阅读说明：本技术 毫米波雷达监测方法、装置、设备及存储介质 (Millimeter wave radar monitoring method, device, equipment and storage medium ) 是由 王飞云 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种毫米波雷达监测方法、装置、设备及存储介质。本发明通过获取所述毫米波雷达测出的方位角；依据所述方位角判断邻车位置状态；若所述邻车位置状态属于正常变道或本车道前车,则判断本车与前车的纵向车距；若所述纵向车距小于预设安全距离,则判断所述本车与所述前车的驱车速度；若所述本车的驱车速度大于所述前车的驱车速度,则启动预警状态；本发明的毫米波雷达监测方法能够实现精准的汽车防撞预警,有效降低交通事故发生的概率。(The invention discloses a millimeter wave radar monitoring method, a millimeter wave radar monitoring device, millimeter wave radar monitoring equipment and a millimeter wave radar monitoring storage medium. The azimuth angle measured by the millimeter wave radar is obtained; judging the position state of the adjacent vehicle according to the azimuth angle; if the position state of the adjacent vehicle belongs to normal lane change or a vehicle in front of the current lane, judging the longitudinal distance between the current vehicle and the vehicle in front; if the longitudinal distance is smaller than a preset safety distance, judging the driving speed of the vehicle and the front vehicle; if the driving speed of the vehicle is higher than that of the front vehicle, starting an early warning state; the millimeter wave radar monitoring method can realize accurate automobile anti-collision early warning and effectively reduce the probability of traffic accidents.)

1. A millimeter wave radar monitoring method is characterized by comprising the following steps:

acquiring an azimuth angle measured by the millimeter wave radar;

judging the position state of the adjacent vehicle according to the azimuth angle;

if the position state of the adjacent vehicle belongs to normal lane change or a vehicle in front of the current lane, judging the longitudinal distance between the current vehicle and the vehicle in front;

if the longitudinal distance is smaller than a preset safety distance, judging the driving speed of the vehicle and the front vehicle;

and if the driving speed of the vehicle is greater than that of the front vehicle, starting an early warning state.

2. The millimeter wave radar monitoring method according to claim 1, wherein the determining the position status of the neighboring vehicle according to the azimuth comprises:

if the azimuth angle measured by the millimeter wave radar is larger than a preset first safe lane changing azimuth angle, the position state of the adjacent vehicle belongs to normal lane changing or a vehicle in front of the vehicle lane;

and if the azimuth angle measured by the millimeter wave radar is smaller than a preset first safe lane changing azimuth angle, the adjacent vehicle position state belongs to adjacent vehicle lane changing.

3. The millimeter wave radar monitoring method according to claim 2, wherein if the azimuth angle measured by the millimeter wave radar is greater than a preset first safe lane change azimuth angle, the neighboring vehicle position state belonging to a normal lane change or a vehicle ahead of the own lane comprises:

if the azimuth angle is close to 90 degrees, the position state of the adjacent vehicle belongs to the front vehicle of the lane;

and if the azimuth angle is not close to 90 degrees, the position state of the adjacent vehicle belongs to normal lane change.

4. The millimeter wave radar monitoring method according to claim 2, wherein if the azimuth angle measured by the millimeter wave radar is smaller than a preset first safe lane change azimuth angle, the neighboring vehicle location state belonging to neighboring vehicle lane change comprises:

if the azimuth angle measured by the millimeter wave radar is larger than a preset second safe lane changing azimuth angle and smaller than the first safe lane changing azimuth angle, judging the longitudinal distance between the vehicle and the front vehicle;

and if the azimuth angle measured by the millimeter wave radar is smaller than the second safe lane change azimuth angle, directly starting an early warning state.

5. The millimeter wave radar monitoring method according to claim 1, wherein the azimuth angle measured by the millimeter wave radar is represented by the following formula:

where Δ Φ is a phase difference between the two receiving antennas, d is a distance between the two receiving antennas, θ is an azimuth angle of the target vehicle, and λ is a wavelength of the millimeter wave radar wave.

6. The millimeter wave radar monitoring method of claim 2, wherein the first safe lane change azimuth formula is:

wherein S is_maxJudging whether the preset safety distance is the maximum safety distance of adjacent vehicle lane change or not; b is the transverse safe distance of the two parallel vehicles; b/2 is the minimum transverse safety distance of the two parallel vehicles.

7. The millimeter wave radar monitoring method of claim 6, wherein the second safe lane change azimuth formula is:

wherein D is_maxThe minimum safe distance between the adjacent vehicle which is normally lane-changed and the vehicle before lane change is implemented.

8. A millimeter-wave radar monitoring device, the device comprising:

the azimuth angle acquisition module is used for acquiring an azimuth angle measured by the millimeter wave radar;

the adjacent vehicle position judging module is used for judging the position state of the adjacent vehicle according to the azimuth angle;

the longitudinal vehicle distance judging module is used for judging the longitudinal vehicle distance between the vehicle and the front vehicle if the position state of the adjacent vehicle belongs to normal lane change or the front vehicle of the vehicle lane;

the driving speed judging module is used for judging the driving speed of the vehicle and the front vehicle if the longitudinal distance is smaller than a preset safety distance;

and the early warning state starting module is used for starting the early warning state if the driving speed of the vehicle is greater than the driving speed of the front vehicle.

9. A millimeter wave radar monitoring device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-7.

10. A storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1-7.

Technical Field

The invention relates to the technical field of millimeter wave radar monitoring, in particular to a millimeter wave radar monitoring method, a millimeter wave radar monitoring device, millimeter wave radar monitoring equipment and a millimeter wave radar monitoring storage medium.

Background

Millimeter wave (millimeter wave) is used in the millimeter wave radar, and generally, millimeter waves refer to the frequency domain of 30 to 300GHz (the wavelength is 1 to 10 mm). The wavelength of the millimeter wave is between the centimeter wave and the light wave, so the millimeter wave has the advantages of microwave guidance and photoelectric guidance. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers.

The application of millimeter wave radar in vehicle monitoring is more and more extensive. An accidental car collision incident typically includes 1) a sudden lane change of a target vehicle in an adjacent lane. The target vehicles of the adjacent lanes are merged into the lane of the vehicle, if the safe distance is not enough and the vehicle does not decelerate and continues to move forward, a forward rear-end collision accident can occur; 2) the speed of the vehicle in the same lane is greater than that of the target vehicle. When the vehicle accelerates within the range of the safe vehicle distance or runs at a constant speed higher than the speed of the target vehicle, the forward rear-end collision accident can be caused. However, in the prior art, when the millimeter wave radar is applied to the ranging of the automobile collision avoidance system, the speed measurement precision is low, and the pertinence of the early warning algorithm is not strong. Therefore, the invention of an accurate and effective millimeter wave radar monitoring method has become a problem to be solved by technical personnel in the field.

Disclosure of Invention

In order to overcome the defects, embodiments of the present invention provide a millimeter wave radar monitoring method, device, equipment, and storage medium, so as to solve the problems in the prior art.

In a first aspect, an embodiment of the present invention provides a millimeter wave radar monitoring method, where the method includes:

acquiring an azimuth angle measured by the millimeter wave radar;

judging the position state of the adjacent vehicle according to the azimuth angle;

if the position state of the adjacent vehicle belongs to normal lane change or a vehicle in front of the current lane, judging the longitudinal distance between the current vehicle and the vehicle in front;

if the longitudinal distance is smaller than a preset safety distance, judging the driving speed of the vehicle and the front vehicle;

and if the driving speed of the vehicle is greater than that of the front vehicle, starting an early warning state.

Preferably, the determining the position state of the adjacent vehicle according to the azimuth comprises:

if the azimuth angle measured by the millimeter wave radar is larger than a preset first safe lane changing azimuth angle, the position state of the adjacent vehicle belongs to normal lane changing or a vehicle in front of the vehicle lane;

and if the azimuth angle measured by the millimeter wave radar is smaller than a preset first safe lane changing azimuth angle, the adjacent vehicle position state belongs to adjacent vehicle lane changing.

Preferably, if the azimuth angle measured by the millimeter wave radar is greater than a preset first safe lane changing azimuth angle, the neighboring vehicle position state belonging to a normal lane changing or a vehicle ahead of the own lane includes:

if the azimuth angle is close to 90 degrees, the position state of the adjacent vehicle belongs to the front vehicle of the lane;

and if the azimuth angle is not close to 90 degrees, the position state of the adjacent vehicle belongs to normal lane change.

Preferably, if the azimuth angle measured by the millimeter wave radar is smaller than a preset first safe lane changing azimuth angle, the adjacent vehicle position state belonging to the adjacent vehicle lane changing includes:

if the azimuth angle measured by the millimeter wave radar is larger than a preset second safe lane changing azimuth angle and smaller than the first safe lane changing azimuth angle, judging the longitudinal distance between the vehicle and the front vehicle;

and if the azimuth angle measured by the millimeter wave radar is smaller than the second safe lane change azimuth angle, directly starting an early warning state.

Preferably, the azimuth angle measured by the millimeter wave radar is represented by the formula:

where Δ Φ is a phase difference between the two receiving antennas, d is a distance between the two receiving antennas, θ is an azimuth angle of the target vehicle, and λ is a wavelength of the millimeter wave radar wave.

Preferably, the first safe lane-changing azimuth formula is as follows:

wherein S is_maxJudging whether the preset safety distance is the maximum safety distance of adjacent vehicle lane change or not; b is the transverse safe distance of the two parallel vehicles; b/2 is the minimum transverse safety distance of the two parallel vehicles.

Preferably, the second safe lane-changing azimuth formula is:

wherein D is_maxThe minimum safe distance between the adjacent vehicle which is normally lane-changed and the vehicle before lane change is implemented.

In a second aspect, an embodiment of the present invention provides a millimeter wave radar monitoring apparatus, where the apparatus includes:

the azimuth angle acquisition module is used for acquiring an azimuth angle measured by the millimeter wave radar;

the adjacent vehicle position judging module is used for judging the position state of the adjacent vehicle according to the azimuth angle;

the longitudinal vehicle distance judging module is used for judging the longitudinal vehicle distance between the vehicle and the front vehicle if the position state of the adjacent vehicle belongs to normal lane change or the front vehicle of the vehicle lane;

the driving speed judging module is used for judging the driving speed of the vehicle and the front vehicle if the longitudinal distance is smaller than a preset safety distance;

and the early warning state starting module is used for starting the early warning state if the driving speed of the vehicle is greater than the driving speed of the front vehicle.

In a third aspect, an embodiment of the present invention provides a millimeter wave radar monitoring device, including: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of the first aspect of the embodiments described above.

In a fourth aspect, embodiments of the present invention provide a storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of the first aspect in the above embodiments.

In summary, the millimeter wave radar monitoring method, apparatus, device and storage medium provided in the embodiments of the present invention are provided. The azimuth angle measured by the millimeter wave radar is obtained; judging the position state of the adjacent vehicle according to the azimuth angle; if the position state of the adjacent vehicle belongs to normal lane change or a vehicle in front of the current lane, judging the longitudinal distance between the current vehicle and the vehicle in front; if the longitudinal distance is smaller than a preset safety distance, judging the driving speed of the vehicle and the front vehicle; if the driving speed of the vehicle is higher than that of the front vehicle, starting an early warning state; therefore, the millimeter wave radar monitoring method can realize accurate automobile anti-collision early warning and effectively reduce the probability of traffic accidents.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a millimeter wave radar monitoring method according to an embodiment of the present invention.

Fig. 2 is a flowchart of a millimeter wave radar monitoring method according to another embodiment of the present invention.

Fig. 3 is a schematic diagram illustrating the principle of lane change driving of an adjacent lane in the millimeter wave radar monitoring method according to the embodiment of the present invention.

Fig. 4 is a schematic diagram illustrating the principle of lane driving of the vehicle by the millimeter wave radar monitoring method according to the embodiment of the present invention.

Fig. 5 is a logic diagram of a millimeter wave radar monitoring method of an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a millimeter wave radar monitoring device according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a millimeter wave radar monitoring device according to an embodiment of the present invention.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in 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 invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Referring to fig. 1, an embodiment of the present invention provides a millimeter wave radar monitoring method, where an azimuth angle measured by a millimeter wave radar is obtained; judging the position state of the adjacent vehicle according to the azimuth angle; if the position state of the adjacent vehicle belongs to normal lane change or a vehicle in front of the current lane, judging the longitudinal distance between the current vehicle and the vehicle in front; if the longitudinal distance is smaller than a preset safety distance, judging the driving speed of the vehicle and the front vehicle; if the driving speed of the vehicle is higher than that of the front vehicle, starting an early warning state; therefore, the millimeter wave radar monitoring method can realize accurate automobile anti-collision early warning and effectively reduce the probability of traffic accidents.

The method comprises the following steps:

s1, acquiring the azimuth angle measured by the millimeter wave radar;

s2, judging the position state of the adjacent vehicle according to the azimuth angle;

s3, if the position state of the adjacent vehicle belongs to normal lane change or a vehicle in front of the lane, judging the longitudinal distance between the vehicle and the vehicle in front;

s4, if the longitudinal distance is smaller than a preset safe distance, judging the driving speed of the vehicle and the front vehicle;

and S5, if the driving speed of the vehicle is greater than that of the front vehicle, starting an early warning state.

Preferably, referring to fig. 2, the determining the position status of the neighboring vehicle according to the azimuth angle includes:

s21, if the azimuth angle measured by the millimeter wave radar is larger than a preset first safe lane changing azimuth angle, the position state of the adjacent vehicle belongs to normal lane changing or a vehicle in front of the vehicle;

and S22, if the azimuth angle measured by the millimeter wave radar is smaller than a preset first safe lane changing azimuth angle, the adjacent vehicle position state belongs to adjacent vehicle lane changing.

Specifically, referring to fig. 3, in the present embodiment, when the adjacent lanes change, the vehicle a and the vehicle B travel in the same direction in the adjacent lanes, assuming that the vehicle is the vehicle a and the target vehicle is the vehicle B, the lane change of the vehicle B to the lane where the vehicle a is located during the traveling process or the vehicle B continues to travel on the original lane can be determined by the azimuth angle θ detected by the radar of the vehicle a.

Preferably, the azimuth angle measured by the millimeter wave radar is represented by the formula:

where Δ Φ is a phase difference between the two receiving antennas, d is a distance between the two receiving antennas, θ is an azimuth angle of the target vehicle, and λ is a wavelength of the millimeter wave radar wave.

Preferably, if the azimuth angle measured by the millimeter wave radar is greater than a preset first safe lane changing azimuth angle, the neighboring vehicle position state belonging to a normal lane changing or a vehicle ahead of the own lane includes:

if the azimuth angle is close to 90 degrees, the position state of the adjacent vehicle belongs to the front vehicle of the lane;

and if the azimuth angle is not close to 90 degrees, the position state of the adjacent vehicle belongs to normal lane change.

Preferably, referring to the figure, if the azimuth angle measured by the millimeter wave radar is smaller than a preset first safe lane change azimuth angle, the neighboring vehicle location state belonging to the neighboring vehicle lane change includes:

if the azimuth angle measured by the millimeter wave radar is larger than a preset second safe lane changing azimuth angle and smaller than the first safe lane changing azimuth angle, judging the longitudinal distance between the vehicle and the front vehicle;

and if the azimuth angle measured by the millimeter wave radar is smaller than the second safe lane change azimuth angle, directly starting an early warning state.

Preferably, the first safe lane-changing azimuth formula is as follows:

wherein S is_maxJudging whether the preset safety distance is the maximum safety distance of adjacent vehicle lane change or not; b is the transverse safe distance of the two parallel vehicles; b/2 is the minimum transverse safety distance of the two parallel vehicles.

Preferably, the second safe lane-changing azimuth formula is:

wherein D is_maxThe minimum safe distance between the adjacent vehicle which is normally lane-changed and the vehicle before lane change is implemented.

Specifically, referring to fig. 3 and 5, if the x-axis of the coordinate system of the radar installed on the vehicle a is perpendicular to the lane direction and the y-axis is parallel, the extreme azimuth angle when the vehicle B changes lanes at the maximum distance, i.e. the first safe lane change azimuth angle, is:when the B vehicle changes lanes within the range of the distance Smax, the transverse distance is reduced, and when the transverse distance is smaller than the minimum transverse safe distance B/2, namely the B vehicle is considered to be changing lanes, the minimum side of the B vehicle is determinedThe azimuth angle, namely the second safe lane-changing azimuth angle, is as follows:for the vehicles running in front of the lane and the vehicles in the adjacent lane with the distance larger than Smax, the azimuth angles are both larger than theta max, but the azimuth angle of the vehicles in front of the lane is equal to or slightly smaller than 90 degrees and is obviously larger than the azimuth angle of the vehicles in the adjacent lane, and if the adjacent vehicles are at the azimuth angle of 0, theta max]Internally implemented lane changes are obviously extremely dangerous behaviors.

In a preferred embodiment, please refer to fig. 4, the speed of the vehicle in the same lane is greater than that of the target vehicle. The vehicle A and the vehicle B run on the same lane, the vehicle A is assumed to be the vehicle A, the vehicle B is assumed to be the vehicle ahead, and the distance D (safety distance) between the vehicle A and the vehicle B before braking is assumed to be the vehicle B. And B vehicle runs at a constant speed, A vehicle approaches B vehicle at a speed higher than that of B vehicle, the speed of the vehicle in the same lane is higher than that of the target vehicle, A vehicle finds danger, and braking measures are taken. In this embodiment, the safe distance D is D ≧ Sa-Sb + Sd.

Referring to fig. 6, an illustrative embodiment provides a millimeter wave radar monitoring device, including:

an azimuth acquisition module 1, configured to acquire an azimuth measured by the millimeter wave radar;

the adjacent vehicle position judging module 2 is used for judging the position state of the adjacent vehicle according to the azimuth angle;

the longitudinal vehicle distance judging module 3 is used for judging the longitudinal vehicle distance between the vehicle and the front vehicle if the position state of the adjacent vehicle belongs to the normal lane change or the front vehicle of the vehicle lane;

a driving speed judging module 4, configured to judge a driving speed of the host vehicle and the preceding vehicle if the longitudinal vehicle distance is smaller than a preset safety distance;

and the early warning state starting module 5 is used for starting an early warning state if the driving speed of the vehicle is greater than the driving speed of the front vehicle.

In addition, the millimeter wave radar monitoring method described in connection with fig. 1 according to the embodiment of the present invention may be implemented by a millimeter wave radar monitoring device. Fig. 7 is a schematic diagram illustrating a hardware structure of a millimeter wave radar monitoring device according to an embodiment of the present invention.

The millimeter-wave radar monitoring device may include a processor 401 and a memory 402 having stored computer program instructions.

Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.

Memory 402 may include mass storage for data or instructions. By way of example, and not limitation, memory 402 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 402 may include removable or non-removable (or fixed) media, where appropriate. The memory 402 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 402 is a non-volatile solid-state memory. In a particular embodiment, the memory 402 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.

The processor 401 may read and execute the computer program instructions stored in the memory 402 to implement any one of the millimeter wave radar monitoring methods in the above embodiments.

In one example, millimeter-wave radar monitoring device may also include communication interface 403 and bus 410. As shown in fig. 7, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.

The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.

Bus 410 includes hardware, software, or both to couple the components of the millimeter wave radar monitoring device to one another. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 410 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.

In addition, in combination with the millimeter wave radar monitoring method in the foregoing embodiment, the embodiment of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the millimeter wave radar monitoring methods of the above embodiments.

In summary, the millimeter wave radar monitoring method, apparatus, device and storage medium provided in the embodiments of the present invention are provided. The azimuth angle measured by the millimeter wave radar is obtained; judging the position state of the adjacent vehicle according to the azimuth angle; if the position state of the adjacent vehicle belongs to normal lane change or a vehicle in front of the current lane, judging the longitudinal distance between the current vehicle and the vehicle in front; if the longitudinal distance is smaller than a preset safety distance, judging the driving speed of the vehicle and the front vehicle; if the driving speed of the vehicle is higher than that of the front vehicle, starting an early warning state; therefore, the millimeter wave radar monitoring method can realize accurate automobile anti-collision early warning and effectively reduce the probability of traffic accidents.

It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.

As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.