CN110839207A

CN110839207A - Navigation method, device, system, computer equipment and storage medium

Info

Publication number: CN110839207A
Application number: CN201810942284.4A
Authority: CN
Inventors: 蔡之骏; 杨波; 黄少堂; 冯其高; 张志德; 张莹
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2018-08-17
Filing date: 2018-08-17
Publication date: 2020-02-25
Anticipated expiration: 2038-08-17
Also published as: CN110839207B; WO2020034578A1; CN112653993B; CN112653993A

Abstract

The application relates to a parking space navigation method, a parking space navigation device, a parking space navigation system, computer equipment and a storage medium. The method comprises the following steps: detecting a vehicle position; generating a first communication key, and encrypting the vehicle position by adopting the first communication key to obtain an encrypted vehicle position; sending the encrypted vehicle position to a parking lot end; and receiving the parking lot navigation information, and navigating according to the parking lot navigation information. According to the embodiment of the application, when the vehicle end communicates with the parking lot end, the vehicle position of the vehicle end is prevented from being leaked, and the information safety of navigation communication is guaranteed.

Description

Navigation method, device, system, computer equipment and storage medium

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a navigation method, apparatus, system, computer device, and storage medium.

Background

The vehicle navigation function is a function that is commonly used when a user drives a vehicle for traveling. In an application scenario of searching for a parking lot by using a navigation function, a vehicle can first locate a current GPS position, then send the GPS position to a server of the parking lot, so that the server of the parking lot provides navigation information according to the GPS of the vehicle, and the vehicle navigates to the parking lot according to the navigation information.

However, the GPS position transmitted from the vehicle may be acquired by other users and utilized illegally. Therefore, important information is leaked in the process of navigating the vehicle to the parking lot, and information safety cannot be guaranteed.

Therefore, the current navigation method has the problem that the information security cannot be ensured.

Disclosure of Invention

In view of the above, it is necessary to provide a navigation method, apparatus, system, computer device and storage medium for solving the above technical problems.

A navigation method, comprising:

detecting a vehicle position;

generating a first communication key, and encrypting the vehicle position by adopting the first communication key to obtain an encrypted vehicle position;

sending the encrypted vehicle position to a parking lot end; the parking lot end is used for decrypting the encrypted vehicle position by adopting a second communication key to obtain the vehicle position and feeding back parking lot navigation information according to the vehicle position; the second communication key and the first communication key have a corresponding relation;

and receiving the parking lot navigation information, and navigating according to the parking lot navigation information.

In another embodiment, the generating the first communication key includes:

acquiring vehicle information and reserved parking spaces;

and calculating the first communication key according to the vehicle information and the reserved parking space.

In another embodiment, the method further comprises:

and sending the first communication key to a user mobile terminal, so that the user mobile terminal adopts the first communication key to carry out encrypted communication with the parking lot terminal.

In another embodiment, the method further comprises:

when the parking completion information is received, deleting the first communication key;

and sending the parking completion information to the parking lot end for the parking lot end to delete the second communication key.

In another embodiment, the method further comprises:

detecting a positioning signal of the roadside equipment of the parking lot;

extracting the position of the equipment in the positioning signal, and calculating the signal distance of the positioning signal;

according to the equipment position and the signal distance, positioning the position of the vehicle in the parking lot to obtain the position of the vehicle in the parking lot;

and navigating according to the vehicle position in the field.

In another embodiment, before the detecting the vehicle position, the method further includes:

receiving parking spaces broadcasted by the parking lot end;

after the user selects the parking space, sending an appointment request to the parking lot end, so that the parking lot end can mark the parking space as the appointed parking space; and the parking lot end is used for carrying out parking space reserved prompt when receiving other reservation requests for the reserved parking spaces.

A navigation method, comprising:

detecting a positioning signal of the roadside equipment of the parking lot;

extracting the position of the equipment in the positioning signal, and acquiring the signal distance of the positioning signal;

locating the position of the vehicle in the field according to the device position and the signal distance;

and navigating according to the vehicle position in the field.

In another embodiment, said locating a vehicle location within a field based on said device location and said signal distance comprises:

generating a plurality of positioning circles by taking the position of the equipment as a circle center and the signal distance as a radius;

acquiring intersection points of the positioning circles;

and obtaining the position of the vehicle in the field according to the intersection point position.

In another embodiment, before the detecting the positioning signal of the roadside apparatus of the vehicle, the method further includes:

receiving candidate positioning signals of candidate parking lot roadside devices;

detecting a signal strength of the candidate positioning signal;

screening out the optimal signal intensity;

and determining candidate vehicle yard road side equipment corresponding to the optimal signal intensity to serve as the vehicle yard road side equipment.

In another embodiment, said navigating according to vehicle locations within said field comprises:

acquiring the position of the reserved parking space;

planning an in-field navigation route between the parking space position and the in-field vehicle position;

and navigating according to the navigation route in the field.

In another embodiment, said obtaining the vehicle location in the field from the intersection location comprises:

determining a maximum signal strength among the preferred signal strengths;

determining the road side equipment of the parking lot corresponding to the maximum signal intensity and the lane information recorded by the road side equipment;

and correcting the intersection point position by adopting the lane information to obtain the vehicle position in the field.

A navigation method, comprising:

receiving an encrypted vehicle position of a vehicle end; the vehicle end is used for detecting the vehicle position and generating a first communication key, and the vehicle position is encrypted by adopting the first communication key to obtain an encrypted vehicle position;

generating a second communication key, and decrypting the encrypted vehicle position by adopting the second communication key to obtain the vehicle position; the second communication key and the first communication key have a corresponding relation;

and generating parking lot navigation information according to the vehicle position, and sending the parking lot navigation information to the vehicle end.

A navigation device, comprising:

the position detection module is used for detecting the position of the vehicle;

the first secret key module is used for generating a first communication secret key and encrypting the vehicle position by adopting the first communication secret key to obtain an encrypted vehicle position;

the position sending module is used for sending the encrypted vehicle position to a parking lot end; the parking lot end is used for decrypting the encrypted vehicle position by adopting a second communication key to obtain the vehicle position and feeding back parking lot navigation information according to the vehicle position; the second communication key and the first communication key have a corresponding relation;

and the navigation information receiving module is used for receiving the parking lot navigation information and navigating according to the parking lot navigation information.

A navigation device, comprising:

the signal detection module is used for detecting a positioning signal of the roadside equipment of the parking lot;

the extraction module is used for extracting the equipment position in the positioning signal and acquiring the signal distance of the positioning signal;

the in-field positioning module is used for positioning the position of a vehicle in the field according to the equipment position and the signal distance;

and the in-field navigation module is used for navigating according to the position of the vehicle in the field.

A navigation device, comprising:

the encrypted position receiving module is used for receiving the encrypted vehicle position of the vehicle end; the vehicle end is used for detecting the vehicle position and generating a first communication key, and the vehicle position is encrypted by adopting the first communication key to obtain an encrypted vehicle position;

the second key module is used for generating a second communication key and decrypting the encrypted vehicle position by adopting the second communication key to obtain the vehicle position; the second communication key and the first communication key have a corresponding relation;

and the navigation information generating module is used for generating parking lot navigation information according to the vehicle position and sending the parking lot navigation information to the vehicle end.

A navigation system, comprising:

a vehicle end and a parking lot end;

the vehicle end is used for detecting the position of a vehicle, generating a first communication key, encrypting the position of the vehicle by adopting the first communication key to obtain an encrypted vehicle position, and sending the encrypted vehicle position to the parking lot end;

the parking lot end is used for receiving the encrypted vehicle position of the vehicle end, generating a second communication key, decrypting the encrypted vehicle position by adopting the second communication key to obtain the vehicle position, generating parking lot navigation information according to the vehicle position and sending the parking lot navigation information to the vehicle end; the second communication key and the first communication key have a corresponding relation;

and the vehicle end is also used for receiving the parking lot navigation information and navigating according to the parking lot navigation information.

In another embodiment, the vehicle end is further configured to detect a positioning signal of a yard-side device, extract a device position in the positioning signal, and acquire a signal distance of the positioning signal; locating the position of the vehicle in the field according to the device position and the signal distance; and navigating according to the vehicle position in the field.

A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements:

detecting a vehicle position;

A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements:

detecting a vehicle position;

According to the navigation method, the device, the system, the computer equipment and the storage medium, the first communication key is generated through the vehicle end, the detected vehicle position is encrypted by adopting the first communication key to obtain the encrypted vehicle position, the encrypted vehicle position is sent to the parking lot end, the parking lot end decrypts the encrypted vehicle position by adopting the second communication key corresponding to the first communication key to obtain the vehicle position, and the parking lot navigation information is provided for the vehicle end according to the vehicle position, so that when the vehicle end communicates with the parking lot end, the vehicle position of the vehicle end is prevented from being leaked, and the information security of navigation communication is ensured.

Aiming at the scene that the vehicle end and the parking lot end communicate based on V2X, the vehicle end and the parking lot end adopt corresponding communication keys to carry out encryption communication, so that the information safety of V2X communication is ensured while the communication range between the vehicle end and the parking lot end is enlarged and the communication stability is improved.

Drawings

FIG. 1 is a diagram of an application environment of a navigation method of an embodiment;

FIG. 2 is a flow diagram of a navigation method of an embodiment;

FIG. 3 is a schematic diagram of a roadside apparatus based vehicle location of one embodiment;

fig. 4 is a diagram illustrating a ue communicating based on a traffic key according to an embodiment;

FIG. 5 is a flow diagram of a navigation method of another embodiment;

FIG. 6 is a flow chart diagram of a navigation method of yet another embodiment;

FIG. 7 is a block diagram of a navigation device of one embodiment;

fig. 8 is a block diagram of a navigation device of another embodiment;

fig. 9 is a block diagram of a navigation device of a further embodiment;

FIG. 10 is a block diagram of a navigation system of an embodiment;

FIG. 11 is a schematic illustration of a navigation flow of an embodiment;

FIG. 12 is an internal block diagram of a computer device of an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The navigation method provided by the application can be applied to the application environment shown in fig. 1.

The vehicle end 101 may be an On Board Unit (OBU). The parking lot end 102 may be implemented as a stand-alone server or a server cluster of multiple servers.

The vehicle end 101 may communicate with the parking lot end 102 through a network. Wherein the vehicle end 101 may be equipped with a V2X system. Accordingly, the parking lot end 102 may also be equipped with a V2X system. The vehicle end 101 and the parking lot end 102 can communicate through V2X signals through a V2X system at two ends. It should be noted that compared with the conventional communication methods such as 3G-LTE (long term Evolution), 4G-LTE, etc., the communication method based on V2X signal can provide an extended communication distance and a more stable communication signal. Therefore, communication based on the V2X signal can improve the communication range and communication stability between the vehicle side and the parking lot side.

In one embodiment, as shown in fig. 2, a navigation method is provided, which is described by taking the method as an example applied to the vehicle end 101 in fig. 1, and comprises the following steps:

in step S210, the vehicle position is detected.

The vehicle position is the geographic coordinate where the vehicle end 101 is located at the present time. For example, the vehicle position may be a GPS (Global Positioning System) coordinate.

In a specific implementation, the vehicle end 101 may be provided with a positioning module inside, and the vehicle position is obtained by detecting the position of the vehicle through the positioning module.

Step S220, generating a first communication key, and encrypting the vehicle position by using the first communication key to obtain an encrypted vehicle position.

The communication key may be a key used for encrypted communication between the vehicle terminal 101 and the parking lot terminal 102. A key is an algorithm parameter that converts plaintext into ciphertext or ciphertext into plaintext by a particular encryption algorithm.

Wherein the encrypted vehicle location may be an encrypted vehicle location.

In a specific implementation, the vehicle side 101 may generate a communication key. For the sake of illustration, the communication key generated by the vehicle 101 is named as the first communication key. And then, encrypting the vehicle position by adopting the first communication key to obtain an encrypted vehicle position.

For example, the vehicle end 101 may obtain information such as an engine serial number and a vehicle type of the vehicle, and calculate an encrypted value of the engine serial number and the vehicle type by using a certain encryption algorithm as the communication key. For another example, the parking lot terminal 102 may transmit a specific encryption algorithm to the vehicle terminal 101 in advance, and the vehicle terminal 101 calculates the encryption value of the serial number of the engine and the vehicle type as the communication key through the specific encryption algorithm.

Step S230, sending the encrypted vehicle position to a parking lot end; the parking lot end is used for decrypting the encrypted vehicle position by adopting a second communication key to obtain the vehicle position and feeding back parking lot navigation information according to the vehicle position; the second communication key and the first communication key have a corresponding relation.

The parking lot navigation information may be a navigation route planned according to the vehicle position and the parking lot position.

In a specific implementation, the vehicle end 101 may send the encrypted vehicle location to the parking lot end 102. The parking lot end 102 may generate a communication key. For the sake of illustration, the communication key generated by the parking lot end 102 is named as the second communication key.

The parking lot end 102 may generate the second communication key in the same or similar way as the vehicle end 101 generates the first communication key, so as to obtain the second communication key which is the same as or matched with the first communication key. After receiving the encrypted vehicle position, the parking lot end 102 may decrypt the encrypted vehicle position using the second communication key to obtain the vehicle position. Then, the parking lot end 102 plans a navigation route according to the stored parking lot position and vehicle position, encrypts the navigation route, uses the encrypted navigation route as parking lot navigation information, and feeds back the parking lot navigation information to the vehicle end 101.

And step S240, receiving the parking lot navigation information, and navigating according to the parking lot navigation information.

In a specific implementation, after receiving the parking lot navigation information, the vehicle end 101 may navigate to the parking lot according to the parking lot navigation information.

In practical application, the parking lot end 102 may encrypt the parking lot navigation information by using the second communication key, send the encrypted parking lot navigation information to the vehicle end 101, and the vehicle end 101 decrypts the encrypted parking lot navigation information by using the first communication key to obtain the decrypted parking lot navigation information.

In practical applications, when the vehicle end 101 communicates with the parking lot end 102, information such as a vehicle ID, an owner identity, and a parking space position of a parking space in the parking lot of the vehicle end 101 may be interacted. Therefore, during the communication process, the information of the communication can be encrypted, so that when the vehicle end 101 communicates with the parking lot end 102, the information interacted during the communication can be encrypted.

According to the technical scheme of the embodiment of the application, the first communication key is generated through the vehicle end, the detected vehicle position is encrypted by adopting the first communication key to obtain the encrypted vehicle position, the encrypted vehicle position is sent to the parking lot end, the parking lot end is supplied to adopt the second communication key corresponding to the first communication key to decrypt the encrypted vehicle position to obtain the vehicle position, and the parking lot navigation information is provided for the vehicle end according to the vehicle position, so that when the vehicle end communicates with the parking lot end, the vehicle position of the vehicle end is prevented from being leaked, and the information safety of navigation communication is ensured.

In another embodiment, the method further comprises:

receiving parking spaces broadcasted by a parking lot end; after the user selects the parking space, sending an appointment request to the parking lot end, so that the parking lot end can mark the parking space as the appointed parking space; and the parking lot end is used for carrying out parking space reserved prompt when receiving other reservation requests for the reserved parking spaces.

The parking space may be related information of each parking space in the parking lot, for example, information of a position of the parking lot to which the parking space belongs, a position of the parking space in the parking lot, a size of the parking space, and the like.

Wherein the reservation request is used for requesting reservation of a specific parking space in the parking lot.

In a specific implementation, the vehicle end 101 may broadcast parking requirement information. After the parking lot terminal 102 detects the parking demand information, it may broadcast the currently empty parking space for the parking demand information. The vehicle end 101 may detect the parking space broadcast by the parking lot end 102, and display the parking space to the user for the user to view and select the parking space. The parking spaces can be one or more, and the user can select one or more parking spaces according to the specific parking requirements.

After the user selects the parking space, the vehicle end 101 may generate an appointment request according to the parking space and send the appointment request to the parking lot end 102.

The parking lot terminal 102 responds to the reservation request of the vehicle terminal 101 after receiving the reservation request. And meanwhile, marking the parking space requested by the reservation request to obtain the reserved parking space. When there is a vehicle end of another vehicle and a reservation request is initiated for a reserved parking space, the parking lot end 102 may generate a parking space reserved prompt and feed back the prompt to the other vehicle end.

In practical applications, the parking lot terminal 102 may not respond to the reservation request of the reserved parking space from other vehicle terminals. When broadcasting the parking space, the parking lot end 102 may filter out the reserved parking space from the plurality of parking spaces, obtain an idle parking space, and broadcast the idle parking space. The parking space which can not be reserved is prevented from being received by other vehicle terminals.

It should be noted that, due to the increase of vehicles, the difficulty in parking has become a serious problem. In order to find a proper parking space, a vehicle owner can find nearby parking lots through a mobile phone map, inquire the parking spaces of all the parking lots, and navigate to a certain parking lot when determining that the parking lot has an available parking space. However, due to the lag of the information, it often happens that when the vehicle arrives at the parking lot, the parking space which is originally available is already parked by other vehicles, so that the vehicle owner needs to find the parking lot again for parking, and the time and the energy for parking the vehicle owner are wasted.

According to the technical scheme of this application embodiment, through after the user selects the parking stall, send reservation request to the parking stall end to the parking stall, supply the parking stall end to mark this parking stall for the parking stall is the parking stall of reserving, thereby, when other vehicles initiate the reservation request to this parking stall, the parking stall end can carry out the parking stall and reserve the suggestion, make other vehicles can't reserve and park to the parking stall of reserving, the problem that the parking stall was parked by other vehicles when having avoided the vehicle to arrive the parking area has saved the time and the energy that the user consumed to park.

In another embodiment, the generating the first communication key includes:

acquiring vehicle information and reserved parking spaces; and calculating the first communication key according to the vehicle information and the reserved parking space.

For example, a key may be calculated by a specific encryption algorithm according to vehicle information such as an engine serial number, a vehicle type, and the like stored in the vehicle side 101 and a parking space number of a reserved parking space, and the key is used as the first communication key.

In practical applications, a person skilled in the art may calculate the key by using an Encryption Algorithm, for example, an Encryption Algorithm such as MD5(Message-Digest Algorithm 5, fifth edition Digest Algorithm), DES (Data Encryption Standard), and the like. The embodiment of the present application does not limit the specific encryption algorithm.

In practical applications, a person skilled in the art may calculate the key using various information, such as information of a driver's license, a license plate number, or the like, or information of an encrypted message preset for a reserved parking space. The embodiment of the present application does not limit the specific information used for the encryption calculation.

In another embodiment, the method further comprises:

detecting a positioning signal of the roadside equipment of the parking lot; extracting the position of the equipment in the positioning signal, and acquiring the signal distance of the positioning signal; locating the position of the vehicle in the field according to the device position and the signal distance; and navigating according to the vehicle position in the field.

The parking lot road side equipment can be road side equipment used for sending positioning signals in a parking lot. A Road Side Unit (RSU) may communicate with an on-board Unit (OBU) of the vehicle end 101. The roadside apparatus may send out a V2X signal as a positioning signal, and communicate with the vehicle end 101 through the V2X signal. The yard-side equipment may be evenly distributed at the inner lane edges of the parking lot. The yard road side device may record road information of a lane where the yard road side device is located, for example, lane id, information that the current yard road side device is located on the left side and the right side of the lane, and the like.

The device location may be a location where the yard-side device is located in the parking lot. For example, the device location may be GPS coordinates.

The signal distance may be a distance between the yard road side device and the vehicle. The different Signal strengths (RSSI) of the positioning signals are related to the Signal distance. For example, the closer the vehicle end 101 is to the yard-side device, the greater the signal strength of the received V2X signal from the yard-side device emitting V2X signal.

Wherein the vehicle location within the parking lot may be geographic coordinates of where the vehicle is located within the parking lot.

It should be noted that the vehicle 101 may navigate through a conventional network such as 3G-LTE, 4G-LTE, etc. However, when the network signal in the parking lot is too weak or unstable, the vehicle end 101 cannot navigate through the network signal. Therefore, in the embodiment of the present application, a navigation method is provided, in which a vehicle is located by a yard-side device in a parking lot, and navigation is performed according to the located vehicle position.

In a specific implementation, when the vehicle end 101 detects that the network signal does not meet the signal strength requirement or the network signal is unstable, the vehicle end may detect a V2X signal of the equipment on the side of the yard as a positioning signal. The yard-side device may add its own device location to the V2X signal. Thus, the vehicle end 101 can extract the device location in the V2X signal.

Meanwhile, the vehicle end 101 may calculate a distance between the vehicle end 101 and the yard-side equipment as the signal distance according to the magnitude of the signal strength of the V2X signal. After the device position and the signal distance are obtained, the position of the vehicle in the parking lot can be located, and the position of the vehicle in the parking lot is obtained. The vehicle terminal 101 may plan a navigation route between the vehicle position and the parking space position in the parking lot according to the parking space position of the reserved parking space provided by the parking lot terminal 102, thereby performing navigation.

According to the technical scheme of the embodiment of the application, the position of the equipment is extracted from the positioning signal by detecting the positioning signal of the roadside equipment in the parking lot, the signal distance of the positioning signal is calculated, the vehicle is positioned according to the position of the equipment and the signal distance, and navigation is performed according to the position of the vehicle in the parking lot obtained through positioning. Therefore, even under the condition that the network signal in the parking lot is poor, normal navigation can still be carried out.

generating a plurality of positioning circles by taking the position of the equipment as a circle center and the signal distance as a radius; acquiring intersection points of the positioning circles; and obtaining the position of the vehicle in the field according to the intersection point position.

In specific implementation, the position of the vehicle in the field can be located according to the position of the equipment and the distance of the signal by a three-point locating method.

FIG. 3 is a schematic diagram of positioning a vehicle position based on a roadside apparatus according to an embodiment of the application. As can be seen from the figure, the vehicle travels in the parking lot, and a plurality of roadside devices such as RSU _ A, RSU _ B, RSU _ C and RSU _ D are disposed on both sides of the lane of the parking lot. The vehicle side on the vehicle detects V2X signals sent by a plurality of road side devices, extracts the device positions from the V2X signals, and calculates the signal distance according to the signal strength of the V2X signals. And taking the position of the equipment as the center of a circle and taking the signal distance as a circle to obtain a plurality of positioning circles. Usually, three positioning circles are selected, and an intersection O of the three positioning circles is determined, where the position of the intersection O is the position of the vehicle in the field.

receiving candidate positioning signals of candidate parking lot roadside devices; detecting a signal strength of the candidate positioning signal; screening out the optimal signal intensity; and determining candidate vehicle yard road side equipment corresponding to the optimal signal intensity to serve as the vehicle yard road side equipment.

In a specific implementation, the vehicle end 101 may detect candidate positioning signals of a plurality of candidate yard road-side devices at the same time. Referring to fig. 3, the vehicle end 101 may detect V2X signals of a plurality of road side devices such as RSU _ A, RSU _ B, RSU _ C and RSU _ D.

Since positioning signals of at least three pieces of yard-side equipment are required for positioning, the vehicle end 101 may screen out at least three candidate positioning signals with optimal signal strengths as positioning signals for positioning the vehicle position according to the signal strengths of the candidate positioning signals. Referring to fig. 3, the vehicle terminal 101 performs localization according to the V2X signals of RSU _ A, RSU _ C and RSU _ D when detecting that the signal strength of the V2X signals of RSU _ A, RSU _ C and RSU _ D is large.

determining a maximum signal strength among the preferred signal strengths; determining the road side equipment of the parking lot corresponding to the maximum signal intensity and the lane information recorded by the road side equipment; and correcting the intersection point position by adopting the lane information to obtain the vehicle position in the field.

In a specific implementation, a parking lot may include a plurality of lanes, and the signal strength of the positioning signal sent by the parking lot roadside device in the same lane is higher. Accordingly, at least two maximum signal strengths can be determined from the preferred signal strengths, and accordingly, the device location corresponding to the maximum signal strengths can be determined as the target device location, and the target device location is located on the same lane. Therefore, the lane where the current vehicle is located can be determined, the intersection point position is corrected according to the lane information of the lane where the vehicle is located, and the vehicle can be positioned more accurately.

According to the technical scheme of this application embodiment, through confirming maximum signal strength to can determine the lane that the vehicle is located at present, and correct the intersection point position correspondingly, obtain more accurate interior vehicle position of field, promote the precision that utilizes the roadside equipment of parking lot to navigate.

acquiring the position of the reserved parking space; planning an in-field navigation route between the parking space position and the in-field vehicle position; and navigating according to the navigation route in the field.

In a specific implementation, the parking lot end 102 may provide the parking lot electronic map to the vehicle end 101, and the vehicle end 101 may plan a navigation route according to the parking space position of the reserved parking space, the vehicle position in the parking lot, and the parking lot electronic map, so as to navigate to the reserved parking space.

In another embodiment, the method further comprises:

The user mobile terminal can be a mobile terminal carried by a user, such as a mobile phone, a tablet personal computer and the like.

In a specific implementation, after detecting that the vehicle is parked in the reserved parking space, the vehicle terminal 101 may send the first communication key to the user mobile terminal. The user mobile terminal can continue encrypted communication with the parking lot terminal 102 based on the first communication key. For example, the user mobile terminal obtains navigation information from the parking lot terminal 102 to navigate the user away from the parking lot, or to navigate the user to find a vehicle in the parking lot.

Based on fig. 1, fig. 4 is a schematic diagram of a ue performing communication based on a communication key according to an embodiment of the present invention. As can be seen from the figure, the vehicle end 101 may send the first communication key to the user mobile end 103, and the user mobile end 103 may perform encrypted communication with the parking lot end 102 through the first communication key.

According to the technical scheme of the embodiment of the application, the communication key is sent to the user mobile terminal, so that the user mobile terminal can continue to carry out encrypted communication with the parking lot terminal, and the information safety of communication between the user mobile terminal and the parking lot terminal is improved.

In another embodiment, the method further comprises:

when the parking completion information is received, deleting the first communication key; and sending the parking completion information to the parking lot end for the parking lot end to delete the second communication key.

The parking completion information may be information generated after the vehicle 101 detects that the vehicle leaves the parking space.

In specific implementation, after the user finishes parking, the user mobile terminal can submit a parking finishing instruction, the user mobile terminal can generate parking finishing information, the user mobile terminal sends the parking finishing information to the vehicle terminal 101, and the vehicle terminal 101 can delete the local first communication key according to the parking finishing information. Meanwhile, the vehicle end 101 may send parking completion information to the parking lot end 102, and after receiving the parking completion information, the parking lot end 102 deletes the local second communication key.

In practical applications, the vehicle end 101 may also detect that the vehicle leaves the parking space or the parking lot, determine that the current parking is finished, and generate the parking finish information.

According to the technical scheme of the embodiment of the application, the first communication key is deleted after parking is finished, and the parking lot end is informed to delete the second communication key, so that the storage space of the vehicle end and the parking lot end is saved.

In one embodiment, as shown in fig. 5, a navigation method is provided, which is described by taking the method as an example applied to the vehicle end 101 in fig. 1, and includes the following steps:

step S510, a positioning signal of the equipment on the side of the parking lot is detected.

In a specific implementation, the vehicle end 101 may detect a V2X signal of the vehicle yard road side device as a positioning signal.

Step S520, extracting the device location from the positioning signal, and obtaining the signal distance of the positioning signal.

In a specific implementation, the vehicle end 101 may extract the device location in the V2X signal. Meanwhile, the vehicle end 101 may calculate a distance between the vehicle end 101 and the yard-side equipment as the signal distance according to the magnitude of the signal strength of the V2X signal.

And step S530, positioning the position of the vehicle in the field according to the equipment position and the signal distance.

In specific implementation, after the device position and the signal distance are obtained, the position of the vehicle in the parking lot can be located, and the position of the vehicle in the parking lot is obtained.

And S540, navigating according to the vehicle position in the field.

In a specific implementation, after the vehicle position in the parking lot is located, the vehicle end 101 may plan a navigation route between the vehicle position and the parking space position in the parking lot according to the parking space position of the reserved parking space provided by the parking lot end 102, thereby performing navigation.

Because the navigation method provided by the embodiment of the present application has been described in detail in the above embodiments, further description is omitted here.

In another embodiment, the step S530 includes:

In another embodiment, before the step S510, the method further includes:

In another embodiment, the step S540 includes:

In one embodiment, as shown in fig. 6, a navigation method is provided, which is described by taking the method as an example applied to the parking lot end 102 of fig. 1, and includes the following steps:

step S610, receiving the encrypted vehicle position of the vehicle end; the vehicle end is used for detecting the vehicle position and generating a first communication key, and the vehicle position is encrypted by adopting the first communication key to obtain an encrypted vehicle position.

In a specific implementation, the parking lot end 102 may receive the encrypted vehicle location sent by the vehicle end 101.

Step S620, generating a second communication key, and decrypting the encrypted vehicle position by using the second communication key to obtain the vehicle position; the second communication key and the first communication key have a corresponding relation.

In a specific implementation, the parking lot end 102 may generate a communication key, and for the purpose of illustration, the communication key generated by the vehicle end 101 is named as a second communication key.

The parking lot peer 102 may generate the second communication key in the same or similar way as the vehicle peer 101 generates the first communication key, so that the parking lot peer 102 obtains the second communication key corresponding to the first communication key.

After receiving the encrypted vehicle position, the parking lot end 102 may decrypt the encrypted vehicle position using the second communication key to obtain the vehicle position.

And step S630, generating parking lot navigation information according to the vehicle position, and sending the parking lot navigation information to the vehicle end.

In a specific implementation, the parking lot end 102 plans a navigation route according to the stored parking lot position and the vehicle position, encrypts the navigation route, uses the encrypted navigation route as parking lot navigation information, and feeds back the parking lot navigation information to the vehicle end 101.

According to the technical scheme of the embodiment of the application, when the vehicle end 101 needs to navigate according to the navigation information provided by the parking lot end 102, the parking lot end 102 generates the second communication key corresponding to the first communication key of the vehicle end 101, and decrypts the encrypted vehicle position of the vehicle end 101 based on the second communication key to obtain the vehicle position, so that information leakage of the vehicle end 101 and the parking lot end 102 is avoided in the process of navigation communication between the vehicle end 101 and the parking lot end 102, and information security of navigation communication is ensured.

In another embodiment, before the step S620, the method further includes:

broadcasting the parking space to the vehicle end; receiving an appointment request of the vehicle end for the parking space; and marking the parking space as the reserved parking space so as to prompt the reserved parking space when receiving other reservation requests for the reserved parking space.

In a specific implementation, the parking lot end 102 may broadcast one or more parking spaces to the vehicle end 101 after receiving the parking demand information of the vehicle end 101. The parking lot terminal 102 may respond to a reservation request of the vehicle terminal 101 for a parking space after receiving the reservation request. The parking lot end 102 marks the parking space requested by the reservation request, thereby marking the parking space as the reserved parking space. When the other vehicle terminal initiates a reservation request for the reserved parking space, the parking lot terminal 102 may generate a parking space reserved prompt and feed back the prompt to the other vehicle terminal.

According to the technical scheme of this application embodiment, the parking lot end is through after receiving the reservation request to the parking stall, mark this parking stall for having reserved the parking stall, thereby, when other vehicles initiate the reservation request to this parking stall, the parking lot end can carry out the suggestion that the parking stall has reserved, make other vehicles can't reserve and park to having reserved the parking stall, the problem that the parking stall was parked by other vehicles when having avoided the vehicle to arrive the parking area, time and the energy that the user consumed of parkking have been saved.

In another embodiment, before the step S620, the method further includes:

receiving vehicle information of the vehicle end;

the generating the second communication key includes:

and calculating the second communication key according to the vehicle information and the reserved parking space.

In a specific implementation, when the vehicle end 101 sends the parking demand information, the vehicle information may be added to the parking demand information, so that the parking lot end 102 may receive the vehicle information of the vehicle end 101. The parking lot end 102 may calculate a key as the second communication key through a specific encryption algorithm according to the vehicle information and the reserved parking space.

In another embodiment, the method further comprises:

and deleting the second communication key when the parking completion information of the vehicle end is received.

In a specific implementation, the vehicle end 101 detects that the vehicle leaves the parking space or the parking lot, determines that the current parking is finished, can generate a parking finish message, and sends the parking finish message to the parking lot end 102, and after receiving the parking finish message, the parking lot end 102 deletes the local second communication key.

According to the technical scheme of the embodiment of the application, after the parking completion information is received, the second communication key of the parking lot end is deleted, so that the storage space of the parking lot end is saved.

It should be understood that although the steps in the flowcharts of fig. 2, 5 and 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 5, and 6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 7, there is provided a navigation device including: a detection module 710, an encryption module 720, a sending module 730 and a receiving module 740; wherein:

a detection module 710 for detecting a vehicle position;

the encryption module 720 is configured to generate a first communication key, and encrypt the vehicle position with the first communication key to obtain an encrypted vehicle position;

a sending module 730, configured to send the encrypted vehicle position to a parking lot end; the parking lot end is used for decrypting the encrypted vehicle position by adopting a second communication key to obtain the vehicle position and feeding back parking lot navigation information according to the vehicle position; the second communication key and the first communication key have a corresponding relation;

and the receiving module 740 is configured to receive the parking lot navigation information and perform navigation according to the parking lot navigation information.

In another embodiment, the encryption module 720 includes:

the acquisition submodule is used for acquiring vehicle information and reserved parking spaces;

and the key calculation submodule is used for calculating the first communication key according to the vehicle information and the reserved parking space.

In another embodiment, the method further comprises:

and the key sending module is used for sending the first communication key to a user mobile terminal, so that the user mobile terminal can carry out encrypted communication with the parking lot terminal by adopting the first communication key.

In another embodiment, the method further comprises:

the key deleting module is used for deleting the first communication key when parking completion information is received;

and the information sending module is used for sending the parking completion information to the parking lot end so that the parking lot end can delete the second communication key.

In another embodiment, the method further comprises:

the parking space receiving module is used for receiving the parking spaces broadcasted by the parking lot end;

the request sending module is used for sending an appointment request to the parking lot end after the user selects the parking space, so that the parking lot end can mark the parking space as the appointed parking space; and the parking lot end is used for carrying out parking space reserved prompt when receiving other reservation requests for the reserved parking spaces.

In another embodiment, the method further comprises:

the extraction module is used for extracting the position of the equipment in the positioning signal and calculating the signal distance of the positioning signal;

the positioning module is used for positioning the position of the vehicle in the parking lot according to the equipment position and the signal distance to obtain the position of the vehicle in the parking lot;

In another embodiment, the positioning module includes:

the positioning circle submodule is used for generating a plurality of positioning circles by taking the position of the equipment as a circle center and the signal distance as a radius;

the intersection point submodule is used for acquiring intersection point positions of the positioning circles;

and the in-field position submodule is used for obtaining the position of the vehicle in the field according to the intersection point position.

In another embodiment, the method further comprises:

the candidate signal module is used for receiving candidate positioning signals of candidate parking lot roadside devices;

a signal strength detection module for detecting the signal strength of the candidate positioning signal;

the screening module is used for screening out the optimal signal intensity;

and the determining module is used for determining candidate vehicle yard road side equipment corresponding to the optimal signal intensity to serve as the vehicle yard road side equipment.

In another embodiment, the in-field navigation module includes:

the parking place position acquisition submodule is used for acquiring the parking place position of the reserved parking place;

a route planning submodule for planning an in-field navigation route between the parking space position and the in-field vehicle position;

and the route navigation sub-module is used for navigating according to the navigation route in the field.

In another embodiment, the intrafield location submodule includes:

a maximum strength unit for determining a maximum signal strength among the preferred signal strengths;

the lane information unit is used for determining the vehicle yard road side equipment corresponding to the maximum signal intensity and the recorded lane information thereof;

and the position correction unit is used for correcting the intersection point position by adopting the lane information to obtain the vehicle position in the field.

In one embodiment, as shown in fig. 8, there is provided a navigation device including: a signal detection module 810, an extraction module 820, a localization module 830, and an in-field navigation module 840; wherein:

the signal detection module 810 is used for detecting a positioning signal of the roadside equipment of the parking lot;

an extracting module 820, configured to extract a device location in the positioning signal, and calculate a signal distance of the positioning signal;

the positioning module 830 is configured to position a vehicle in the parking lot according to the device position and the signal distance, so as to obtain a vehicle position in the parking lot;

and the in-field navigation module 840 is used for navigating according to the position of the vehicle in the field.

In another embodiment, the positioning module 830 includes:

In another embodiment, the method further comprises:

the screening module is used for screening out the optimal signal intensity;

In another embodiment, the intrafield navigation module 840 includes:

In another embodiment, the intrafield location submodule includes:

In one embodiment, as shown in fig. 9, there is provided a navigation device including: an encrypted location receiving module 910, a second key module 920, and a navigation information generating module 930; wherein:

an encrypted position receiving module 910, configured to receive an encrypted vehicle position at a vehicle end; the vehicle end is used for detecting the vehicle position and generating a first communication key, and the vehicle position is encrypted by adopting the first communication key to obtain an encrypted vehicle position;

a second key module 920, configured to generate a second communication key, and decrypt the encrypted vehicle location using the second communication key to obtain the vehicle location; the second communication key and the first communication key have a corresponding relation;

and the navigation information generating module 930 is configured to generate yard navigation information according to the vehicle position, and send the yard navigation information to the vehicle end.

In another embodiment, the method further comprises:

the parking space broadcasting module is used for broadcasting parking spaces to the vehicle end;

the request receiving module is used for receiving an appointment request of the vehicle end for the parking space;

and the reserved marking module is used for marking the parking space as a reserved parking space so as to prompt the reserved parking space when receiving other reservation requests for the reserved parking space.

In another embodiment, the method further comprises:

the vehicle information receiving module is used for receiving the vehicle information of the vehicle end;

the second key module 920 includes:

and the key calculation submodule is used for calculating the second communication key according to the vehicle information and the reserved parking space.

In another embodiment, the method further comprises:

and the key deleting module is used for deleting the second communication key when the parking completion information of the vehicle end is received.

In one embodiment, as shown in fig. 10, there is provided a navigation system including: a vehicle end 1010 and a parking lot end 1020; wherein:

the vehicle end 1010 is configured to detect a vehicle position, generate a first communication key, encrypt the vehicle position with the first communication key to obtain an encrypted vehicle position, and send the encrypted vehicle position to the parking lot end 1020;

the parking lot end 1020 is configured to receive the encrypted vehicle position of the vehicle end 1010, generate a second communication key, decrypt the encrypted vehicle position by using the second communication key to obtain the vehicle position, generate yard navigation information according to the vehicle position, and send the yard navigation information to the vehicle end 1010; the second communication key and the first communication key have a corresponding relation;

the vehicle terminal 1010 is further configured to receive the parking lot navigation information and perform navigation according to the parking lot navigation information.

In another embodiment, the vehicle end 1010 is further configured to:

detecting a positioning signal of a vehicle yard roadside device, extracting a device position from the positioning signal, and acquiring a signal distance of the positioning signal; locating the position of the vehicle in the field according to the device position and the signal distance; and navigating according to the vehicle position in the field.

In another embodiment, the vehicle end 1010 is further configured to:

receiving parking spaces broadcasted by the parking lot end;

In another embodiment, the vehicle end 1010 is further configured to:

acquiring vehicle information and reserved parking spaces;

In another embodiment, the vehicle end 1010 is further configured to:

acquiring intersection points of the positioning circles;

In another embodiment, the vehicle end 1010 is further configured to:

detecting a signal strength of the candidate positioning signal;

screening out the optimal signal intensity;

In another embodiment, the vehicle end 1010 is further configured to:

acquiring the position of the reserved parking space;

and navigating according to the navigation route in the field.

In another embodiment, the vehicle end 1010 is further configured to:

determining a maximum signal strength among the preferred signal strengths;

In another embodiment, the parking lot end 1020 is further configured to:

broadcasting the parking space to the vehicle end 1010; receiving an appointment request of the vehicle end for the parking space; and marking the parking space as the reserved parking space so as to prompt the reserved parking space when receiving other reservation requests for the reserved parking space.

In another embodiment, the parking lot end 1020 is further configured to:

receiving vehicle information of the vehicle terminal 1010;

In another embodiment, the parking lot end 1020 is further configured to:

and when the parking completion information of the vehicle end 1010 is received, deleting the second communication key.

For the specific limitations of the navigation device and the navigation system, reference may be made to the above limitations of the navigation method, which are not described herein again. The modules in the parking reservation device and the parking system can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Provided above withNavigationThe device and the system can be used for executing the method provided by any of the above embodimentsNavigationThe method has corresponding functions and beneficial effects.

To facilitate understanding of the embodiments of the present application for those skilled in the art, a specific example will be described below with reference to fig. 11. Fig. 11 is a schematic diagram of a navigation process according to an embodiment of the present application.

As shown in the figure, firstly, the vehicle end broadcasts the parking demand information, and after receiving the parking demand information, the parking lot end queries the parking space meeting the parking demand information and broadcasts the parking space.

After the vehicle end receives the parking space, the parking space can be displayed on the display screen, the user can select the parking space, and the vehicle end sends an appointment request to the parking lot end aiming at the selected parking space. Meanwhile, the vehicle end can generate a secret key aiming at the parking space and the vehicle information stored by the vehicle end through a specific algorithm, encrypt the detected vehicle position by adopting the secret key, and send the encrypted vehicle position to the parking lot end.

After the parking lot end receives the reservation request, the parking space can be marked as the reserved parking space. Meanwhile, the parking lot end can generate a secret key aiming at the parking space and the vehicle information sent by the vehicle end through a specific algorithm, the vehicle position sent by the vehicle end is decrypted by adopting the secret key, the navigation information is generated according to the vehicle position, the navigation information is encrypted by adopting the secret key and fed back to the vehicle end, and the vehicle end can navigate according to the navigation information.

And the vehicle end can navigate to the parking space of the parking lot according to the navigation information so as to park. After the vehicle is parked to the parking space, the vehicle end can send the secret key to the user mobile end, the vehicle owner can continue to carry out encrypted communication with the parking lot end through the user mobile end, the parking lot end can provide navigation information to the user mobile end, and the vehicle owner is helped to leave the parking lot or the vehicle owner is helped to find the parking space where the vehicle is parked.

After parking is finished, the parking lot end can encrypt the navigation information by adopting the secret key and send the encrypted navigation information to the vehicle end, so that the vehicle end can drive away from the parking lot according to the navigation information. The vehicle end can also send parking completion information to the parking lot end, and the parking lot end can correspondingly delete the secret key.

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 12. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data of parking spaces, reserved parking spaces, vehicle information, vehicle positions, keys and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by the processor to implement a parking space reservation method.

Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

detecting a vehicle position;

The processor, when executing the computer program, further performs the steps of:

acquiring vehicle information and reserved parking spaces;

detecting a positioning signal of the roadside equipment of the parking lot;

and navigating according to the vehicle position in the field.

receiving parking spaces broadcasted by the parking lot end;

acquiring intersection points of the positioning circles;

detecting a signal strength of the candidate positioning signal;

screening out the optimal signal intensity;

acquiring the position of the reserved parking space;

and navigating according to the navigation route in the field.

determining a maximum signal strength among the preferred signal strengths;

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

detecting a vehicle position;

The computer program when executed by the processor further realizes the steps of:

acquiring vehicle information and reserved parking spaces;

detecting a positioning signal of the roadside equipment of the parking lot;

and navigating according to the vehicle position in the field.

receiving parking spaces broadcasted by the parking lot end;

detecting a positioning signal of the roadside equipment of the parking lot;

and navigating according to the vehicle position in the field.

acquiring intersection points of the positioning circles;

detecting a signal strength of the candidate positioning signal;

screening out the optimal signal intensity;

acquiring the position of the reserved parking space;

and navigating according to the navigation route in the field.

determining a maximum signal strength among the preferred signal strengths;

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A navigation method, comprising:

detecting a vehicle position;

2. The method of claim 1, wherein generating the first communication key comprises:

acquiring vehicle information and reserved parking spaces;

3. The method of claim 2, further comprising:

4. The method of claim 2, further comprising:

5. The method of claim 1, further comprising:

detecting a positioning signal of the roadside equipment of the parking lot;

and navigating according to the vehicle position in the field.

6. The method of claim 1, further comprising, prior to said detecting a vehicle position:

receiving parking spaces broadcasted by the parking lot end;

7. A navigation method, comprising:

detecting a positioning signal of the roadside equipment of the parking lot;

and navigating according to the vehicle position in the field.

8. The method of claim 7, wherein locating a vehicle location within a field based on the device location and the signal distance comprises:

acquiring intersection points of the positioning circles;

9. The method of claim 7, further comprising, prior to said detecting a locating signal of a yard-side device:

detecting a signal strength of the candidate positioning signal;

screening out the optimal signal intensity;

10. The method of claim 7, wherein said navigating according to vehicle locations within said field comprises:

acquiring the position of the reserved parking space;

and navigating according to the navigation route in the field.

11. The method of claim 8, wherein said deriving the in-field vehicle location from the intersection location comprises:

determining a maximum signal strength among the preferred signal strengths;

12. A navigation method, comprising:

13. A navigation device, comprising:

14. A navigation device, comprising:

15. A navigation device, comprising:

16. A navigation system, comprising:

a vehicle end and a parking lot end;

17. The system of claim 16, wherein the vehicle end is further configured to detect a location signal of a yard-side device, extract a device location in the location signal, and obtain a signal distance of the location signal; locating the position of the vehicle in the field according to the device position and the signal distance; and navigating according to the vehicle position in the field.

18. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the method of any one of claims 1 to 6, or implements the steps of the method of any one of claims 7 to 11, or implements the steps of the method of claim 12.

19. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6, or carries out the steps of the method of any one of claims 7 to 11, or carries out the steps of the method of claim 12.