CN102904920B - Efficient navigation data download method - Google Patents

Abstract

Provide a kind of efficient navigation data download method.A kind of packaging method, including: prepare the data including driving instruction for being sent to vehicle.This illustrative method also comprises determining that a part for these data sends vehicle computing system in order to the first packet mode, wherein, described vehicle computing system and the server performing described method communicate, wherein, described determine that step is at least partially based in vehicle described first bag when needing to comprise at least the first driver's action instruction.Described method also includes: a part for the data determined is added to described first bag, and described first bag of described data is sent to the vehicle computing system with server communication.Finally, described method includes: according to the remaining data for transmitting, repeat the step determining, add and transmitting, until not having residue for the data transmitted, thus multiple bag arrives vehicle, and processed output before first driver's action instruction of each bag needed in vehicle.

Description

Efficient navigation data download method

Technical field

The exemplary embodiment of the present invention relates to a kind of method that efficient navigation data are downloaded.More specifically, the exemplary embodiment of the present invention relates to the packaging method that a kind of efficient navigation data are downloaded.

Background technology

Nowadays, Vehicular navigation system (the most onboard system and handheld GPS system) has emerged for many years.Initially, these systems often receive cartographic information from removable medium (such as CD).Recently, many map systems have the internal storage of storing map information.

Although map is stored in local storage (such as hard disk drive (HDD)) by some systems, but other system can couple telecommunication network to receive cartographic information.A series of directions that this information can for example be by wireless connections and transmit.Such as map datum do not store (or only part storage) on local HDD in the case of, such as can be transmitted to obtain how soon aspect in data, it is provided that business may be limited in bandwidth.

In at least one existing system, Ford SYNC system, that is, vehicle computing system (can comprise Vehicular navigation system or can communicate with Vehicular navigation system, described Vehicular navigation system is onboard or from plate) can use ip voice (VOIP) to be connected to telecommunication network.This connection is that the finite bandwidth of the voice band using the wireless device being connected to vehicle computing system and telecommunication network connects.

Owing to voice band has limited available bandwidth, therefore information is limited in low transfer rate (connecting relative to such as clear data).But this does not generally interfere with the situation needing data, because user can wait, but in some cases, this some problem possible, such as in the case of the user in driving vehicle asks direction.If the direction of request can not be transmitted by available bandwidth in an efficient way, then the user that (transmitted big file owing to such as being connected by low bandwidth) before described direction is sent to vehicle actually can first even second turning of turning on pass course.

Summary of the invention

In the first illustrative embodiment, a kind of method includes: prepare the data (such as, being not limited to, determine route, determine instruction point etc. along route) including driving instruction for being sent to vehicle.

Described illustrative method also comprises determining that a part for these data sends vehicle computing system in order to the first packet mode, wherein, described vehicle computing system and the server performing described method communicate, wherein, described determine that step is at least partially based in vehicle described first bag when needing to comprise at least the first driver's action instruction.

Described method also includes: a part for the data determined is added to described first bag, and described first bag of described data is sent to the vehicle computing system communicated with described server.

Described method also includes: according to the remaining data for transmitting, repeat the step determining, add and transmitting, until not having residue for the data transmitted, thus multiple bag arrives processed output before vehicle, and first driver's action instruction of each bag needed in vehicle.

Second illustrative embodiment includes: the computer-readable recording medium of storage instruction, wherein, when executed so that server prepares the data including driving instruction for being sent to vehicle.It is at least partially based in vehicle and when needs the first bag, determine a part for the described data that will be delivered to vehicle computing system in the first packet, wherein, described vehicle computing system communicates with server, described first bag indicates described server that a part for the data determined is also added to described bag including at least first driver's action, and is sent to and the vehicle computing system of described server communication by the first bag of data.

Finally, described server can repeat, according to the remaining data for transmitting, the step determining, add and transmitting, until not having residue for the data transmitted, thus multiple bag exports before arriving vehicle, and first driver's action instruction of each bag being treated for needing in vehicle.

One illustrative device includes: data prepare Programmable Logic Device, for preparing the data including driving instruction for being sent to vehicle.Described exemplary also comprise determining that Programmable Logic Device, the first bag when is needed for being at least partially based in vehicle, determine a part for the described data that will be delivered to vehicle computing system in the first packet, wherein, described vehicle computing system communicates with server, and described first bag is including at least first driver's action instruction.

Described equipment also includes: add Programmable Logic Device, for adding a part for the data determined to described bag；Transmit Programmable Logic Device, for being sent to and the vehicle computing system of described server communication by the first of data the bag.

Finally, described equipment includes: repeat Programmable Logic Device, determine Programmable Logic Device, interpolation Programmable Logic Device for repeating to call and transmit Programmable Logic Device, until there is no residue for the data transmitted, thus multiple bag exports before arriving vehicle, and first driver's action instruction of each bag being treated for needing in vehicle.This repetition is according to the remaining data for transmitting.

Accompanying drawing explanation

Fig. 1 is illustrated based on the example frame topology of the calculating system of vehicle；

Fig. 2 illustrates the illustrated examples of the process that route plan is divided into multiple bag；

Fig. 3 illustrates the illustrated examples determining whether bag gets out the process transmitted；

Fig. 4 illustrates that time threshold determines the illustrated examples of process；

Fig. 5 illustrates that vehicle arrives the illustrated examples of diverse location based on the speed travelled and egress selection along route；

Fig. 6 illustrates the illustrated examples of data volume calculating vehicle program position and including.

Detailed description of the invention

Fig. 1 illustrates the example frame topology of the calculating system 1 (VCS) based on vehicle of vehicle 31.The example of such calculating system 1 based on vehicle is the SYNC system manufactured by Ford Motor Company (FORDMOTORCOMPANY).The vehicle enabling calculating system based on vehicle activation can comprise the visual front-end interface 4 being positioned in vehicle.If described interface is equipped with such as touch-sensitive screen, then user can also interact with described interface.In another illustrative embodiment, pressed by button, audible voice and phonetic synthesis occur alternately.

In the illustrative embodiment 1 shown in Fig. 1, processor 3 controls at least some of operation of calculating system based on vehicle.The processor arranged in vehicle allows order and program are carried out onboard processing.Additionally, processor is connected to volatile memory 5 and permanent memory 7.In this illustrative embodiment, volatile memory is random access memory (RAM), and permanent memory is hard disk drive (HDD) or flash memory.

Processor is additionally provided with the multiple different inputs allowing user mutual from processor.In this illustrative embodiment, mike 29, (for input 33) auxiliary input terminals 25, USB input 23, GPS input 24 and bluetooth input 15 are all set.Input selector 51 is also provided for allowing user to switch between various inputs.Before being passed to processor to the input of mike and subconnector, transducer 27 will be converted from analog into numeral to the input of mike and subconnector.

Outfan to system can include, but not limited to visual display unit 4 and speaker 13 or stereo system output.Speaker is connected to amplifier 11, and receives its signal by digital to analog converter 9 from processor 3.Also can be along realizing remote Bluetooth device (such as PND54) or the output of USB device (such as vehicle navigation apparatus 60) at the bidirectional traffic shown in 19 and 21 respectively.

In an illustrative embodiment, system 1 uses bluetooth transceiver 15 and the movement of user (nomadic) device 53 (such as, cell phone, smart phone, PDA or have other device any that wireless remote network connects) to communicate 17.Subsequently, mobile device is utilized for such as communication 55 with cell tower 57 and communicates 59 with the network 61 outside vehicle 31.In certain embodiments, tower 57 can be WiFi access point.

The example communication between mobile device and bluetooth transceiver is represented by signal 14.

Can be indicated by button 52 or similar input and mobile device 53 and bluetooth transceiver 15 are matched.Therefore, CPU be instructed to onboard bluetooth transceiver will with in mobile device bluetooth transceiver match.

Available data schema (data-plan), data-over-voice (dataovervoice) or the dtmf tone such as associated with mobile device 53 transmits data between CPU3 and network 61.Alternatively, it may be desirable to include that the onboard modem 63 with antenna 18 is to transmit 16 data by voice band between CPU3 and network 61.Subsequently, mobile device 53 is utilized for such as communication 55 with cell tower 57 and communicates 59 with the network 61 outside vehicle 31.In certain embodiments, modem 63 can set up the communication 20 with tower 57 to communicate with network 61.As nonrestrictive example, modem 63 can be USB cellular modem, and communication 20 can be cellular communication.

In an illustrative embodiment, processor is equipped with operating system, and described operating system includes the API for communicating with modem application software.Described modem application software may have access to the flush bonding module on bluetooth transceiver or firmware to complete and the radio communication of remote bluetooth transceiver (the remote bluetooth transceiver found in such as mobile device).

In another embodiment, mobile device 53 includes the modem for voice-band data communication or broadband data communication.In the embodiment of data-over-voice, when the owner of mobile device can be conversed by this device while transmitting in data, known frequency multiplexing technique can be performed.At All Other Times, when the owner does not use this device, data transmission can use whole bandwidth (in one example, 300Hz to 3.4kHz).

If user has the data schema associated with mobile device, then data schema can allow broadband transmission and described system can use broader bandwidth (speeding up data transmission).In another embodiment, mobile device 53 is installed to the cellular device (not shown) replacement of vehicle 31.In another embodiment, ND53 can be WLAN (LAN) device that can be communicated by such as (but not limited to) 802.11g network (that is, WiFi) or WiMax network.

In one embodiment, input data can pass through mobile device via data-over-voice or data schema, by onboard bluetooth transceiver, is passed in the internal processor 3 of vehicle.In the case of specific ephemeral data, such as, described data can be stored on HDD7 or other storage medium, until being no longer necessary to described data.

The other source that can interact with vehicle includes having such as USB and is connected 56 and/or the personal navigation apparatus 54 of antenna 58, has USB62 or other vehicle navigation apparatus 60 connected, onboard GPS device 24 or be connected to the long range aid to navigation system (not shown) of network 61.

Additionally, CPU can communicate with other auxiliary device 65 various.These devices can be connected by wireless connections 67 or wired connection 69.Additionally, or alternatively, CPU can use such as WiFi71 transceiver to be connected to wireless router 73 based on vehicle.This CPU can be allowed to be connected to local router 73 in the range of telecommunication network.Auxiliary device 65 can include, but not limited to personal media player, wireless medical devices, portable computer etc..

In at least one example system determined for route and transmit, vehicle computing system indicates from remote system receipt routing.In this embodiment, actual route can depart from Vehicular system and be calculated, and is sent to vehicle computing system by wireless device via wireless connections.The restriction of the connection of wireless device may be received through due to bandwidth, therefore can expect to transmit information with some.This allow initial information (such as, do the turning at once arrived required for information) quickly transmitted, remaining information in time and non-immediate is transmitted.

Such as, it is not limited to, some seconds can be spent to process and reply direction request.If whole request is processed and is responded, the most in some cases, this delay can be tens of second.Although this most unessential time quantum, but 11 by-pass (that is, 200 feet away) can be passed in 30 seconds with per hour 50 miles of drivers travelled.Therefore, especially for initial turn (or some initial turnings), it is desirable to transmit the directional information useful to the driver in movement fast enough.

About in the illustrated examples shown in Fig. 2, the route (step 201) that will travel from plate system-computed.Any suitable process for calculating the route from current location to destination can be performed.

The route that once will travel is calculated, and the first data set is included (step 205) in the first packet by the most described system.In this illustrative embodiment, the first data set is the data for the first instruction (that is, driver needs the point reacting data), and includes the first instruction.

Routing engine determines the whole routes that will travel or at least Part I route, and (as being provided, such as, when route is requested) is at least partially based on present speed, course and position, determines when vehicle may arrive the first instruction point.The exemplary process for estimating vehicle location is shown about Fig. 5 and Fig. 6 that will be discussed in further detail below.In certain embodiments, owing to while occurring in request, calculating and transmission subsequently, vehicle may move, therefore packing processes it is contemplated that possible vehicle moves during the time that request is hung up.

If there is being only sufficient to fill the data (step 207) (that is, not having data redundancy after initially including data) of the first bag, then single bag is can use to send all directions.Additionally, if the whole collection in direction is less than certain size threshold (step 203) (thereby indicate that such as can carry out direction of transfer by transmission quick, single), all data can be included in single bag (step 209) by the most described system.Subsequently, this first bag may pass to vehicle computing system (step 208).

Not being added to for the data (step 207) transmitted in bag if remained, the most described system determines whether the first bag is ready to transmit (step 211).To be more fully described this about Fig. 3 to determine.

Assure described in if getting transmission ready, then described in be coated and be sent to vehicle computing system (step 213).Illustrative process is it is later determined that the next one that is added at least partially in remaining data wraps (step 215).To be more fully described this about Fig. 4 to determine.

If needing other bag to complete the transmission in direction, then can be repeated for determining the process which data is added to bag.This process can continuously generate bag, until not having residue for the instruction transmitted, at this moment, can exit this process (step 217).

In at least one exemplary embodiment, first bag and second bag (the need to) respectively include up to 3 turn but not more than 3 turn data, and all remaining data (if present) are provided in three guarantees (that is, last bag).Although being not intended as limitative examples but it is determined that this configuration is suitable for various travel situations, and would generally make direction of transfer in required time threshold value.If particular course exceedes certain length, or the such as cost time is oversize to such an extent as to can not process, then the first bag can be transmitted before completing to calculate whole route.

Fig. 3 illustrates the illustrated examples determining whether bag gets out the process transmitted.

In this illustrated examples, it is included in (step 205) in bag at least one instruction, and after still having remained data (step 207), how long (step 301) described systems inspection determine from initiating to have passed through after route request.If elapsed time exceedes threshold time (step 303), the first bag is provided for transmitting (step 309) by the most described system.It addition, described systems inspection is to check whether to reach large packet size (step 305), or whether maximum amount of data (such as, in terms of direction) is included in (step 307) in specified packet.These tests are only for determining whether bag gets out the exemplary test transmitted.That can omit in these tests is one or more, or if it is required, can additionally or alternatively use other to test.

In this embodiment, due to the interaction between the impact of the expectation transmitted in time and the time of process, described system includes time check.Owing to some limited amount times can be spent to calculate and/or transmit driving instruction from plate system, and owing to driver currently may move, the long delay therefore transmitting instruction may make driver miss the first turning.

Although being shown without this embodiment, but described system is also based on vehicle and needs the car speed (or predicted vehicle speed) of distance and the reception travelled to determine for processing the time allowed further along present road.If to travel 10 miles along present road such as, but not limited to, vehicle, and this road has the estimating speed of 30 miles per hour, the most described system can determine that need not make the first turning instruction within a few minutes.Additionally or alternatively, scheduled time threshold value can be set to ensure before transmitting instruction the maximum duration (it is not processed that the maximum duration of transmission may cause driver to be mistakenly considered direction request) too long of delay not occurring or guaranteeing the time determined less than transmitting.With reference to Fig. 4, the example that time threshold calculating processes will be shown.

If having been maxed out bag size (step 305), described bag is also provided for transmitting (step 309) by the most described system.Even if driver the first instruction need to be communicated before also have a few minutes or several hours (that is, driver must make a response), also can be it is desirable to assure that first wraps in and arrives driver in the limited amount time.Limit and desired time quantum based on bandwidth, at least limit initial bag size and can determine that the quickly at least some of route of transmission, thus driver learns that request is received.

According to specific execution, the determination of " instruction of maximum quantity " may result in data and changes size.As about described by Fig. 5 and Fig. 6, described system can calculate possible vehicle location before the first possible turning, and includes the data about these positions.Therefore, compared with the vehicle travelled at a slow speed before intended turning or the vehicle that travelled on the road with little or no outlet before intended turning, on the road with multiple egress selection, the vehicle of fast running can have the bigger data set associated of turning with first.

In at least one illustrative embodiment, the quantity in the direction being at least included in the first bag is limited in predefined threshold value (such as, but be not limited to, two or three) by described system.By the quantity in the direction included is limited in low quantity, the first bag can will quickly be transmitted, and therefore rapidly at least the first turning collection is supplied to driver after direction request is made.If specified packet has arrived at the maximum quantity (step 307) of instruction, the most described system by this packet making for being used for transmitting (step 309).

Without reaching to expect any one in threshold value, the instruction of the most described system adds more data to bag (step 311).

Fig. 4 illustrates that time threshold determines the illustrated examples of process.

In this illustrative embodiment, when asking route, packing processes and is provided with car speed, course and current location (step 401).Such as, route can be asked while vehicle travels near suburb with per hour 25 miles.

After the data receiving vehicle location, described process determines the position (step 403) that may need the first instruction.This can be turning instruction, outlet instruction, turn to instruction etc..Owing to vehicle changes position after request is sent to server, the most described system " may must speculate " position such as needing to turn.In this illustrative embodiment, although described process is not limited to this example, but will continue with approximation present speed by approximating when current course needs instruction to carry out described supposition in the case of present road traveling based at vehicle.

There are certainly the exception of this " supposition ", such as, if the direction on the rightabout in current course of destination asked by vehicle.These exceptions can be processed on the basis of particular problem is made a concrete analysis of, or, described system can perform the different suitable method of " supposition ".

The most described process knows when to need to turn, and the most described process can estimate current vehicle location (step 405).The data that can be again based on receiving in step 401 are to carry out described estimation.Although not being absolutely correct, but still can expect to use present speed, course and travel, estimating because the data received in step 401 likely result in " worst case ".In other words, if vehicle has been moved off its road travelled when asking direction, then turn and be likely to relate to the part deceleration of vehicle, therefore, the some distance first that arbitrfary point distance the first instruction point arrived after turning is likely to than arriving in the case of continuing to stay on same road at vehicle indicates point farther.Therefore, in this embodiment, described system continues to travel " supposition " vehicle location by approximating current course along present road with approximation present speed based on vehicle.

Certainly, the volume of traffic and speed limit change on optional route can cause " current route " supposition not to be optimal, but in many cases, this will suffice as covering fully approaching of most possible vehicle location.

Once learning possible vehicle location and learn the possible point of the first instruction, how long (step 407) described system can estimate that vehicle arrives the point of the first instruction should.Due to based on given data already close to position, course and the speed of vehicle, the most described system can use this information there remains how many running times to understand before the point of instruction.

If it is required, this remaining time can be adjusted (step 409) subsequently.In this illustrated examples, from residue running time, deduct process and the delivery time of scheduled volume, just obtain the estimation of remaining time before instruction need are to be communicated.In this embodiment, also can expect not send instruction (such as, " turning now ") to driver when needs are turned, therefore deduct the other response time.The time calculated can be fixed, or be adaptable to given system and be dynamically adjusted.

The running time (step 409) being once adjusted, the most described system transmits described time (step 411) to make requests on the process of described time.This process may then use that described running time performs to further determine that, such as, but is not limited to, it is determined that when transmit bag.

Fig. 5 illustrates that vehicle arrives the illustrated examples of different positions based on speed and the egress selection travelled along route.

In this illustrated examples, vehicle 501 is currently travelled on street 503 by direction eastwards.The speed of vehicle in this illustration is about three blocks per minute.Block/minute velocity sorting be used for the facility of exemplary purpose and explanation, and be considered as nonrestrictive.Can in commission use suitable measurement standard (such as, but being not limited to, mph or Kmph).

From broken circle 505 and vehicle's contour 507 it can be seen that vehicle can arrive multiple position in one minute.In this embodiment, in 120 degree of arcs 505 based on current course, estimate possible position, but if so desired, described system can be in the estimation position Anywhere in 360 degree of complete arcs.

Can notice from accompanying drawing, although road 509 is " next " road in direction set, but if vehicle is in position 511, the most once direction is exported to driver, it may be necessary to different multiple turning instructions.Therefore, in this illustration, mass data 513 is transmitted, thus driver can arrive the route determined in any position from estimating position.This is beneficial to prevent from needing direction request is resend to server based on the situation departing from map.If including insufficient data, then user departs from the situation of map and may deteriorate, and in the case of very unfortunate, user may continue to make the direction travelled the decision made mistake, and continues continuity and depart from the situation of map.If providing the data of abundance when data transmit to cover all possible vehicle location, the most in most of the cases, user will receive suitably indicating the route that will travel from user current location.

But, need adequate data transmission to balance with to the potential demand quickly transmitted.If user only asked direction before will turn (route along determining), the most described system may must can include direction of transfer before all data of each possible position.In one embodiment, this is processed by following steps: first include the data for present road/speed/course, includes the data as much as possible 517 of radian 515 outside expanding the current course of vehicle to subsequently.

Also (or alternatively) other suitable implementation strategy can be used, such as, but be not limited to, calculate route based on the minimum running time in time receiving instruction.For example, it may be desirable to user travels the minimum time before receiving instruction, when determining suitable route, route determines and will consider this minimum running time.This also can have problem, particularly moves quickly through outlet on the horizon on a highway user, and in the case of next outlet is less than 20 miles.Described system can be set up particular case and trigger to solve problematic situation.On the other hand, owing to there is not the selection of outlet in example above in addition to an outlet, and owing to there is not additional " estimating " position of vehicle (i.e., vehicle stays on a highway or exited suitable point " surprisingly " before receiving instruction), therefore, described system can Quick-return instruction in any event.

Fig. 6 illustrates the estimating position calculating vehicle and the illustrated examples of data volume that will include.

In this illustrative embodiment, receive the current location of vehicle, course and speed (step 601) by processing.Described system is subsequently based on these data and determines in preset time section vehicle wheeled how far (step 603).In this relatively simple example, for the purpose estimated, described system assumes that vehicle can be travelled by any linear direction.It is to say, do not consider the most possible deceleration etc..Although " speculating " that algorithm is the most complicated, the possible time spent for processing is the longest, but can realize considering the more complicated system of many factors (such as, but being not limited to, deceleration, speed limit change, stop mark, traffic lights, travel pattern etc.).

Once obtaining the operating range (step 603) of estimation, the most described distance is just converted into multiple possible vehicle location (step 605).Described position associates (step 607) with map datum subsequently, and point overlapping on the road that estimating position is in desired radian is labeled (step 609).

The most described system has the point of estimating position in desired radian, and the most described system determines the data that will include based on these positions.In this embodiment, provide a kind of relatively simple data to include processing as example, although more complicated algorithm can be used as (if appropriate).

In this embodiment, primary importance is considered for current (as receive) course.Include the data (step 611) of turn from described position (or other instruction) to first.If not meeting time threshold (step 613) or not meeting size threshold value (step 615), the most described system subsequently advances to next position (step 617), and includes the data (step 611) relevant with described next position.

In an illustrative embodiment, described processing system ground considers the position of center (currently) course above and below, until reaching maximum radian (or meeting time threshold or size threshold value).In this embodiment, the direction that described system will be carried out based on turning on the horizon, above and below starts from the central position.Such as, if vehicle travels eastwards, and turning on the horizon is to bend to right (make vehicle to the south), then first check it will will be southeastern direction.Check to be the similarity distance of northeastward next time, and such inspection will be repeated, until meeting one of termination condition.

Alternatively, described system can check before checking any point of northeastward that the institute of southeastern direction is a little (owing to this is desired final direction).Or also can carry out reverse order.

These strategies are designed to provide desired data set in the case of meeting time/size threshold value before checking whole radian.Therefore, any algorithm of rational result is provided all to be suitably adapted for performing according to the expectation of provider.

Once meeting predetermined end point, the most described system is provided for indicate that and will include the instruction (step 619) of what data.

Although describing various exemplary, illustrative, non-limiting embodiment in detail, but the technical staff in the field that the present invention relates to will recognize that for implementing the various optional design of the present invention and the embodiment that are only limited by the claims.

Claims (7)

1. an efficient navigation data download method, including:

The data including driving instruction for being sent to vehicle are prepared at the server away from vehicle；

Based on communication transfer speeds and the time quantum before driver should perform first driver's action instruction of estimation, determine and include in the first packet to be sent to the data volume of vehicle computing system communicated with described server so that comprise before described the first of at least the first driver's action instruction wraps in the travel point that driver should perform first driver's action instruction and arrive described vehicle；

The data of the amount determined are added to described first bag；

Described first bag of data is sent to described vehicle computing system；

According to the remaining data for transmitting, repeat the step determining, add and transmitting, until there is no residue for the data transmitted so that before the travel point of first driver's action instruction that multiple drivers of wrapping in should perform each bag, arrive vehicle.

The most the method for claim 1, wherein each bag is transmitted so that each time point wrapping in described vehicle preset distance at least before first driver's action instruction that execution is included in described bag by driver arrives described vehicle.

3. method as claimed in claim 2, wherein, after direction request has been sent to described server, described server is operable to estimate remaining how many distances in the stroke before driver has to carry out the first action.

4. method as claimed in claim 3, wherein, operable current course, speed and the position to be at least partially based on vehicle of server estimates to remain how many distances in the stroke before driver has to carry out described action.

5. the method for claim 1, uses no more than the bag of three, and wherein, three guarantees are included in the first bag and the second bag all data not existed.

The most the method for claim 1, wherein first comprises the driver's action instruction less than three.

7. method as claimed in claim 5, wherein, second comprises the driver's action instruction less than three.