1. A collision avoidance method for a vehicle, the method comprising the steps of:

monitoring whether the visibility of the external environment is smaller than a preset value in the running process of the vehicle in real time;

if the visibility is smaller than the preset value, acquiring obstacle information of obstacles in the vehicle environment;

projecting the obstacle information onto a front windshield of the vehicle;

judging whether dangerous obstacle information exists in the obstacle information in real time;

and if the dangerous obstacle information exists, marking the dangerous obstacle information on the front windshield in a first marking mode.

2. A collision avoidance method for a vehicle according to claim 1, wherein the step of determining in real time whether there is dangerous obstacle information in the obstacle information comprises:

acquiring the driving direction of the vehicle in real time;

generating a predicted collision result according to the obstacle information and the driving direction;

and if the collision result is predicted that the vehicle collides with the obstacle, identifying the obstacle as a dangerous obstacle, and identifying the obstacle information of the dangerous obstacle as dangerous obstacle information.

3. A collision avoidance method for a vehicle as claimed in claim 1, wherein the step of projecting the obstacle information onto a front windshield of the vehicle is preceded by further comprising:

acquiring position information of a driver of the vehicle;

and setting the position of the display area of the obstacle information according to the position information.

4. A collision avoidance method for a vehicle according to claim 1, wherein, after the step of marking the dangerous obstacle information on the front windshield in a first marking manner if the dangerous obstacle information exists, the method further comprises:

detecting whether the distance between the vehicle and the dangerous obstacle is smaller than a first safety distance in real time;

and if the distance between the vehicle and the dangerous obstacle is less than the first safe distance, giving an alarm.

5. A method for preventing collision of a vehicle as set forth in claim 4, wherein the step of issuing an alarm if the vehicle is less than a first safe distance from the dangerous obstacle further comprises:

detecting whether the distance between the vehicle and the dangerous obstacle is smaller than a second safety distance in real time, wherein the second safety distance is smaller than the first safety distance;

if the distance between the vehicle and the dangerous barrier is smaller than the second safety distance, judging whether the vehicle starts a braking system;

and if the vehicle does not start the braking system, starting the braking system and controlling the wheels of the vehicle to automatically decelerate.

6. A method for preventing collision of a vehicle as claimed in claim 1, wherein the step of obtaining obstacle information of an obstacle in the vehicle environment if the visibility of the vehicle environment is less than a preset value during the driving of the vehicle comprises:

if the visibility of the vehicle environment is smaller than a preset value in the running process of the vehicle, detecting an obstacle within a preset distance of the vehicle, and acquiring the distance between the obstacle and the vehicle, the direction, the height, the moving direction, the moving speed and the type of the obstacle.

7. A method for preventing collision of a vehicle as claimed in claim 6, wherein the step of detecting an obstacle within a preset distance of the vehicle and obtaining the distance from the obstacle to the vehicle, the direction, height, moving direction, moving speed and type of the obstacle, if the visibility of the vehicle environment during the driving of the vehicle is smaller than a preset value, comprises:

if the visibility of the vehicle environment is smaller than a preset value in the running process of the vehicle, controlling a radar of the vehicle to detect an obstacle within a preset distance, and detecting the distance between the obstacle and the vehicle, the direction and the height of the obstacle;

and controlling the sonar of the vehicle to detect the moving direction, the moving speed and the type of the obstacle.

8. The collision avoidance method of a vehicle according to claim 7, wherein the step of projecting the obstacle information onto a front windshield of the vehicle includes:

and projecting the obstacle information onto a front windshield of the vehicle, and marking the distance between the obstacle in the obstacle information and the vehicle in a second marking mode.

9. A vehicle comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the collision avoidance method for a vehicle according to any one of claims 1 to 8.

10. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the collision avoidance method for a vehicle according to any one of claims 1 to 8.

Background

In modern society, automobiles have become a necessity in people's lives. However, with the popularization of household automobiles, the frequency of collision of the automobiles is higher and higher, and particularly under extreme weather such as rainstorm, heavy fog and the like, the visibility is greatly reduced, and traffic accidents are more easily caused. At present, in extreme weather conditions with low visibility, the driver usually deals with the method of turning on a fog light to improve visibility. Even if the fog lamp is turned on, the sight range of a driver is greatly reduced, the road condition and the vehicle in a far place cannot be sensed through visual inspection, and the driving danger of the vehicle is still very high.

Disclosure of Invention

The invention provides an anti-collision method for a vehicle, aiming at solving the problem of poor vehicle running safety under the condition of extreme weather with low visibility.

To achieve the above object, the present invention provides a collision preventing method for a vehicle, the method comprising the steps of:

monitoring whether the visibility of the external environment is smaller than a preset value in the running process of the vehicle in real time;

if the visibility is smaller than the preset value, acquiring obstacle information of obstacles in the vehicle environment;

projecting the obstacle information onto a front windshield of the vehicle;

judging whether dangerous obstacle information exists in the obstacle information in real time;

and if the dangerous obstacle information exists, marking the dangerous obstacle information on the front windshield in a first marking mode.

Optionally, acquiring the driving direction of the vehicle in real time;

generating a predicted collision result according to the obstacle information and the driving direction;

and if the collision result is predicted that the vehicle collides with the obstacle, identifying the obstacle as a dangerous obstacle, and identifying the obstacle information of the dangerous obstacle as dangerous obstacle information.

Optionally, obtaining location information of a driver of the vehicle;

and setting the position of the display area of the obstacle information according to the position information.

Optionally, detecting in real time whether the distance between the vehicle and the dangerous obstacle is less than a first safe distance;

and if the distance between the vehicle and the dangerous obstacle is less than the first safe distance, giving an alarm.

Optionally, detecting whether the distance between the vehicle and the dangerous obstacle is smaller than a second safety distance in real time, wherein the second safety distance is smaller than the first safety distance;

if the distance between the vehicle and the dangerous barrier is smaller than the second safety distance, judging whether the vehicle starts a braking system;

and if the vehicle does not start the braking system, starting the braking system and controlling the wheels of the vehicle to automatically decelerate.

Optionally, if the visibility of the vehicle environment is smaller than a preset value in the running process of the vehicle, detecting an obstacle within a preset distance of the vehicle, and acquiring the distance between the obstacle and the vehicle, the direction, the height, the moving direction, the moving speed and the type of the obstacle.

Optionally, if the visibility of the vehicle environment is smaller than a preset value in the running process of the vehicle, controlling a radar of the vehicle to detect an obstacle within a preset distance, and detecting the distance between the obstacle and the vehicle;

and controlling the sonar of the vehicle to detect the direction, height, moving direction, moving speed and type of the obstacle.

Optionally, the obstacle information is projected onto a head-up display on a front windshield of the vehicle, and a distance between the obstacle in the obstacle information and the vehicle is marked in a second marking manner.

To achieve the above object, the present application also proposes a vehicle comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed by the processor implements a collision avoidance method for the vehicle.

To achieve the above object, the present application also proposes a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the collision avoidance method for the vehicle.

In the technical scheme of the invention, whether the visibility of the external environment is smaller than a preset value in the driving process of the vehicle is monitored in real time; if the visibility is smaller than the preset value, acquiring obstacle information of obstacles in the vehicle environment; projecting the obstacle information onto a front windshield of the vehicle; judging whether dangerous obstacle information exists in the obstacle information in real time; and if the dangerous obstacle information exists, marking red the dangerous obstacle information in the head-up display. By the vehicle anti-collision method provided by the invention, a driver can acquire dangerous obstacle information through the front windshield to avoid roadside obstacles in advance, and the driving safety of the vehicle under the extreme weather condition with low visibility is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic block diagram illustrating a collision avoidance method for a vehicle according to an embodiment of the present invention;

fig. 2 is a flowchart of a collision avoidance method for a vehicle according to an embodiment of the present invention.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a vehicle according to various embodiments of the present invention. The vehicle comprises an execution module 01, a memory 02, a processor 03 and the like. Those skilled in the art will appreciate that the vehicle shown in FIG. 1 may also include more or fewer components than shown, or some components may be combined, or a different arrangement of components. The processor 03 is connected to the memory 02 and the execution module 01, respectively, and the memory 02 stores a computer program, which is executed by the processor 03 at the same time.

The execution module 01 can acquire the driving direction and the driving speed of the vehicle, detect the obstacle environment information in the vehicle environment, feed back the information and send the information to the processor 03, and perform early warning and emergency braking according to the indication of the processor 03.

The memory 02 may be used to store software programs and various data. The memory 02 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data or information created according to the use of the terminal, or the like. Further, the memory 02 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The processor 03, which is a control center of the processing platform, connects various parts of the entire terminal by using various interfaces and lines, and performs various functions of the terminal and processes data by operating or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02, thereby integrally monitoring the vehicle. Processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 03.

Those skilled in the art will appreciate that the vehicle configuration shown in FIG. 1 does not constitute a limitation of the vehicle, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

Various embodiments of the method of the present invention are presented in terms of the above-described hardware architecture.

Referring to fig. 2, in a first embodiment of a collision avoidance method of a vehicle of the present invention, the collision avoidance method of the vehicle includes:

step S100, monitoring whether the visibility of an external environment in the running process of the vehicle is smaller than a preset value in real time;

visibility is the maximum distance a sighted person can identify an object from the background. That is, the sky near the horizon is used as the background in the daytime, the outline of a dark target object on the ground with a visual angle larger than 20 degrees can be clearly seen, the object can be identified, and the luminous point of the target lamp can be clearly seen at night. In the embodiment, in the running process of the vehicle, the visibility of the external environment in the running process of the vehicle can be monitored in real time by the camera and the sensor on the vehicle. In clear weather, visibility is generally high, and in foggy rainy and snowy weather, visibility is rapidly reduced. The higher the visibility is, the wider the visual field of the driver is, the safer the corresponding vehicle is to drive, and in the environment of rain, snow and fog weather with low visibility, the driver can only see clearly the distance of a few meters ahead, and the driving danger of the vehicle is very high. The preset value in this embodiment is a visibility threshold preset by a person skilled in the art according to a preset rule. When the visibility of the external environment of the vehicle is not less than the preset value, the driving safety can be basically ensured only by observing the road condition in front by the naked eyes of a driver, and when the visibility of the external environment of the vehicle is less than the preset value, the driving safety cannot be ensured only by observing the road condition in front by the naked eyes of the driver, so that the driving danger of the vehicle is high.

Step S200, if the visibility is smaller than the preset value, acquiring obstacle information of obstacles in the vehicle environment;

if the visibility is smaller than the preset value, the danger of observing the road condition only by naked eyes is high, other equipment on the automobile is required to be assisted to detect the obstacle of the external environment of the automobile, and obstacle information related to the obstacle is acquired, so that the driving safety is guaranteed. In the present embodiment, the obstacle information of the obstacle may be acquired by a laser radar, a millimeter wave radar, a camera, a sensor, a sonar, or the like mounted on the vehicle, and the obstacle information may be the position of the obstacle, the height of the obstacle, the type of the obstacle, the moving speed and the moving direction of the obstacle, or the like.

Step S300, projecting the obstacle information onto a front windshield of the vehicle;

in the present embodiment, after obstacle information of an obstacle in a vehicle running environment is detected, the obstacle information is expressed in the form of characters and numbers, and the obstacle information is projected and displayed on a front windshield of the vehicle via the HUD. The HUD is named as a head-up digital display instrument and a head-up display system, and can map barrier information on a front windshield, so that a driver can know the barrier information in a vehicle driving environment without lowering the head or turning the head, and the distraction of attention is avoided. In this embodiment, HUD is the desk-top HUD of instrument, and the fixed relatively stable of desk-top HUD of instrument can realize that the driver looks squarely for need not to raise the head or the side when the driver watches barrier information, it is both convenient and comfortable.

Step S400, judging whether dangerous obstacle information exists in the obstacle information in real time;

in this embodiment, when the obstacle information is displayed on the front windshield of the vehicle in a form of characters and numbers in a projection manner, whether dangerous obstacles exist in the obstacles is determined according to the obstacle information by a preset calculation method, the dangerous obstacles are obstacles which may collide with the vehicle in the current running direction and running speed of the vehicle, and the obstacle information of the dangerous obstacles is the dangerous obstacle information. Dangerous barriers are screened out quickly and effectively, and information of the dangerous barriers is obtained, so that the driver is helped to avoid the dangerous barriers, and the risk of traffic accidents is reduced.

Step S500, if dangerous obstacle information exists, marking the dangerous obstacle information on the front windshield in a first marking mode.

In this embodiment, under normal conditions, the colour of characters and figure that the HUD projected is white, if judge that there is dangerous barrier in the barrier, mark dangerous barrier information red in the projection on the windshield promptly to warn and remind the driver especially, dangerous barrier appears in the place ahead, need drive carefully, turn to or slow down in order to avoid colliding with dangerous barrier better. The first marking method can be red marking, blue marking or font thickening of the dangerous obstacle information.

In one embodiment, step S400 includes:

acquiring the driving direction of the vehicle in real time;

generating a predicted collision result according to the obstacle information and the driving direction;

and if the collision result is predicted that the vehicle collides with the obstacle, identifying the obstacle as a dangerous obstacle, and identifying the obstacle information of the dangerous obstacle as dangerous obstacle information.

In this embodiment, the vehicle may simulate a travel trajectory of the vehicle after a period of time based on the traveling direction and obstacle information of obstacles in the vehicle environment, and predict a collision that may occur with the obstacles during the travel, and generate a predicted collision result. And if the predicted collision result shows that the vehicle continues to run along the current direction and collides with the obstacle, identifying the obstacle as a dangerous obstacle, detecting the obstacle at the center of gravity, and identifying the obstacle information of the dangerous obstacle as dangerous obstacle information. In the driving process of the vehicle, the dangerous barrier which is possibly collided with the vehicle is identified, so that the driver can be reminded to adjust the driving direction as early as possible in a purposeful manner, and the collision with the dangerous barrier is avoided.

In an embodiment, before step S300, the method further includes:

acquiring position information of a driver of the vehicle;

and setting the position of the display area of the obstacle information according to the position information.

In the embodiment, the position information of the driver is acquired through the sensor and/or the camera in the vehicle, which are mounted on the main driving position, the position information at least comprises the height of the top of the head and the orientation of the head of the driver when the driver takes a sitting posture, the position of the eyes of the driver and the direction of the sight of the driver are estimated according to the height of the top of the head of the driver and the orientation of the head of the driver, and then the projection is performed according to the position of the eyes of the driver and the direction of the sight of the driver, so that the obstacle information is projected on a windshield right in front of the positions of the eyes of the driver, and therefore, the obstacle information can be read by the driver looking straight ahead without raising or turning the head, fatigue caused by frequent head rotation of the driver is avoided, driving distraction caused by head rotation is avoided, and the pressure of the driver is relieved.

In an embodiment, after step S500, the method further includes:

detecting whether the distance between the vehicle and the dangerous obstacle is smaller than a first safety distance in real time;

and if the distance between the vehicle and the dangerous obstacle is less than the first safe distance, giving an alarm.

In this embodiment, the first safety distance is set manually by the driver, and different values may be set according to the driving speed of the vehicle, the road surface condition, and the like. For example, when the driving speed of the automobile is 100 km/h, the driving road surface of the automobile is dry asphalt road, and the first safety distance may be set to 1000 m; when the running speed of the automobile is 20 kilometers per hour, the running road surface of the automobile is a wet yellow mud road, and the first safety distance can be set to be 500 meters; when the driving speed of the automobile is 10 km/h, the driving road surface of the automobile is an ice surface, and the first safety distance may be set to 800 m. If the weather with low visibility such as heavy fog, rain, snow and the like is met, the first safety distance can be set longer than that in sunny days. After the distance between the obstacle and the vehicle is smaller than the first safe distance, the vehicle and the obstacle are judged to have certain risk of collision, and in order to guarantee driving safety, the driver is reminded that the obstacle needing to be avoided exists nearby, and an alarm needs to be sent out so as to guarantee the driving safety.

In this embodiment, after the distance between the vehicle and the dangerous obstacle is smaller than the first safety distance and the vehicle gives an alarm, the change of the distance between the vehicle and the obstacle is still monitored in real time, and if the alarm is monitored to be sounded, the driver performs corresponding lane changing and other operations on the vehicle, so that the vehicle gradually gets away from the obstacle, and after the distance between the obstacle and the vehicle is larger than the first safety distance, the vehicle can be judged to have separated from the risk, and then the alarm is turned off.

In one embodiment, after the step of issuing an alarm if the distance between the vehicle and the dangerous obstacle is less than the first safe distance, the method further includes:

detecting whether the distance between the vehicle and the dangerous obstacle is smaller than a second safety distance in real time, wherein the second safety distance is smaller than the first safety distance;

if the distance between the vehicle and the dangerous barrier is smaller than the second safety distance, judging whether the vehicle starts a braking system;

and if the vehicle does not start the braking system, starting the braking system and controlling the wheels of the vehicle to automatically decelerate.

In this embodiment, the second safety distance is preset by a person skilled in the art, and different values may be set according to different driving speeds and road conditions of the automobile. The second safety distance is less than the first safety distance. In some embodiments, after the vehicle gives the alarm, the driver does not notice the alarm prompt or neglects the alarm prompt intentionally, and does not control the vehicle to perform corresponding deceleration operation, braking operation or lane change operation, so that the distance between the vehicle and the obstacle is less than the second safety distance. Under this distance, the car is very close to dangerous barrier, carries out lane change operation and can't make the car avoid the barrier, only controls the car and carries out the braking operation and just can avoid car and dangerous barrier to bump. Therefore, whether a driver starts a braking system of the vehicle needs to be detected, and if the driver does not start the braking system of the vehicle manually, the vehicle needs to start the braking system automatically to control the wheels to decelerate in order to avoid traffic accidents.

In one embodiment, step S200 includes:

if the visibility of the vehicle environment is smaller than a preset value in the running process of the vehicle, detecting an obstacle within a preset distance of the vehicle, and acquiring the distance between the obstacle and the vehicle, the direction, the height, the moving direction, the moving speed and the type of the obstacle.

In this embodiment, if it is monitored that the visibility of the vehicle environment is smaller than a preset value in the driving process of the vehicle, the vehicle environment is detected to detect an obstacle within a preset distance in the vehicle environment, and obstacle information is acquired. The preset distance is a safety distance between the vehicle and the obstacle preset by a person skilled in the art according to a preset rule, if the distance between the obstacle and the vehicle is greater than the preset distance, it is determined that the obstacle does not cause a danger to the vehicle, and if the distance between the obstacle and the vehicle is less than or equal to the preset distance, it is determined that the obstacle may cause a danger to the vehicle. Within the preset distance, the closer the distance between the vehicle and the obstacle is, the higher the possibility that the obstacle causes danger to the vehicle is, so that the distance between the vehicle and the obstacle is obtained, and the degree of danger the obstacle may cause to the vehicle can be judged. According to the driving direction and the driving speed of the vehicle, the driving track of the vehicle in the next period of time can be simulated, the danger degree possibly caused by the obstacle to the vehicle can be judged according to the simulated driving track and the obstacle direction, and the possibility that the obstacle causes danger to the vehicle is higher as the obstacle is closer to the driving track. The height of the barrier is obtained, the height of the barrier is compared with the height of the chassis of the automobile, whether the automobile collides with the barrier when passing through the barrier can be judged, and if the height of the barrier is smaller than the height of the lowest point of the chassis of the automobile away from the ground, the barrier cannot collide with the chassis when the automobile passes through the barrier, so that the automobile can safely pass through the barrier; if the height of the obstacle is greater than or equal to the height of the lowest point of the vehicle chassis from the ground, the obstacle may collide with the vehicle chassis when the vehicle drives over the obstacle. In addition, the type of the obstacle and the movement condition of the obstacle can be obtained to judge the danger degree of the obstacle to the vehicle. For example, when the moving speed of the obstacle is faster and the direction is more random, the possibility of causing danger to the vehicle is higher; for another example, when the obstacle is a large stone, the possibility of danger to the vehicle is high, and when the obstacle is a small cat or dog crossing the road, the possibility of danger to the vehicle is low.

In an embodiment, the step of detecting an obstacle within a preset distance of the vehicle and obtaining a distance between the obstacle and the vehicle, a direction, a height, a moving direction, a moving speed, and a type of the obstacle, if the visibility of a vehicle environment is smaller than a preset value during the running process of the vehicle, includes:

if the visibility of the vehicle environment is smaller than a preset value in the running process of the vehicle, controlling a radar of the vehicle to detect an obstacle within a preset distance, and detecting the distance between the obstacle and the vehicle, the direction and the height of the obstacle;

and controlling the sonar of the vehicle to detect the moving direction, the moving speed and the type of the obstacle.

In this embodiment, install a plurality of environment detection equipment including laser radar, millimeter wave radar, sonar etc. on the vehicle, these detection equipment do not all receive weather visibility's influence, still can normally work under the very low weather environment of visibility such as sleet frost fog. In one embodiment, the lidar transmits a detection signal to the surrounding environment, then receives a signal reflected from an object in the surrounding environment, compares the signal with the transmission signal, and after appropriate processing, obtains information about the object in the environment, such as parameters of target distance, orientation, height, speed, attitude, even shape, etc., and by transmitting a plurality of detection signals, the lidar can detect and form a 3D environment with a precision up to centimeter level. The millimeter wave radar is a radar which works in a millimeter wave band for detection, the wavelength of millimeter waves is between microwave and centimeter waves, the capacity of penetrating fog, smoke and dust is strong, and the radar has the characteristics of all weather and all day time, and can complement the action of the laser radar. The sonar has the advantages of identifying different objects and enabling the vehicle to better judge whether the front is a static obstacle, a vehicle or a pedestrian. After the environmental information of the surrounding environment is detected, the environmental information is transmitted to a driving computer, and the driving computer identifies the obstacle information in the environmental information through a machine learning artificial intelligence algorithm.

In one embodiment, step S300 includes:

and projecting the obstacle information onto a front windshield of the vehicle, and marking the distance between the obstacle in the obstacle information and the vehicle in a second marking mode.

In this embodiment, normally, the characters and numbers projected by the HUD are white, but the number information of the distance between the obstacle and the vehicle in the obstacle information needs to be thickened to make the driver more aware of it. The second marking method may be to mark the distance between the obstacle and the vehicle as other colors or to make a font bold.

The invention also proposes a vehicle comprising a memory, a processor, and a computer program stored on said memory and executable on said processor for carrying out the method according to the various embodiments of the invention.

The invention also proposes a readable storage medium on which the computer program is stored. The computer-readable storage medium may be the Memory in fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, a terminal, or a network device) having a processor to execute the method according to the embodiments of the present invention.

In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.