CN114889627A

Movatterモバイル変換

Info

Publication number: CN114889627A
Application number: CN202210471220.7A
Authority: CN
Inventors: 安学成
Original assignee: Hozon New Energy Automobile Co Ltd
Current assignee: Hozon New Energy Automobile Co Ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-08-12

Abstract

The application discloses a fault solving method suitable for an advanced driving assistance system, which comprises the following steps: acquiring fault definition data and corresponding solution strategy data; acquiring fault data; comparing the fault data with the fault definition data and generating a comparison result; acquiring fault type data according to the comparison result; and executing the corresponding solution strategy according to the fault type data. Compared with the prior art, the method has the following beneficial effects: the method refines the labor division and development processes of a design stage and a development stage through a fault solution method. And the distributed faults are planned and processed comprehensively, so that the system is safer and is convenient to manage.

Description

Translated fromChinese

一种适用于高级驾驶辅助系统的故障解决方法、系统及车辆A fault resolution method, system and vehicle suitable for advanced driver assistance systems

技术领域technical field

本申请涉及车辆自动驾驶领域，具体而言，涉及一种车辆适用于高级驾驶辅助系统的故障解决方法、系统及车辆。The present application relates to the field of vehicle automatic driving, and in particular, to a fault solving method, system and vehicle suitable for an advanced driving assistance system in a vehicle.

背景技术Background technique

随着智能驾驶领域的兴起、技术的发展、软硬件的迭代，ADAS(高级驾驶辅助系统，Advanced Driving Assistance System)域控制器的性能大大提升的同时，系统也越来越复杂。针对日趋复杂的系统，如何保障系统的健康状态、如何设计安全机制使故障的产生能够控制使之影响最小、如何做好故障的维测等等，都是我们要面临的问题。With the rise of the field of intelligent driving, the development of technology, and the iteration of software and hardware, the performance of ADAS (Advanced Driving Assistance System) domain controllers has been greatly improved, while the system has become more and more complex. For increasingly complex systems, how to ensure the health of the system, how to design a safety mechanism to control the occurrence of faults to minimize their impact, and how to do a good job in the maintenance and testing of faults, etc., are all problems we have to face.

传统的诊断技术问题在于它的适用场景是故障产生后的离线处理，它的场景是后期的问题调查与定位。从功能安全角度来说，故障的产生要在FTTI(故障容忍时间间隔)内进行有效的处理。针对复杂的智能驾驶系统，迫切需要一种故障处理的方案。The problem with traditional diagnostic technology is that its applicable scenario is offline processing after a fault occurs, and its scenario is later problem investigation and location. From the perspective of functional safety, the occurrence of faults should be effectively handled within the FTTI (Fault Tolerant Time Interval). For complex intelligent driving systems, a fault handling solution is urgently needed.

发明内容SUMMARY OF THE INVENTION

本申请的主要目的在于提供一种适用于高级驾驶辅助系统的故障解决方法，包括：The main purpose of this application is to provide a fault resolution method suitable for an advanced driver assistance system, including:

获取故障定义数据及对应的解决策略数据；Obtain fault definition data and corresponding solution strategy data;

获取故障数据；Get fault data;

比对故障数据与故障定义数据，并生成比对结果；Compare the fault data with the fault definition data, and generate the comparison result;

根据比对结果获取故障类型数据；Obtain fault type data according to the comparison result;

根据故障类型数据执行对应的解决策略。Execute the corresponding resolution strategy according to the fault type data.

可选地，比对故障数据与故障定义数据，并生成比对结果包括：Optionally, comparing the fault data with the fault definition data, and generating a comparison result includes:

根据故障数据分析故障影响，并获取分析结果；Analyze the impact of the fault according to the fault data, and obtain the analysis results;

根据故障数据获取故障频率数据；Obtain fault frequency data according to fault data;

根据分析结果及故障频率数据生成比对结果。Generate comparison results based on analysis results and failure frequency data.

可选地，适用于高级驾驶辅助系统的故障解决方法还包括：Optionally, the fault resolution method applicable to the advanced driver assistance system further includes:

发送故障数据至云端服务器。Send fault data to cloud server.

可选地，故障定义数据包括：故障含义数据、故障原因数据、故障严重程度数据及故障频率信息。Optionally, the fault definition data includes: fault meaning data, fault cause data, fault severity data, and fault frequency information.

可选地，根据故障数据分析故障影响包括：Optionally, analyzing the fault impact according to the fault data includes:

分析故障数据是否影响高级驾驶辅助系统的至少部分功能失效。Analyze whether the fault data affects at least partial functional failure of the advanced driver assistance system.

分析故障数据是否导致高级驾驶辅助系统的失效。Analyze failure data to see if advanced driver assistance systems fail.

比对故障数据出现的频率与第一阈值，并获取第一比对结果。Compare the occurrence frequency of the fault data with the first threshold, and obtain the first comparison result.

可选地，根据比对结果获取故障类型数据，并生成比对结果包括：Optionally, acquiring fault type data according to the comparison result, and generating the comparison result includes:

当频率为1时，故障类型数据为故障消抖类型数据；When the frequency is 1, the fault type data is fault debounce type data;

当在第一预设时间内，频率大于1且小于第一阈值时，故障类型数据为故障老化类型数据；When the frequency is greater than 1 and less than the first threshold within the first preset time, the fault type data is fault aging type data;

当在第二预设时间内，频率大于或等于第一阈值时，故障类型数据为故障锁存类型数据。When the frequency is greater than or equal to the first threshold within the second preset time, the fault type data is fault latch type data.

本申请还公开了一种适用于高级驾驶辅助系统的故障管理系统，包括：The present application also discloses a fault management system suitable for an advanced driving assistance system, including:

故障定义数据获取模块，被配置成获取故障定义数据；a fault definition data acquisition module, configured to acquire fault definition data;

解决策略获取模块，被配置成获取与故障定义数据所对应的解决策略数据；a solution strategy acquisition module, configured to obtain solution strategy data corresponding to the fault definition data;

故障数据获取模块，被配置成获取故障数据；a fault data acquisition module, configured to acquire fault data;

比对模块，被配置成比对故障数据与故障定义数据，并生成比对结果；a comparison module, configured to compare the fault data with the fault definition data, and generate a comparison result;

故障类型获取模块，被配置成根据比对结果获取故障类型数据；The fault type acquisition module is configured to acquire fault type data according to the comparison result;

执行模块，被配置成根据故障类型数据执行对应的解决策略。The execution module is configured to execute a corresponding solution strategy according to the fault type data.

本申请还公开了一种适用于高级驾驶辅助系统的故障管理系统，包括The present application also discloses a fault management system suitable for an advanced driving assistance system, comprising:

故障检测模块，被配置成检测系统故障；a fault detection module configured to detect system faults;

故障上报模块，被配置成当上报系统故障；The fault reporting module is configured to report system faults;

故障管理模块，被配置成将系统故障分类；a fault management module configured to classify system faults;

故障后处理模块，被配置成根据系统故障分类的结果处理系统故障。The fault post-processing module is configured to process the system fault according to the result of the system fault classification.

本申请还公开了一种车辆，使用上述任意一项适用于高级驾驶辅助系统的故障解决方法或控制系统。The present application also discloses a vehicle using any one of the above fault solving methods or control systems suitable for an advanced driving assistance system.

本申请还公开了一种计算机设备，包括存储器、处理器和存储在存储器内并能由处理器运行的计算机程序，处理器执行计算机程序时实现上述任一项的方法。The present application also discloses a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor. The processor implements any of the above methods when executing the computer program.

本申请还公开了一种计算机可读存储介质，非易失性可读存储介质，其内存储有计算机程序，计算机程序在由处理器执行时实现上述任一项的方法。The present application also discloses a computer-readable storage medium, a non-volatile readable storage medium, in which a computer program is stored, and the computer program implements any of the above methods when executed by a processor.

与现有技术相比，本申请具有如下有益效果：Compared with the prior art, the present application has the following beneficial effects:

本申请通过故障解决方法细化了设计阶段和开发阶段的分工及开发流程。对分散的故障进行统筹规划和处理，更安全且管理方便。The present application refines the division of labor and the development process between the design stage and the development stage through the troubleshooting method. Overall planning and handling of scattered faults is safer and easier to manage.

附图说明Description of drawings

构成本申请的一部分的附图用来提供对本申请的进一步理解，使得本申请的其它特征、目的和有益效果变得更明显。本申请的示意性实施例附图及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the application, and to make other features, objects and benefits of the application more apparent. The accompanying drawings and descriptions of the exemplary embodiments of the present application are used to explain the present application, and do not constitute an improper limitation of the present application. In the attached image:

图1是根据本申请一个实施例的适用于高级驾驶辅助系统的故障解决方法的流程示意图；FIG. 1 is a schematic flowchart of a fault resolution method applicable to an advanced driver assistance system according to an embodiment of the present application;

图2是根据本申请另一个实施例的适用于高级驾驶辅助系统的故障解决方法的流程示意图；FIG. 2 is a schematic flowchart of a fault resolution method applicable to an advanced driving assistance system according to another embodiment of the present application;

图3是根据本申请一个实施例的适用于高级驾驶辅助系统的故障解决系统的系统示意图；FIG. 3 is a system schematic diagram of a fault resolution system suitable for an advanced driving assistance system according to an embodiment of the present application;

图4是根据本申请一个实施例的适用于高级驾驶辅助系统的故障解决系统的系统示意图；4 is a system schematic diagram of a fault resolution system suitable for an advanced driving assistance system according to an embodiment of the present application;

图5是根据本申请一个实施例的计算机设备的示意图；以及Figure 5 is a schematic diagram of a computer device according to one embodiment of the present application; and

图6是根据本申请一个实施例的计算机可读存储介质的示意图。FIG. 6 is a schematic diagram of a computer-readable storage medium according to one embodiment of the present application.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

请参照图1，本申请一实施例提供了一种适用于高级驾驶辅助系统的故障解决方法，包括：Referring to FIG. 1, an embodiment of the present application provides a fault resolution method suitable for an advanced driving assistance system, including:

S101：获取故障定义数据及对应的解决策略数据；S101: Acquire fault definition data and corresponding solution strategy data;

故障定义数据及解决策略在使用系统之间已经预存到系统中。该故障定义数据包括但不限于故障的具体含义、故障码、故障的产生原因、故障的严重程度以及故障发生的频率等信息。The fault definition data and the solution strategy have been pre-stored in the system before using the system. The fault definition data includes, but is not limited to, the specific meaning of the fault, the fault code, the cause of the fault, the severity of the fault, and the frequency of the fault.

S102：获取故障数据；S102: obtain fault data;

故障数据，是在使用系统时，当系统出现故障时，每个故障所对应的故障码、故障的产生原因、故障的严重程度以及故障发生的频率等信息。此阶段收集的故障数据是可管控的故障所对应的数据，需要组成ADAS系统的各个软硬件开发模块能够如实的、准确的记录下来，并尽可能的附带该故障可能产生的影响。The fault data refers to information such as the fault code corresponding to each fault, the cause of the fault, the severity of the fault, and the frequency of the fault when the system fails when the system is in use. The fault data collected at this stage is the data corresponding to the controllable fault, and each software and hardware development module that composes the ADAS system needs to be truthfully and accurately recorded, and the possible impact of the fault should be attached as much as possible.

S103：比对故障数据与故障定义数据，并生成比对结果；S103: Compare the fault data with the fault definition data, and generate a comparison result;

将故障数据中的故障码、故障的产生原因、故障的严重程度以及故障发生的频率等信息与故障定义数据中的故障码、故障的产生原因、故障的严重程度以及故障发生的频率等信息进行比对，并生成比对结果。Compare the information in the fault data, such as the fault code, the cause of the fault, the severity of the fault, and the frequency of the fault, with the information in the fault definition data, such as the fault code, the cause of the fault, the severity of the fault, and the frequency of the fault. Compare and generate alignment results.

S104：根据比对结果获取故障类型数据；S104: Acquire fault type data according to the comparison result;

通过比对，知道了当前故障所对应的故障定义数据中的故障类型(例如临时故障和永久故障)。Through the comparison, the fault types (such as temporary faults and permanent faults) in the fault definition data corresponding to the current fault are known.

S105：根据故障类型数据执行对应的解决策略。S105: Execute a corresponding solution strategy according to the fault type data.

不同的故障类型数据对应不同的故障类型，不同的故障类型对应着不同的解决策略。因为临时故障和永久故障所对应的解决策略可能不同。Different fault type data correspond to different fault types, and different fault types correspond to different resolution strategies. Because the solution strategies corresponding to temporary failures and permanent failures may be different.

请参照图2，本申请一些实施例中，比对故障数据与故障定义数据，并生成比对结果包括：Referring to FIG. 2 , in some embodiments of the present application, comparing fault data with fault definition data, and generating a comparison result includes:

S201：根据故障数据分析故障影响，并获取分析结果；S201: Analyze the impact of the fault according to the fault data, and obtain the analysis result;

有的故障影响是局部的，有的故障影响是全局，根据故障数据分析出该故障影响是全局影响还是局部影响。面对不同的故障影响，采用的解决策略可能不同。在本实施例中，通过分析故障数据是否影响高级驾驶辅助系统的至少部分功能失效，或者通过分析故障数据是否导致高级驾驶辅助系统的失效来判断故障影响。Some fault effects are local, and some fault effects are global. According to the fault data, it can be analyzed whether the fault has a global impact or a local impact. In the face of different fault impacts, the adopted solution strategies may be different. In this embodiment, the influence of the fault is determined by analyzing whether the fault data affects at least part of the functional failure of the advanced driver assistance system, or by analyzing whether the fault data causes the failure of the advanced driver assistance system.

作为ADAS域控制器，以驾驶员角度来看，提供给用户的功能为产品定义的ADAS功能，如ACC(自适应巡航)、LKA(车道保持辅助，Lane Keeping Ass)、AEB(自动制动系统)、AVM(Around View Monitor，环景影响系统)等等，这些是ADAS系统的上层功能。因此第一个层面从功能角度出发，来分析某个故障是否会导致某个ADAS功能的失效。As an ADAS domain controller, from the driver's point of view, the functions provided to the user are the ADAS functions defined by the product, such as ACC (Adaptive Cruise), LKA (Lane Keeping Ass), AEB (Automatic Braking System) ), AVM (Around View Monitor, ambient view influence system), etc., these are the upper-level functions of the ADAS system. Therefore, the first level analyzes whether a fault will lead to the failure of an ADAS function from a functional point of view.

以开发人员角度来看，对外所展现的ADAS功能为ADAS系统中各个关联模块交互最终完成的功能，这中间涉及了上下游的各个模块以及交互接口，作为ADAS大系统，每个模块可以认为是个小系统，提供了这个系统的基础功能，最终从系统这个层面出发，来分析某个故障是否会导致系统失效，即无法提供其自身的基础功能。From the perspective of developers, the ADAS functions displayed externally are the functions finally completed by the interaction of each associated module in the ADAS system, which involves various upstream and downstream modules and interaction interfaces. As a large ADAS system, each module can be considered as a A small system provides the basic functions of the system, and finally starts from the system level to analyze whether a fault will cause the system to fail, that is, it cannot provide its own basic functions.

这两个层面，可以认为是一个是全局的，一个是局部的。通常模块不会独立存在，存在就会有交互，有交互就会有通信链路，从局部出发分析它的影响，追随着通信链路去分析该故障是否是影响最终功能的关键故障。These two levels can be considered as one global and one local. Usually the modules do not exist independently, there will be interactions, and there will be communication links if there are interactions, analyze its impact from a local perspective, and follow the communication links to analyze whether the fault is a key fault that affects the final function.

S202：根据故障数据获取故障频率数据；S202: Acquire fault frequency data according to the fault data;

根据故障频率数据可以得出该故障属于临时故障还是永久故障。According to the fault frequency data, it can be concluded whether the fault is a temporary fault or a permanent fault.

S203：根据分析结果及故障频率数据生成比对结果。S203: Generate a comparison result according to the analysis result and the fault frequency data.

在本实施例中，当频率为1时，故障类型数据为故障消抖类型数据。故障的消抖指的是对瞬态故障(频率为1)的防护，并非故障产生就真的是已经成熟的故障，这种机制可以有效的过滤一些干扰。因此故障消抖类型的故障属于临时故障。In this embodiment, when the frequency is 1, the fault type data is fault debounce type data. The debounce of the fault refers to the protection of the transient fault (frequency is 1), not the fault is really a mature fault, this mechanism can effectively filter some interference. Therefore, the fault debounce type fault is a temporary fault.

当在第二预设时间内，频率大于或等于第一阈值时，故障类型数据为故障锁存类型数据。针对临时故障在若干驾驶周期内反复出现(频率大于或等于第一阈值)，则认为该故障为永久性故障，可以做锁存处理、持久性存储，待该故障实际的被修复。When the frequency is greater than or equal to the first threshold within the second preset time, the fault type data is fault latch type data. If a temporary fault occurs repeatedly in several driving cycles (the frequency is greater than or equal to the first threshold), the fault is considered to be a permanent fault, and can be latched and stored persistently until the fault is actually repaired.

当在第一预设时间内，频率大于1且小于第一阈值时，故障类型数据为故障老化类型数据。故障老化可以认为临时故障到永久故障转变期间，经过了老化周期而未变成永久故障(频率大于1，且小于第一阈值)，则该故障认为已经恢复。When the frequency is greater than 1 and less than the first threshold within the first preset time, the fault type data is fault aging type data. The fault aging can be considered that during the transition from a temporary fault to a permanent fault, after the aging period has passed without becoming a permanent fault (the frequency is greater than 1 and less than the first threshold), the fault is considered to have recovered.

本申请的一些实施例中，适用于高级驾驶辅助系统的故障解决方法还包括：发送故障数据至云端服务器。In some embodiments of the present application, the fault resolution method applicable to the advanced driver assistance system further includes: sending fault data to a cloud server.

请参照图3，本申请还提供了一种适用于高级驾驶辅助系统的故障管理系统，包括：Referring to FIG. 3, the present application also provides a fault management system suitable for an advanced driver assistance system, including:

请参照图4，本申请还提供了一种适用于高级驾驶辅助系统的故障管理系统，包括Referring to FIG. 4 , the present application also provides a fault management system suitable for an advanced driving assistance system, comprising:

故障检测模块：故障检测是故障通信框架的入口，而这部分逻辑是嵌入在各个模块中，由各个模块负责识别异常及做故障的映射。通常在设计阶段就应该识别出自身模块会出现哪些异常系，产生哪些故障，即故障检测识别的是第一阶段的故障定义。Fault detection module: Fault detection is the entrance of the fault communication framework, and this part of the logic is embedded in each module, and each module is responsible for identifying abnormalities and mapping faults. Usually in the design stage, it should identify which abnormal system will occur in its own module and which faults will occur, that is, the fault detection and identification is the fault definition in the first stage.

故障上报模块：故障上报定义了通信接口，是各个模块与故障处理中心模块交互的一个桥梁。接口定义了通信的方式，通信的数据结构及通信的传输协议。通信方式包含RPC(远程过程调用)或事件通知。通信的数据结构为具体的交互内容，通常包含故障ID，故障状态，故障产生的时间等等。通信的传输协议是指UDP/TCP/共享内存等常用的方式。Fault reporting module: Fault reporting defines the communication interface, which is a bridge for each module to interact with the fault processing center module. The interface defines the way of communication, the data structure of communication and the transmission protocol of communication. Communication methods include RPC (Remote Procedure Call) or event notification. The data structure of the communication is the specific interactive content, which usually includes the fault ID, the fault state, the time when the fault occurs, and so on. The transmission protocol of communication refers to common methods such as UDP/TCP/shared memory.

故障管理模块：故障管理的对象是从各个模块收集的故障，其职责是如何管理这些故障。可以考虑的有故障消抖，故障锁存，故障老化，故障策略的映射Fault management module: The object of fault management is the faults collected from various modules, and its responsibility is how to manage these faults. There are fault debounce, fault latching, fault aging, fault strategy mapping that can be considered

故障后处理模块：故障后处理是故障策略的实施。当故障产生，并经过聚类匹配到了某个策略，则经过该模块进行具体的实施，比如说功能关闭，驾驶员提醒，系统退出等等。Fault post-processing module: Fault post-processing is the implementation of fault policies. When a fault occurs and a certain strategy is matched by clustering, it will be implemented through this module, such as function shutdown, driver reminder, system exit and so on.

故障维测模块：此模块用于实时的格式化输出故障信息，用于开发人员调测，以及后期利用大数据收集在云端分析故障，类似于传统的诊断。Fault maintenance and testing module: This module is used to format and output fault information in real time, which is used for developer debugging, and later uses big data collection to analyze faults in the cloud, similar to traditional diagnosis.

请参照图5，本申请还提供了一种计算机设备，包括存储器、处理器和存储在存储器内并能由处理器运行的计算机程序，处理器执行计算机程序时实现上述任一项的方法。Referring to FIG. 5 , the present application also provides a computer device including a memory, a processor, and a computer program stored in the memory and executable by the processor. The processor implements any of the above methods when executing the computer program.

请参照图6，本申请还提供了一种计算机可读存储介质，非易失性可读存储介质，其内存储有计算机程序，计算机程序在由处理器执行时实现上述任一项的方法。Referring to FIG. 6 , the present application further provides a computer-readable storage medium, a non-volatile readable storage medium, in which a computer program is stored, and the computer program implements any of the above methods when executed by a processor.

显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing device, which can be centralized on a single computing device, or distributed in a network composed of multiple computing devices Alternatively, they can be implemented with program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or they can be integrated into The multiple modules or steps are fabricated into a single integrated circuit module. As such, the present invention is not limited to any particular combination of hardware and software.

以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.