1. A braking method for an autonomous vehicle, comprising the steps of:

acquiring barrier data in front of an autonomous vehicle;

generating a target deceleration request based on the obstacle data and an actual speed of the autonomous vehicle; and

and calculating a first target brake pressure according to the target deceleration request, and controlling a brake device of the automatic driving vehicle to execute a braking action according to the first target brake pressure or a larger value between the first target brake pressure and a second target brake pressure obtained by the active braking request.

2. The method of claim 1, wherein said controlling a brake device of the autonomous vehicle to perform a braking action in accordance with the first target brake pressure or a greater value between the first target brake pressure and a second target brake pressure resulting from an active braking request comprises:

judging whether the active braking request is effective or not;

if the active braking request fails, controlling a braking device of the automatic driving vehicle to execute braking action according to the second target braking pressure;

and if the active braking request is effective, controlling a braking device of the automatic driving vehicle to execute braking action according to a larger value between the first target braking pressure and the second target braking pressure.

3. The method of claim 1, further comprising:

generating a target pressure relief request according to the barrier data and the actual speed;

and calculating a first target pressure relief value according to the target pressure relief request, and controlling the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

4. The method according to claim 3, wherein the controlling the braking device to perform a pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by an active pressure relief request comprises:

judging whether the active pressure relief request is effective or not;

and if the active pressure relief request is effective, controlling the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

5. The method according to claim 3, wherein the controlling the braking device to perform a pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request further comprises:

and if the active pressure relief request is invalid, controlling the brake device to execute pressure relief action according to the first target pressure relief value.

6. A brake apparatus for an autonomous vehicle, comprising:

the acquisition module is used for acquiring barrier data in front of the automatic driving vehicle;

a first generation module to generate a target deceleration request based on the obstacle data and an actual speed of the autonomous vehicle; and

and the first control module is used for calculating a first target brake pressure according to the target deceleration request and controlling a brake device of the automatic driving vehicle to execute a braking action according to the first target brake pressure or a larger value between the first target brake pressure and a second target brake pressure obtained by the active braking request.

7. The apparatus of claim 6, wherein the first control module is specifically configured to:

judging whether the active braking request is effective or not;

if the active braking request fails, controlling a braking device of the automatic driving vehicle to execute braking action according to the second target braking pressure;

and if the active braking request is effective, controlling a braking device of the automatic driving vehicle to execute braking action according to a larger value between the first target braking pressure and the second target braking pressure.

8. The apparatus of claim 6, further comprising:

the second generation module generates a target pressure relief request according to the barrier data and the actual speed;

and the second control module calculates a first target pressure relief value according to the target pressure relief request, and controls the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of braking an autonomous vehicle as claimed in any of claims 1-5.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a braking method of an autonomous vehicle as claimed in any of claims 1 to 5.

Background

With the intelligent and networking era of automobiles, the automatic driving technology of the automobiles is rapidly advanced, and subsystems such as a sensing end, an execution end, an algorithm control system and the like are required to be developed in a coordinated manner.

At present, sensing terminals such as big data, high-precision maps, laser radars and high-definition cameras are developed at a high speed, a vehicle execution terminal cannot meet the requirement of automatic driving due to the influence of the overall traditional framework of an automobile, the problems of unclear intention analysis, signal distortion, execution out-of-tolerance and the like often occur during execution, and a corresponding control strategy is needed for realization and optimization.

Content of application

The application provides a braking method and device for an automatic driving vehicle, the vehicle and a storage medium, solves the problems that in the related art, due to the fact that the requirement of automatic driving cannot be met, when an execution end executes, the intention analysis is unclear, signals are distorted, execution is out of tolerance and the like, and can quickly and effectively enable the vehicle to execute, and comfort of drivers and passengers is guaranteed.

An embodiment of a first aspect of the present application provides a braking method for an autonomous vehicle, including the following steps:

acquiring barrier data in front of an autonomous vehicle;

generating a target deceleration request based on the obstacle data and an actual speed of the autonomous vehicle; and

and calculating a first target brake pressure according to the target deceleration request, and controlling a brake device of the automatic driving vehicle to execute a braking action according to the first target brake pressure or a larger value between the first target brake pressure and a second target brake pressure obtained by the active braking request.

Optionally, the controlling a braking device of the autonomous vehicle to perform a braking action according to the first target braking pressure or a larger value between the first target braking pressure and a second target braking pressure resulting from an active braking request includes:

judging whether the active braking request is effective or not;

if the active braking request fails, controlling a braking device of the automatic driving vehicle to execute braking action according to the second target braking pressure;

and if the active braking request is effective, controlling a braking device of the automatic driving vehicle to execute braking action according to a larger value between the first target braking pressure and the second target braking pressure.

Optionally, the method further comprises:

generating a target pressure relief request according to the barrier data and the actual speed;

and calculating a first target pressure relief value according to the target pressure relief request, and controlling the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

Optionally, the controlling, according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request, the braking device to execute a pressure relief action includes:

judging whether the active pressure relief request is effective or not;

and if the active pressure relief request is effective, controlling the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

Optionally, the controlling, according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request, the braking device to execute a pressure relief action further includes:

and if the active pressure relief request is invalid, controlling the brake device to execute pressure relief action according to the first target pressure relief value.

An embodiment of a second aspect of the present application provides a braking device for an autonomous vehicle, comprising:

the acquisition module is used for acquiring barrier data in front of the automatic driving vehicle;

a first generation module to generate a target deceleration request based on the obstacle data and an actual speed of the autonomous vehicle; and

and the first control module is used for calculating a first target brake pressure according to the target deceleration request and controlling a brake device of the automatic driving vehicle to execute a braking action according to the first target brake pressure or a larger value between the first target brake pressure and a second target brake pressure obtained by the active braking request.

Optionally, the first control module is specifically configured to:

judging whether the active braking request is effective or not;

if the active braking request fails, controlling a braking device of the automatic driving vehicle to execute braking action according to the second target braking pressure;

and if the active braking request is effective, controlling a braking device of the automatic driving vehicle to execute braking action according to a larger value between the first target braking pressure and the second target braking pressure.

Optionally, the method further comprises:

the second generation module generates a target pressure relief request according to the barrier data and the actual speed;

and the second control module calculates a first target pressure relief value according to the target pressure relief request, and controls the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

Optionally, the second control module is specifically configured to:

judging whether the active pressure relief request is effective or not;

and if the active pressure relief request is effective, controlling the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

Optionally, the second control module is further configured to:

and if the active pressure relief request is invalid, controlling the brake device to execute pressure relief action according to the first target pressure relief value. An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the braking method of an autonomous vehicle as described in the above embodiments.

A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor for implementing the braking method of an autonomous vehicle as described in the above embodiments.

Therefore, the method can collect the barrier data in front of the automatic driving vehicle, generate the target deceleration request according to the barrier data and the actual speed of the automatic driving vehicle, calculate the first target brake pressure according to the target deceleration request, and control the brake device of the automatic driving vehicle to execute the brake action according to the first target brake pressure or the larger value between the first target brake pressure and the second target brake pressure obtained by the active brake request, thereby solving the problems of unclear intention analysis, signal distortion, execution overproof and the like in the execution of the execution end caused by the incapability of adapting to the requirement of the automatic driving in the related art, and being capable of quickly and effectively letting the vehicle execute and ensuring the comfort of drivers and passengers.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a braking method for an autonomous vehicle according to an embodiment of the present application;

FIG. 2 is an exemplary diagram of a configuration of a brake systemization of an autonomous vehicle according to one embodiment of the present application;

FIG. 3 is a control schematic of a boosting process according to one embodiment of the present application;

FIG. 4 is a flow chart illustrating control of active boosting according to one embodiment of the present application;

FIG. 5 is a schematic illustration of control of a pressure relief process according to one embodiment of the present application;

FIG. 6 is a flow chart illustrating control of active pressure relief according to one embodiment of the present application;

FIG. 7 is a flow chart of pressure regulation control for a method of braking an autonomous vehicle according to one embodiment of the present application;

FIG. 8 is an exemplary diagram of a braking device of an autonomous vehicle according to an embodiment of the application;

FIG. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A braking method and apparatus for an autonomous vehicle, a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. The application provides a braking method of an automatic driving vehicle, in the method, obstacle data in front of the automatic driving vehicle can be collected, a target deceleration request is generated according to the obstacle data and the actual speed of the automatic driving vehicle, a first target braking pressure is calculated according to the target deceleration request, and a braking device of the automatic driving vehicle is controlled to execute braking action according to the first target braking pressure or a larger value between the first target braking pressure and a second target braking pressure obtained by an active braking request.

Specifically, fig. 1 is a schematic flowchart of a braking method for an autonomous vehicle according to an embodiment of the present disclosure.

As shown in fig. 1, the braking method of the autonomous vehicle includes the steps of:

in step S101, obstacle data in front of the autonomous vehicle is collected.

It should be understood that an autonomous vehicle is generally equipped with an intelligent Driving controller (ADAS), and the ADAS can sense the surrounding environment at any time during the Driving process of the vehicle by using various sensors (such as millimeter wave radar, laser radar, monocular/binocular camera and satellite navigation) mounted on the vehicle, collect data, perform identification, detection and tracking of static and dynamic objects, and perform systematic operation and analysis by combining with navigation map data.

Therefore, as shown in fig. 2, the embodiment of the present application may acquire data of obstacles in front of the autonomous vehicle, such as obstacle size, distance from the obstacle, and the like, by using the radar and the camera mounted on the vehicle through the ADAS.

In step S102, a target deceleration request is generated based on the obstacle data and the actual speed of the autonomous vehicle.

It should be understood that, in order to ensure the safety of the vehicle, after the obstacle data in front of the autonomous driving vehicle is collected, the actual speed of the current vehicle may also be obtained in the embodiment of the present application, so that the target deceleration request is generated according to the obstacle data and the actual speed of the vehicle.

Wherein, the braking deceleration range of the vehicle can be-5 to 2.5m/s²The deceleration resolution is less than or equal to 0.1m/s²Vehicle tracking to deceleration command time less than 300ms, deceleration steady state errorThe difference should be within + -Max (0.1 m/s)²10%), the deceleration command stabilizes to a time when the vehicle deceleration reaches steady state for less than 1s when the deceleration increases, the deceleration command stabilizes to a time when the vehicle deceleration reaches minimum brake deceleration that meets performance requirements for less than 0.5s when the deceleration decreases, and the deceleration response maximum overshoot should be at Max (0.1 m/s)²10%); deceleration gradient range: when deceleration increases: deceleration gradient is more than or equal to 0 and more than or equal to-3 m/s³(ii) a When deceleration is reduced: deceleration gradient is more than or equal to 0 and less than or equal to +6m/s³(ii) a High-speed ACC (Adaptive Cruise Control) requires an ESC (Electronic Stability Control) life: 80 h; full speed ACC required ESC life: 450h

It should be noted that, in the embodiment of the present application, the pressure increase and decrease and the pressure control may be controlled through logic control, and a method of generating the target deceleration request according to the obstacle data and the actual speed of the autonomous vehicle may be the same as a method adopted in the related art, and details are not described here to avoid redundancy.

In step S103, a first target brake pressure is calculated according to the target deceleration request, and a braking device of the autonomous vehicle is controlled to perform a braking action according to the first target brake pressure or a larger value between the first target brake pressure and a second target brake pressure resulting from the active braking request.

It should be understood that there are many ways to control the braking device of the autonomous vehicle to perform a braking action according to the first target brake pressure, or the larger value between the first target brake pressure and the second target brake pressure resulting from the active braking request, as will be described in conjunction with the specific embodiments below.

As a possible implementation, in some embodiments, controlling a brake device of the autonomous vehicle to perform a braking action according to the first target brake pressure, or a larger value between the first target brake pressure and a second target brake pressure resulting from the active braking request, includes: judging whether the active braking request is effective or not; if the active braking request fails, controlling a braking device of the automatic driving vehicle to execute braking action according to a second target braking pressure; and if the active braking request is effective, controlling a braking device of the automatic driving vehicle to execute braking action according to a larger value between the first target braking pressure and the second target braking pressure.

It should be understood that the IBS system may adjust the pressure value in response to the external boost signal, and the IBS system may act as an actuator for an external active boost function, such as active Braking, AEB (automatic Braking system), ACC, etc. IBS systems respond to large values between an external active build request (i.e., an active braking request) and a driver pressing the brake pedal during execution of the request.

Further, the control flow of the active supercharging is described below with reference to fig. 3 and 4, where fig. 3 is a control schematic diagram of the supercharging process, and fig. 4 is a control flow diagram of the active supercharging according to an embodiment of the present application.

For example, as shown in fig. 4, the method comprises the following steps:

s401, start.

S402, judging whether the IBS has no pedal request to build pressure, if yes, executing step S403, otherwise, executing step S404.

And S403, judging whether the ESC has a voltage build-up request, if so, executing step S407, otherwise, executing step S408.

S404, judging whether there is no pressure building request, if yes, executing step S406, otherwise, executing step S405.

S405, judging whether the ESC pressure request value is larger than the pedal pressure target value, if so, executing a step S407, otherwise, executing a step S406.

S406, the IBS builds the pressure according to the pedal stroke, and skips to execute the step S408.

S407, the IBS requests EBR to build pressure according to the ESC target pressure.

And S408, ending.

Optionally, in some embodiments, the method further comprises: generating a target pressure relief request according to the barrier data and the actual speed; and calculating a first target pressure relief value according to the target pressure relief request, and controlling the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

Optionally, in some embodiments, controlling the braking device to perform the pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request includes: judging whether the active pressure relief request is effective or not; and if the active pressure relief request is effective, controlling a brake device of the automatic driving vehicle to execute a braking action according to a larger value between the first target brake pressure and a second target brake pressure obtained by the active brake request.

Optionally, in some embodiments, the method further comprises: and if the active pressure relief request is invalid, controlling the brake device to execute the pressure relief action according to the first target pressure relief value.

It should be appreciated that after a reset of the external request, the IBS system bleeds, i.e., if the external brake request fails after switching to responding to the driver demand, the IBS brakes entirely according to the driver demand (i.e., an active bleed request).

Further, the control flow of active pressurization is described below with reference to fig. 5 and fig. 6, where fig. 5 is a schematic control diagram of a pressure relief process, and fig. 6 is a control flow diagram of active pressure relief according to an embodiment of the present application.

For example, as shown in fig. 6, the method comprises the following steps:

s601, start.

And S602, judging whether the ESC requests pressure relief, if so, executing the step S603, otherwise, executing the step S607.

S603, whether the IBS has no brake pedal request, if so, executing step S605, otherwise, executing step S604.

S604, judging whether the ESC pressure relief request value is larger than the pedal pressure request value, if so, executing the step S605, otherwise, executing the step S606.

S605, the IBS releases the pressure to the ESC request value, and jumps to execute the step S607.

And S606, relieving pressure of the IBS to the pedal request pressure value.

And S607, ending. .

In summary, as shown in fig. 7, fig. 7 is a flow chart of pressure regulation control of a braking method of an autonomous vehicle according to an embodiment of the present application.

The ESC target pressure is input to the controller, the controller controls IBS pressure, the ESC master cylinder pressure is output, and the pressure feedback is carried out, so that closed-loop control is realized, the precision control that the PV relation curve is 1bar is refined in the low-pressure area in the IBS pressure control link through regulation and control measures such as pressure and the like, and the corresponding relation curve ensures that a braking hydraulic system loop is reliable and has high precision; and the execution signal is subjected to relevant pressure control, so that the capability of actively braking and recovering the running of the vehicle is achieved.

According to the braking method of the automatic driving vehicle, provided by the embodiment of the application, the obstacle data in front of the automatic driving vehicle can be collected, the target deceleration request is generated according to the obstacle data and the actual speed of the automatic driving vehicle, the first target braking pressure is calculated according to the target deceleration request, and the braking device of the automatic driving vehicle is controlled to execute the braking action according to the first target braking pressure or the larger value between the first target braking pressure and the second target braking pressure obtained by the active braking request.

Next, a brake apparatus of an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 8 is a block schematic diagram of a brake device of an autonomous vehicle according to an embodiment of the present application.

As shown in fig. 8, the brake device 10 of the autonomous vehicle includes: an acquisition module 100, a first generation module 200 and a first control module 300.

The acquisition module 100 is used for acquiring barrier data in front of the autonomous vehicle;

the first generating module 200 is used for generating a target deceleration request according to the obstacle data and the actual speed of the autonomous vehicle; and

the first control module 300 is configured to calculate a first target brake pressure according to the target deceleration request, and control a brake device of the autonomous vehicle to perform a braking action according to the first target brake pressure or a larger value between the first target brake pressure and a second target brake pressure obtained from the active braking request.

Optionally, the first control module 300 is specifically configured to:

judging whether the active braking request is effective or not;

if the active braking request fails, controlling a braking device of the automatic driving vehicle to execute braking action according to a second target braking pressure;

and if the active braking request is effective, controlling a braking device of the automatic driving vehicle to execute braking action according to a larger value between the first target braking pressure and the second target braking pressure.

Optionally, the method further comprises:

the second generation module is used for generating a target pressure relief request according to the barrier data and the actual speed;

and the second control module calculates a first target pressure relief value according to the target pressure relief request, and controls the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

Optionally, the second control module is specifically configured to:

judging whether the active pressure relief request is effective or not;

and if the active pressure relief request is effective, controlling the brake device to execute pressure relief action according to the first target pressure relief value or a larger value between the first target pressure relief value and a second target pressure relief value obtained by the active pressure relief request.

Optionally, the second control module is further configured to:

and if the active pressure relief request is invalid, controlling the brake device to execute the pressure relief action according to the first target pressure relief value.

It should be noted that the foregoing explanation of the embodiment of the braking method for an autonomous vehicle is also applicable to the braking device for an autonomous vehicle of this embodiment, and will not be described herein again.

According to the braking device of the automatic driving vehicle, provided by the embodiment of the application, the obstacle data in front of the automatic driving vehicle can be collected, the target deceleration request is generated according to the obstacle data and the actual speed of the automatic driving vehicle, the first target braking pressure is calculated according to the target deceleration request, and the braking device of the automatic driving vehicle is controlled to execute the braking action according to the first target braking pressure or the larger value between the first target braking pressure and the second target braking pressure obtained by the active braking request.

Fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

a memory 901, a processor 902 and a computer program stored on the memory 901 and executable on the processor 902.

The processor 902, when executing the program, implements the braking method of the autonomous vehicle provided in the above-described embodiments.

Further, the vehicle further includes:

a communication interface 903 for communication between the memory 901 and the processor 902.

A memory 901 for storing computer programs executable on the processor 902.

Memory 901 may comprise high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 901, the processor 902, and the communication interface 903 are implemented independently, the communication interface 903, the memory 901, and the processor 902 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.

Optionally, in a specific implementation, if the memory 901, the processor 902, and the communication interface 903 are integrated on a chip, the memory 901, the processor 902, and the communication interface 903 may complete mutual communication through an internal interface.

The processor 902 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program characterized in that the program, when executed by a processor, implements the braking method of an autonomous vehicle as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. 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 N 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.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.