medium of sequence code, the instruction that program code includes can be used for executing the side in previous methods embodiment
Method, specific implementation can be found in embodiment of the method, and details are not described herein.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, can show the driving intention information of target vehicle, by projection pattern to ensure other vehicles
Or pedestrian can understand the driving intention of the target vehicle in time, thereby further ensure that the safety of vehicle driving.
It, can if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, this Shen
Substantially the part of the part that contributes to existing technology or the technical solution can be with soft in other words for technical solution please
The form of part product embodies, which is stored in a storage medium, including some instructions are to make
It obtains a computer equipment (can be personal computer, server or the network equipment etc.) and executes each embodiment of the application
The all or part of the steps of the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate this Shen
Technical solution please, rather than its limitations, the protection scope of the application are not limited thereto, although right with reference to the foregoing embodiments
The application is described in detail, those skilled in the art should understand that: any technology for being familiar with the art
Personnel within the technical scope of the present application, can still modify to technical solution documented by previous embodiment
Or variation or equivalent replacement of some of the technical features can be readily occurred in；And these modifications, variation or replacement,
The spirit and scope for the embodiment of the present application technical solution that it does not separate the essence of the corresponding technical solution should all cover in this Shen
Within protection scope please.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of information projecting method characterized by comprising
Obtain the present running route information of target vehicle；
The driving intention information of the target vehicle is determined based on the present running route information；
The driving intention information is projected.
2. the method according to claim 1, wherein determining the current driving road of target vehicle according to following steps
Line information, comprising:
Determine the target vehicle according to the surrounding enviroment information in preset travel route information driving process；
The preset travel route information is updated according to the surrounding enviroment information, obtains the current of the target vehicle
Travel routes information.
3. the method according to claim 1, wherein described based on described in present running route information determination
The driving intention information of target vehicle, comprising:
Obtain the current location information of the target vehicle；
Based on mapping relations, the present bit between each location information in each travel routes information and each driving intention information
Confidence breath, determines the driving intention information of the target vehicle.
4. the method according to claim 1, wherein described project the driving intention information, comprising:
The driving intention information is projected using the projection device being arranged on the target vehicle.
5. according to the method described in claim 4, it is characterized in that, the projection device being arranged on using the target vehicle will
Before the driving intention information is projected, further includes:
Obtain the current pose information of the target vehicle；
According to the present running route information, the current pose information, the projection device attribute information and prestore
Cartographic information determines road surface projected position corresponding with the driving intention information；
The driving intention information is projected using the projection device being arranged on the target vehicle, comprising:
Using the projection device being arranged on the target vehicle, the driving intention information is projected into position on the determining road surface
It sets and is projected.
6. the method according to claim 1, wherein carrying out the driving intention information to project it described
Before, further includes:
Determine projection of shape information corresponding with the driving intention information；
It is described to project the driving intention information, comprising:
The driving intention information is projected according to determining projection of shape information.
7. according to the method described in claim 6, it is characterized in that, it is described by the driving intention information according to determining throwing
Before shadow shape information is projected, further includes:
Obtain the travel speed change information of the target vehicle；
Determine projected color information corresponding with the travel speed change information；
It is described to project the driving intention information according to determining projection of shape information, comprising:
By the driving intention information according to determining projection of shape information and by the travel speed change information according to true
Fixed projected color information is projected.
8. a kind of information projection arrangement characterized by comprising
Route acquiring module, for obtaining the present running route information of target vehicle；
It is intended to determining module, for determining the driving intention information of the target vehicle based on the present running route information；
It is intended to projection module, for projecting the driving intention information.
9. device according to claim 8, which is characterized in that the route acquiring module is specifically used for:
Determine the target vehicle according to the surrounding enviroment information in preset travel route information driving process；
The preset travel route information is updated according to the surrounding enviroment information, obtains the current of the target vehicle
Travel routes information.
10. device according to claim 8, which is characterized in that the intention determining module is specifically used for:
Obtain the current location information of the target vehicle；
Based on mapping relations, the present bit between each location information in each travel routes information and each driving intention information
Confidence breath, determines the driving intention information of the target vehicle.
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| CN201910185892.XA CN109927625A (en) | 2019-03-12 | 2019-03-12 | A kind of information projecting method and device |
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| CN201910185892.XA CN109927625A (en) | 2019-03-12 | 2019-03-12 | A kind of information projecting method and device |
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| CN110712699A (en) * | 2019-09-30 | 2020-01-21 | 深圳市火乐科技发展有限公司 | Rear projection method for bicycle and related product |
| CN110908385A (en) * | 2019-12-05 | 2020-03-24 | 深圳市大富科技股份有限公司 | Travel route determination method and related equipment |
| CN111966092A (en) * | 2020-07-21 | 2020-11-20 | 北京三快在线科技有限公司 | Unmanned vehicle control method and device, storage medium, electronic device and unmanned vehicle |
| CN112776800A (en) * | 2021-01-19 | 2021-05-11 | 中国第一汽车股份有限公司 | Early warning method, device, equipment and storage medium |
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