阅读说明：本技术 一种无人车的控制方法、存储介质及电子设备 (Unmanned vehicle control method, storage medium and electronic device ) 是由 石平 窦凤谦 于 2020-10-30 设计创作，主要内容包括：本发明公开一种无人车的控制方法、存储介质及电子设备。该控制方法包括：在无人车行驶过程中实时探测在无人车的前方是否具有实体障碍物使得无人车的行进路线被阻塞；当无人车被实体障碍物阻塞时,尝试通过先倒车再绕过实体障碍物来脱困。通过尝试尝试通过先倒车再绕过实体障碍物来脱困的方法,使无人车被障碍物阻塞时能够自行脱困,提高了无人车对复杂环境的处理能力,减少无人车在城市道路行驶时的接管次数。(The invention discloses a control method of an unmanned vehicle, a storage medium and an electronic device. The control method comprises the following steps: detecting whether a physical barrier exists in front of the unmanned vehicle in real time in the driving process of the unmanned vehicle so that the driving route of the unmanned vehicle is blocked; when an unmanned vehicle is blocked by a physical obstacle, attempts are made to escape by backing up and then bypassing the physical obstacle. The method for getting rid of the trouble by trying to back the vehicle and then bypassing the solid barrier enables the unmanned vehicle to get rid of the trouble automatically when the unmanned vehicle is blocked by the barrier, improves the processing capacity of the unmanned vehicle on a complex environment, and reduces the number of times of taking over the unmanned vehicle when the unmanned vehicle runs on an urban road.)

1. A control method of an unmanned vehicle, comprising:

detecting whether a physical barrier exists in front of the unmanned vehicle in real time in the driving process of the unmanned vehicle so that the driving route of the unmanned vehicle is blocked;

when an unmanned vehicle is blocked by a physical obstacle, attempts are made to escape by backing up and then bypassing the physical obstacle.

2. The control method according to claim 1, wherein detecting whether there is a physical obstacle in front of the unmanned vehicle such that a travel route of the unmanned vehicle is blocked in real time during travel of the unmanned vehicle includes:

acquiring environment perception information, map information and vehicle state information;

and judging whether a physical barrier exists in front of the unmanned vehicle or not so that the traveling route of the unmanned vehicle is blocked according to the acquired environment perception information, map information and vehicle state information.

3. The control method of claim 2, wherein determining whether there is a physical obstacle in front of the unmanned vehicle such that the unmanned vehicle's path of travel is blocked comprises:

judging whether an obstacle blocks a traveling route of the unmanned vehicle in a first detection range in front of the unmanned vehicle or not according to the acquired environment perception information, map information and vehicle state information, and if so, judging the type of the obstacle;

when the obstacle is a virtual obstacle, the obstacle is not considered to block the traveling route of the unmanned vehicle,

when the obstacle is a static entity obstacle, the static entity obstacle is continuously detected within a first preset time, and if the static entity obstacle is continuously detected within the first preset time, the fact that the static entity obstacle blocks the traveling route of the unmanned vehicle is determined.

4. The control method of claim 3, wherein determining whether there is a physical obstacle in front of the unmanned vehicle such that the unmanned vehicle's travel route is blocked, further comprises:

and when the barrier is a dynamic barrier, further judging whether the dynamic solid barrier is a motor vehicle running opposite to the unmanned vehicle, and if so, determining that the dynamic solid barrier blocks the traveling route of the unmanned vehicle.

5. The control method of claim 1, wherein attempting to escape by backing up and then bypassing a physical barrier when the unmanned vehicle is blocked by the physical barrier comprises:

when the unmanned vehicle is blocked by an entity obstacle, selecting a target point on a road surface behind the unmanned vehicle from a normal driving scene, and planning a backing route from the current position to the target point of the unmanned vehicle, wherein the target point is covered by a detection range of the unmanned vehicle;

controlling the unmanned vehicle to travel to a target point along the reversing route, and detecting whether a solid barrier exists in a second detection range in front of the unmanned vehicle and a third detection range behind the unmanned vehicle in real time in the process;

when the unmanned vehicle runs along the reversing route, if the unmanned vehicle is detected to have no static solid barrier in the second detection range, the unmanned vehicle stops reversing and is controlled to move forward according to the original route;

and when the unmanned vehicle detects that the third detection range has the entity barrier in the process of running along the reversing route, controlling the unmanned vehicle to wait in situ.

6. The control method of claim 5, wherein attempting to escape by backing up and then bypassing a physical barrier when the unmanned vehicle is blocked by the physical barrier, further comprises:

when the unmanned vehicle reaches a target point, judging whether a static entity barrier and a dynamic entity barrier moving in opposite directions still exist in a second detection range in front of the unmanned vehicle, and if so, measuring the distance between the entity barrier which obstructs the unmanned vehicle from advancing and a road boundary;

and when the distance is larger than the width of the unmanned vehicle, trying to pass through the road surface between the physical barrier and the road boundary to bypass the physical barrier, if the physical barrier is successfully bypassed, advancing according to the original route, and otherwise, continuing trying.

7. The control method of claim 6, wherein attempting to escape by backing up and then bypassing a physical barrier when the unmanned vehicle is blocked by the physical barrier, further comprises:

and after the number of times of the attempts reaches the preset number of times, waiting for a second preset time, judging whether the entity barrier still exists in a second detection range in the waiting process, and if not, controlling the unmanned vehicle to continue to advance according to the original route.

8. The control method of claim 1, wherein if the physical obstacle is not present in the second detection range, controlling the unmanned vehicle to continue to follow the original route.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the control method according to any one of claims 1 to 8.

10. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the control method of any of claims 1-8 via execution of the executable instructions.

Technical Field

The present invention relates to an automatic driving technology, and more particularly, to a storage medium and an electronic device for controlling an unmanned vehicle.

Background

With the advancement of science and technology, unmanned distribution becomes a popular research field, and it is an extremely important research point that unmanned distribution vehicles can cope with various complex scenes in the real world. At present, the unmanned distribution technology mainly comprises modules of environment perception, decision planning, motion control and the like, and the unmanned distribution function is achieved through the combined application of the three technologies. In order to improve the processing capacity of the unmanned delivery vehicle on complex scenes, a processing method for meeting obstacles on narrow roads needs to be designed.

In the prior art, a method for processing a vehicle in a narrow road is very limited, when an entity barrier blocks the vehicle from passing through the narrow road in front, a decision planning module of the vehicle sends a command to stop the vehicle from advancing, and after the vehicle is blocked, if the entity barrier in front does not actively avoid a distribution vehicle, an automatic driving mode can be switched to a manual remote control mode to get out of trouble, or the distribution vehicle waits in place. The vehicle can be seen everywhere in the real world when meeting the scene that the vehicle can not pass through independently, which can greatly reduce the trafficability and the running efficiency of the distribution vehicle, and the prior art can not meet the application requirement of the distribution vehicle in the real scene.

The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

It is a primary object of the present invention to overcome at least one of the above-mentioned drawbacks of the prior art, and to provide a control method for an unmanned vehicle, comprising:

detecting whether a physical barrier exists in front of the unmanned vehicle in real time in the driving process of the unmanned vehicle so that the driving route of the unmanned vehicle is blocked;

when an unmanned vehicle is blocked by a physical obstacle, attempts are made to escape by backing up and then bypassing the physical obstacle.

In one embodiment of the present invention, detecting whether there is a physical obstacle in front of an unmanned vehicle in real time during the unmanned vehicle traveling such that a traveling route of the unmanned vehicle is blocked includes:

acquiring environment perception information, map information and vehicle state information;

and judging whether a physical barrier exists in front of the unmanned vehicle or not so that the traveling route of the unmanned vehicle is blocked according to the acquired environment perception information, map information and vehicle state information.

In one embodiment of the present invention, determining whether there is a physical obstacle in front of the unmanned vehicle such that a travel route of the unmanned vehicle is blocked comprises:

judging whether an obstacle blocks a traveling route of the unmanned vehicle in a first detection range in front of the unmanned vehicle or not according to the acquired environment perception information, map information and vehicle state information, and if so, judging the type of the obstacle;

when the obstacle is a virtual obstacle, the obstacle is not considered to block the traveling route of the unmanned vehicle,

when the obstacle is a static entity obstacle, the static entity obstacle is continuously detected within a first preset time, and if the static entity obstacle is continuously detected within the first preset time, the fact that the static entity obstacle blocks the traveling route of the unmanned vehicle is determined.

In one embodiment of the present invention, determining whether there is a physical obstacle in front of the unmanned vehicle such that a travel route of the unmanned vehicle is blocked further comprises:

and when the barrier is a dynamic barrier, further judging whether the dynamic solid barrier is a motor vehicle running opposite to the unmanned vehicle, and if so, determining that the dynamic solid barrier blocks the traveling route of the unmanned vehicle.

In one embodiment of the present invention, when an unmanned vehicle is obstructed by a physical obstacle, attempting to escape by backing up and then bypassing the physical obstacle comprises:

when the unmanned vehicle is blocked by an entity obstacle, selecting a target point on a road surface behind the unmanned vehicle from a normal driving scene, and planning a backing route from the current position to the target point of the unmanned vehicle, wherein the target point is covered by a detection range of the unmanned vehicle;

controlling the unmanned vehicle to travel to a target point along the reversing route, and detecting whether a solid barrier exists in a second detection range in front of the unmanned vehicle and a third detection range behind the unmanned vehicle in real time in the process;

when the unmanned vehicle runs along the reversing route, if the unmanned vehicle is detected to have no static solid barrier in the second detection range, the unmanned vehicle stops reversing and is controlled to move forward according to the original route;

and when the unmanned vehicle detects that the third detection range has the entity barrier in the process of running along the reversing route, controlling the unmanned vehicle to wait in situ.

In one embodiment of the present invention, when the unmanned vehicle is blocked by a physical obstacle, attempting to escape by backing up and then bypassing the physical obstacle further comprises:

when the unmanned vehicle reaches a target point, judging whether a static entity barrier and a dynamic entity barrier moving in opposite directions still exist in a second detection range in front of the unmanned vehicle, and if so, measuring the distance between the entity barrier which obstructs the unmanned vehicle from advancing and a road boundary;

and when the distance is larger than the width of the unmanned vehicle, trying to pass through the road surface between the physical barrier and the road boundary to bypass the physical barrier, if the physical barrier is successfully bypassed, advancing according to the original route, and otherwise, continuing trying.

In one embodiment of the present invention, when the unmanned vehicle is blocked by a physical obstacle, attempting to escape by backing up and then bypassing the physical obstacle further comprises:

and after the number of times of the attempts reaches the preset number of times, waiting for a second preset time, judging whether the entity barrier still exists in a second detection range in the waiting process, and if not, controlling the unmanned vehicle to continue to advance according to the original route.

In one embodiment of the present invention, if the physical obstacle is not present in the second detection range, the unmanned vehicle is controlled to continue to follow the original route.

The invention also proposes a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements a control method as described above.

The invention also proposes an electronic device comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the control method as described above via execution of the executable instructions.

According to the technical scheme, the unmanned vehicle control method has the advantages and positive effects that:

according to the invention, the method of overcoming the difficulty by trying to drive back first and then bypassing the solid barrier is adopted, so that the unmanned vehicle can be overcome automatically when being blocked by the barrier, the processing capacity of the unmanned vehicle on a complex environment is improved, and the number of times of taking over the unmanned vehicle when running on an urban road is reduced.

Drawings

Various objects, features and advantages of the present invention will become more apparent from the following detailed description of preferred embodiments of the invention, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary of the invention and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a flow chart illustrating a method of controlling an unmanned vehicle according to an exemplary embodiment;

FIG. 2 is a flow chart illustrating a method of controlling an unmanned vehicle according to another exemplary embodiment;

FIG. 3 is a flow chart illustrating a method of controlling an unmanned vehicle according to another exemplary embodiment;

FIG. 4 is a flow chart illustrating a method of controlling an unmanned vehicle according to another exemplary embodiment;

FIG. 5 is a schematic diagram of an electronic device shown in accordance with an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating a computer-readable storage medium according to an example embodiment.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.

Fig. 1 is a flowchart of a control method of an unmanned vehicle in this embodiment. The control method is used for controlling the unmanned vehicle to realize automatic getting-out when encountering a blockage. The control method comprises the following steps:

step S1: detecting whether a physical barrier exists in front of the unmanned vehicle in real time in the driving process of the unmanned vehicle so that the driving route of the unmanned vehicle is blocked; step S1 includes step S11 and step S12.

As shown in fig. 2, step S11: acquiring environment perception information, map information and vehicle state information;

in this embodiment, the unmanned vehicle may be an express delivery vehicle based on autopilot technology.

The environment perception information can be environment data around the unmanned vehicle, which is collected by a sensor and a camera which are installed on the unmanned vehicle. The environmental awareness information may include visual awareness information and radar awareness information. The visual perception information can be image information collected by a plurality of cameras installed on the unmanned vehicle. The radar sensing information may be reflected signals collected by one or more radars mounted on the unmanned vehicle. The radar may be a lidar.

The map information includes positioning information and an electronic map. The positioning information may be latitude and longitude information collected by the positioning device. The position of the unmanned vehicle can be obtained according to the positioning information. The positioning device can be a Beidou positioning device, a GPS positioning device and the like. The electronic map is stored in advance in a memory of the unmanned vehicle. And obtaining road information of the road where the unmanned vehicle is located according to the positioning information and the electronic map, wherein the road information comprises road width and road classification.

The vehicle state information includes a traveling speed and a traveling direction of the unmanned vehicle. The running speed of the unmanned vehicle can be measured by a speed measuring sensor on the unmanned vehicle.

As shown in fig. 2, step S12: judging whether an entity barrier exists in front of the unmanned vehicle or not according to the acquired environment perception information, map information and vehicle state information so that the traveling route of the unmanned vehicle is blocked;

the solid barrier is a real object which protrudes out of the ground surface by a certain height and can block the unmanned vehicle from advancing. Physical obstacles include, for example, vehicles, boulders, pedestrians, and the like. The physical barriers include static physical barriers and dynamic physical barriers. The dynamic solid obstacle is a solid obstacle with the speed larger than zero. The static physical barrier is a physical barrier with zero velocity. The virtual barrier is opposite to the solid barrier and is a mark, the mark can be drawn on a road surface or a signal lamp, and the virtual barrier comprises a deceleration strip, a pedestrian crossing, a traffic light and the like.

The fact that the unmanned vehicle is blocked means that the unmanned vehicle is prevented from moving in a first detection range in front of a current road where the unmanned vehicle is located, and the unmanned vehicle has a static solid obstacle or a dynamic solid obstacle moving opposite to the unmanned vehicle. The first detection range may be, for example, within 10 meters of the front of the unmanned vehicle.

After the machine vision system on the unmanned vehicle processes the visual perception information, the positions of the physical barriers and the virtual barriers in the surrounding environment of the unmanned vehicle and the shapes and the sizes of the outlines can be obtained. The radar system on the unmanned vehicle can determine the speed of the physical barrier and the accurate distance between the distance of the physical barrier and the unmanned vehicle by analyzing radar perception information.

Therefore, the size of the obstacle, the shape of the obstacle, the color of the obstacle, the distance of the obstacle from the unmanned vehicle, and the speed of the obstacle from the unmanned vehicle can be obtained from the environment perception information. The type of the obstacle can be further obtained according to the size of the obstacle, the shape of the obstacle and the color of the obstacle.

Based on the steps shown in fig. 2, as shown in fig. 3, the step of determining whether there is a physical obstacle in front of the unmanned vehicle such that the unmanned vehicle is blocked includes: step S121 to step S126.

Step S121: and judging whether an obstacle blocks the traveling route of the unmanned vehicle in a first detection range in front of the unmanned vehicle or not according to the acquired environment perception information, map information and vehicle state information, if so, entering step S122, otherwise, entering step S11 again.

Step S122: according to the acquired environment perception information and the acquired vehicle state information, further judging whether the obstacle is a virtual obstacle, a static obstacle or a dynamic entity obstacle, and entering step S123 when the obstacle is the virtual obstacle, and entering step S124 when the obstacle is the static entity obstacle; if the obstacle is a dynamic obstacle, the process proceeds to step S125.

Step S123: the obstacle is not considered to block the path of travel of the unmanned vehicle.

Step S124: the static physical obstacle is continuously detected within a first preset time, if the static physical obstacle is continuously detected within the first preset time, the traveling route of the unmanned vehicle is determined to be blocked by the static physical obstacle, and the process goes to step S2.

In this embodiment, the environmental awareness information is periodically acquired, and if the speed of the entity obstacle continuously detected in a plurality of periods within the first preset time is zero, it is determined that the unmanned vehicle is blocked by the static entity obstacle. The first preset time may be 0.5 seconds.

Step S125: and further judging whether the dynamic physical barrier is a motor vehicle or not according to the environment perception information, and if so, entering the step S126, otherwise, entering the step S11.

The shape, size and color of the dynamic physical barrier can be obtained by analyzing the environment perception information, so that whether the dynamic physical barrier is a motor vehicle or not is judged.

Step S126: and further judging whether the motor vehicle and the unmanned vehicle move in opposite directions or not according to the vehicle state information and the environment perception information, if so, determining that the motor vehicle and the unmanned vehicle move in opposite directions, and entering a step S2 if so, otherwise, entering a step S11 if not.

In this embodiment, when the unmanned vehicle recognizes that another vehicle traveling in the opposite direction blocks the forward route, it is determined that the unmanned vehicle has a dynamic physical obstacle to block the traveling route of the unmanned vehicle. And when the unmanned vehicle recognizes that the unmanned vehicle is blocked by a vehicle which runs in the same direction in front, the unmanned vehicle does not determine that the unmanned vehicle is blocked by a dynamic solid barrier.

Step S2: when an unmanned vehicle is blocked by a physical obstacle, attempts are made to escape by backing up and then bypassing the physical obstacle.

Based on the steps shown in fig. 2, as shown in fig. 4, step S2 includes steps S21 to S27.

Step S21: when the unmanned vehicle is blocked by the solid barrier, a target point is selected on the road surface behind the unmanned vehicle when the unmanned vehicle is in a normal driving scene, and a backing route from the current position to the target point of the unmanned vehicle is planned, wherein the target point is covered by the detection range of the unmanned vehicle.

When the unmanned vehicle is blocked by the physical obstacle from the normal driving scene, the normal driving scene is switched to the blocking scene.

The target point is set on the road surface behind the unmanned vehicle. The target point is preferably set on the road surface laterally behind the unmanned vehicle. The detection distance of the unmanned vehicle in the backward direction is larger than the distance from the unmanned vehicle to the target point, so that the detection range of the unmanned vehicle covers the target point.

The reversing route is preferably a curve, and two ends of the reversing route are connected with the target point and the current position of the unmanned vehicle. The unmanned vehicle can back up to the target point along the reverse route.

Step S22: and controlling the unmanned vehicle to travel to the target point along the reversing route, and detecting whether a solid barrier exists in a second detection range in front of the unmanned vehicle and a third detection range behind the unmanned vehicle in real time in the process.

Step S221: when the unmanned vehicle is in the process of running along the reversing route, if the unmanned vehicle is detected to have no static solid barrier in the second detection range, the unmanned vehicle stops reversing and is controlled to move forward according to the original route.

Step S222: and when the unmanned vehicle detects that the third detection range has the entity barrier in the process of running along the reversing route, controlling the unmanned vehicle to wait in situ.

Step S223: when the unmanned vehicle reaches the target point, whether a static entity obstacle and a dynamic entity obstacle moving in opposite directions still exist in a second detection range in front of the unmanned vehicle is judged, if not, the step S23 is executed, otherwise, the step S22 is executed again.

In this step, the second detection range may be smaller than or equal to the first detection range. The size of the second detection range may be, for example, within 3 meters in front of the unmanned vehicle.

Step S23: the distance between a physical barrier obstructing the progress of the unmanned vehicle and the road boundary before measurement.

Step S24: and judging whether the distance is larger than the width of the unmanned vehicle, if so, entering the step S25, and otherwise, entering the step S27.

Step S25: and (4) attempting to pass through the road surface between the solid obstacle and the road boundary to bypass the solid obstacle, if the solid obstacle is successfully bypassed, proceeding to the original route, otherwise, re-entering the step S25 until the number of times of entering the step S25 reaches the preset number, and then entering the step S26.

Step S26: waiting for a second preset time, judging whether the entity barrier still exists in a second detection range in the waiting process, if the entity barrier exists in the second detection range in the second preset time period, entering step S27, and if the entity barrier does not exist in the second detection range, entering step S28, and controlling the unmanned vehicle to continue to advance according to the original route.

Step S27: and controlling the unmanned vehicle to continue running after the solid barrier disappears in a first preset range in situ or controlling the unmanned vehicle to turn around and return back according to the original path.

And step S28, controlling the unmanned vehicle to continue to move forward according to the original route.

In the embodiment, the situation that the unmanned vehicle meets the obstacle when running is processed in a targeted manner, and the unmanned vehicle can get rid of the obstacle when being blocked by the obstacle by comprehensively judging and deciding the factors such as the time of meeting the obstacle, the type of the obstacle in front, the distance between the obstacle in front and the road boundary, the current road width and the like, so that the processing capacity of the unmanned vehicle on the complex environment is improved, and the number of times of taking over the unmanned vehicle when running on the urban road is reduced.

An electronic device 500 according to this embodiment of the invention is described below with reference to fig. 5. The electronic device 500 shown in fig. 5 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 5, the electronic device 500 is embodied in the form of a general purpose computing device. The components of the electronic device 500 may include, but are not limited to: the at least one processing unit 510, the at least one memory unit 520, and a bus 530 that couples various system components including the memory unit 520 and the processing unit 510.

Wherein the storage unit stores program code that is executable by the processing unit 510 to cause the processing unit 510 to perform steps according to various exemplary embodiments of the present invention as described in the above section "exemplary methods" of the present specification.

The memory unit 520 may include a readable medium in the form of a volatile memory unit, such as a random access memory unit (RAM)5201 and/or a cache memory unit 5202, and may further include a read only memory unit (ROM) 5203.

Storage unit 520 may also include a program/utility 5204 having a set (at least one) of program modules 5205, such program modules 5205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 530 may be one or more of any of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 500 may also communicate with one or more external devices 540 (e.g., keyboard, pointing device, Bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 500, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 550. Also, the electronic device 500 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 560. As shown, the network adapter 560 communicates with the other modules of the electronic device 500 over the bus 530. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) execute the control method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described control method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above section "exemplary methods" of the present description, when said program product is run on the terminal device.

Referring to fig. 6, a program product 600 for implementing the above-described control method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + +, Python, and the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Further, while the various steps of the control method of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the control method according to the embodiments of the present disclosure.

Although the present invention has been disclosed with reference to certain embodiments, numerous variations and modifications may be made to the described embodiments without departing from the scope and ambit of the present invention. It is to be understood, therefore, that this invention is not limited to the particular embodiments disclosed, but it is intended to cover modifications within the scope of the appended claims and their equivalents.