Anchorage point fault detection method and device of vehicle and storage medium
By testing and comparing wireless feature data of vehicle anchor points, the problem of difficult detection of anchor point failures was solved, ensuring vehicle positioning accuracy and accurate positioning of digital keys.
Patent Information
- Application Number
- CN202310370527.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-04-07
- Publication Date
- 2026-05-15
- Estimated Expiration
- 2043-04-07
AI Technical Summary
In existing technologies, vehicle anchor point failures are difficult to detect quickly, resulting in decreased positioning accuracy of digital keys and making them difficult for users or vehicles to detect.
By controlling each anchor point for testing, wireless feature data is obtained and compared with data in a pre-stored wireless feature library to determine the actual fault condition of the anchor point. An appropriate positioning algorithm model is selected for positioning calculation, abnormal data is removed, and data is supplemented.
It enables rapid and accurate anchor point fault detection, ensuring vehicle positioning accuracy and improving the positioning accuracy of digital keys.
Smart Images
Figure CN116527482B_ABST
Abstract
Description
Technical Field
[0001] This application relates to vehicle control technology, and more particularly to a method, device, and storage medium for detecting anchor point faults in a vehicle. Background Technology
[0002] With the development of vehicle technology, the use of contactless digital keys for seamless vehicle control has become a trend. After the digital key establishes a connection with the vehicle, the vehicle tracks the position changes of the digital key in real time and triggers vehicle control actions when the relative positions of the digital key and the vehicle meet predetermined rules, such as unlocking the car doors when the digital key approaches the vehicle.
[0003] The digital key and multiple anchor points on the vehicle communicate wirelessly, during which a positioning algorithm locates the digital key. When an anchor point malfunctions, it can lead to missing or abnormal anchor point data, affecting the positioning accuracy of the digital key. However, this positioning accuracy deviation is difficult for users or vehicles to detect, and even if it is detected, it is difficult to determine whether it was caused by an anchor point malfunction.
[0004] Therefore, how to quickly detect the fault anchor points of a vehicle is an urgent problem to be solved. Summary of the Invention
[0005] This application provides a method, apparatus, and storage medium for detecting anchor point faults in vehicles, in order to solve the problem of difficulty in detecting faulty anchor points in vehicles.
[0006] In a first aspect, this application provides a method for detecting anchor point faults in a vehicle, the method comprising:
[0007] Control each anchor point to conduct tests and obtain the wireless characteristic data of each anchor point on other anchor points;
[0008] The wireless feature data of each anchor point on other anchor points are compared with the data in the pre-stored wireless feature library. The actual fault condition of each anchor point is determined based on the comparison results. The wireless feature library includes the wireless feature data of each anchor point under different fault conditions.
[0009] In conjunction with the first aspect, in one possible implementation, after comparing the wireless characteristic data of each anchor point on other anchor points with data in a pre-stored wireless characteristic database, and determining the actual fault status of each anchor point based on the comparison results, the method further includes:
[0010] Based on the actual fault situation, the target positioning algorithm model corresponding to the actual fault situation is selected from a set of preset positioning algorithm models. Different positioning algorithm models in the set of positioning algorithm models correspond to different anchor point fault situations.
[0011] In conjunction with the first aspect, in one possible implementation, the method further includes:
[0012] If an anchor point malfunctions, a notification message will be pushed to a pre-set terminal device, indicating that the anchor point has malfunctioned and needs repair.
[0013] In conjunction with the first aspect, in one possible implementation, the method further includes:
[0014] By detecting the broadcast information of the digital key at each anchor point, the detection data of the digital key at each anchor point is obtained;
[0015] The detection data of each anchor point relative to the digital key is input into the target positioning algorithm model to perform positioning calculations on the digital key and obtain the location information of the digital key; wherein, the target positioning algorithm model is a pre-determined positioning algorithm model corresponding to the actual fault conditions of each anchor point.
[0016] In conjunction with the first aspect, in one possible implementation, before inputting the test data of each anchor point to the digital key into the target positioning algorithm model to perform positioning calculations on the digital key and obtain the location information of the digital key, the method further includes:
[0017] The detection data of the digital key at each anchor point is preprocessed to remove abnormal data and / or supplement missing data.
[0018] Secondly, this application also provides a vehicle anchor point fault detection device, the device comprising:
[0019] The anchor point fault test module is used to control each anchor point to perform tests and acquire wireless characteristic data of each anchor point.
[0020] The anchor point fault detection module is used to compare the wireless feature data of each anchor point with the data in the pre-stored wireless feature library, and determine the actual fault status of each anchor point based on the comparison results. The wireless feature library includes the wireless feature data of each anchor point under different fault conditions.
[0021] In conjunction with the second aspect, in one possible implementation, the device further includes:
[0022] The algorithm control module is used to select the target positioning algorithm model corresponding to the actual fault situation from a set of preset positioning algorithm models, wherein different positioning algorithm models in the set of positioning algorithm models correspond to different anchor point fault situations.
[0023] In conjunction with the second aspect, in one possible implementation, the device further includes:
[0024] The reminder module is used to push reminder information through a preset terminal device if the anchor point fails. The reminder information is used to indicate that the anchor point has failed and needs to be repaired.
[0025] In conjunction with the second aspect, in one possible implementation, the device further includes:
[0026] The positioning and measurement module is used to detect the broadcast information of the digital key through each anchor point and obtain the detection data of the digital key at each anchor point;
[0027] The algorithm module is used to input the detection data of each anchor point to the digital key into the target positioning algorithm model, perform positioning calculations on the digital key, and obtain the position information of the digital key; wherein, the target positioning algorithm model is a pre-determined positioning algorithm model corresponding to the actual fault conditions of each anchor point.
[0028] In conjunction with the second aspect, in one possible implementation, the device further includes:
[0029] The preprocessing module is used to preprocess the detection data of the digital key for each anchor point, removing abnormal data and / or supplementing missing data.
[0030] Thirdly, this application also provides a vehicle, said vehicle comprising:
[0031] The vehicle body, multiple anchor points, a control device, and a communication interface for interacting with other devices, the control device being used to perform the vehicle anchor point fault detection method as described in any of the first aspects.
[0032] Fourthly, this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the vehicle anchor point fault detection method as described in any of the first aspects.
[0033] This application provides a method, apparatus, and storage medium for detecting anchor point faults in vehicles. The method includes: controlling each anchor point to perform tests and acquiring wireless feature data of each anchor point on other anchor points; comparing the wireless feature data of each anchor point on other anchor points with data in a pre-stored wireless feature library, and determining the actual fault condition of each anchor point based on the comparison results. The wireless feature library includes wireless feature data corresponding to each anchor point under different fault conditions. By acquiring the wireless feature data of the anchor point from other anchor points and comparing it with data in the pre-stored wireless feature library to determine the anchor point fault condition, rapid anchor point fault detection is achieved without relying on external equipment, ensuring the positioning accuracy of vehicle anchor points. Attached Figure Description
[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0035] Figure 1 A schematic diagram illustrating the positioning principle of the anchor point for the vehicle provided in this application;
[0036] Figure 2 A schematic diagram illustrating the application scenario of the vehicle anchor point fault detection method provided in this application;
[0037] Figure 3 A flowchart illustrating an embodiment of the vehicle anchor point fault detection method provided in this application;
[0038] Figure 4 A flowchart illustrating Embodiment 2 of the vehicle anchor point fault detection method provided in this application;
[0039] Figure 5 A flowchart illustrating an example of the vehicle anchor point fault detection method provided in this application;
[0040] Figure 6 A schematic diagram of the structure of an embodiment of the vehicle anchor point fault detection device provided in this application;
[0041] Figure 7 This is a structural diagram of the vehicle provided in this application.
[0042] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0044] First, let me introduce the technical background of this application:
[0045] The contactless digital key connects to the vehicle via Bluetooth or other wireless means. After the vehicle completes security authentication, the vehicle tracks the position changes of the digital key in real time through anchor points and triggers vehicle control actions when the relative positions of the digital key and the vehicle meet the predetermined rules.
[0046] After security authentication is completed, a positioning session is established between the vehicle and the digital key, based on Bluetooth Low Energy (BLE), Ultra Wide Band (UWB), or other similar wireless communication mechanisms. During the session, if BLE-based positioning is used, the key continuously broadcasts a signal, and the vehicle's anchor point detects changes in the signal to determine the digital key's position relative to the vehicle. If UWB-based positioning is used, the digital key and the vehicle's anchor point negotiate the session and exchange data, completing the positioning of the digital key relative to the vehicle during the data exchange.
[0047] The anchor point performs a distance test on the digital key, calculating the distance between them. This distance can be the actual distance or an indirect representation of it, such as wireless signal strength. If the positioning between the anchor point and the digital key is based on UWB, the ranging method can be TOF (Time of Flight) or other methods.
[0048] The TOF (Time-of-Flight) ranging method includes the following steps:
[0049] 1. At time t1, the anchor point sends a poll packet;
[0050] 2. At time t2, the poll packet travels through the air for a time Tf (i.e., t2-t1) before reaching the digital key;
[0051] 3. At time t3, after the digital key has been processed for a duration of Tdelay (i.e., t3-t2), it sends a response packet to reply to the anchor point;
[0052] 4. At time t4, the response packet arrives at the anchor point after time Tf;
[0053] 5. Calculate the distance between the anchor point and the digital key using the formula:
[0054]
[0055] The above is a specific method for calculating the distance of a digital key from a single anchor point. Based on the distance information between multiple anchor points and the digital key, the relative position of the digital key with respect to the vehicle can be determined. Figure 1 This is a schematic diagram illustrating the positioning principle of the vehicle's anchor point provided in this application, such as... Figure 1As shown, theoretically only 3 anchor points are needed to calculate the relative position of the digital key based on the distance between the anchor point and the digital key. However, in practical applications, due to changes in the wireless characteristics of the system environment, different antenna orientations and obstructions of the key, and errors in the electrical characteristics of the key and anchor points, positioning deviations can occur. Therefore, more anchor points are often required to locate the key.
[0056] In the specific positioning calculation process, based on the detection data obtained from multiple anchor points, a positioning algorithm that conforms to the actual anchor point status of the vehicle is used to calculate the data, ultimately obtaining the relative position information of the key. When one of the multiple anchor points of the vehicle malfunctions, the missing detection data of the malfunctioning anchor point or the abnormal data of the malfunctioning anchor point leads to a decrease in the positioning accuracy of the digital key calculated by the positioning algorithm model. However, this inaccurate positioning accuracy is difficult for users or vehicles to detect, and even if it is detected, it is difficult to determine whether it is caused by the anchor point malfunction.
[0057] In view of the above problems, the inventors discovered during their research in this field that a vehicle has multiple anchor points. One anchor point can be selected for fault testing, while other anchor points acquire the wireless characteristic data of that anchor point. The acquired wireless characteristic data is then compared with pre-stored wireless characteristic data acquired by other anchor points to determine whether the anchor point is functioning correctly. Based on this, this application proposes a method, apparatus, and storage medium for detecting anchor point faults in a vehicle.
[0058] Figure 2 This is a schematic diagram illustrating an application scenario for the vehicle anchor point fault detection method provided in this application, such as... Figure 2 As shown, in this scenario, the vehicle has multiple anchor points, each of which includes a Bluetooth module or a UWB module, providing wireless communication capabilities. Generally, the more anchor points a vehicle has, the more robust the corresponding positioning algorithm model and the higher the positioning accuracy. A vehicle typically includes 6-7 anchor points, and this application does not limit the number of vehicle anchor points.
[0059] If the vehicle performs a location test on the digital key, the digital key will establish a connection with the vehicle through a wireless interface. The digital key can be a user's mobile phone, a wireless communication physical key, a smart device, or a wearable device, etc.
[0060] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.
[0061] Figure 3 The flowchart of Embodiment 1 of the vehicle anchor point fault detection method provided in this application is shown below. Figure 3As shown, the method for detecting anchor point faults in this vehicle includes the following steps:
[0062] S101. Control each anchor point to perform tests and obtain the wireless characteristic data of each anchor point on other anchor points.
[0063] In this solution, to detect whether the vehicle anchor points are faulty, it is necessary to periodically test each anchor point to determine whether the anchor point status is normal. Periodic testing of each anchor point can be cyclical, such as once a day or once a week, or event-driven, such as when the vehicle starts or stops, or initiated by the user; this application does not impose any restrictions on this.
[0064] In this step, firstly, when the vehicle control system performs a fault test on a single anchor point, this anchor point, acting as the anchor point under test, initiates a wireless ranging service. Other anchor points, acting as test anchor points, respond to the wireless ranging service, detecting the anchor point under test and acquiring its wireless characteristic data. The ranging between anchor points can be based on BLE or UWB. Accordingly, in the case of Bluetooth ranging, the wireless characteristic data can be the wireless signal strength received by other anchor points from the anchor point's broadcast; it can also be the actual distance measured between other anchor points and the anchor point using TOF or other methods in the case of UWB ranging; or it can be a direct or indirect representation of the distance measured by other ranging mechanisms.
[0065] In one possible implementation, Time-of-Flight (TOF) ranging is used to acquire detection data. Based on the UWB positioning session, other anchor points perform detection on the tested anchor point, including: the time t1 when the test anchor point sends a data packet; the time t2 when the data packet arrives at other anchor points; the time t3 when other anchor points send response packets; and the time t4 when the test anchor point receives the response packet. The test anchor point calculates the distance between the anchor point and the digital key using the following formula based on the data from each time point in the response packet:
[0066]
[0067] In one possible implementation, Bluetooth ranging is used to acquire detection data. The detection of the anchor point by each test anchor point includes: the anchor point continuously broadcasting a signal; the test anchor point detecting the signal strength; and determining the distance of the anchor point based on the received Bluetooth signal strength (RSS).
[0068] Optionally, fault tests are performed on each anchor point of the vehicle control system. Fault detection on all anchor points can ensure that all anchor points are in normal condition.
[0069] Optionally, during normal user use, the number of anchor point failures and the number of anchor point data anomalies can be recorded. During anchor point failure testing, anchor points with higher failure or data anomaly counts can be selected for failure testing, which can reduce the failure testing time.
[0070] Optionally, the test anchor point continuously monitors the anchor point under test to obtain continuously changing detection data.
[0071] S102. Compare the wireless feature data of each anchor point on other anchor points with the data in the pre-stored wireless feature library, and determine the actual fault status of each anchor point based on the comparison results. The wireless feature library includes the wireless feature data of each anchor point under different fault conditions.
[0072] In this step, other anchor points acquire the wireless characteristic data of the anchor point under test and compare it with the wireless characteristic data of that anchor point in a pre-stored wireless characteristic database to determine whether the anchor point is faulty. The wireless characteristic database includes wireless characteristic data of anchor points under normal conditions and wireless characteristic data of each anchor point under different fault conditions. Then, the actual fault status of each anchor point under test in this fault test is obtained sequentially.
[0073] In one possible implementation, the wireless signature database includes a table of wireless signal strength data from any anchor point to other anchor points under normal conditions. The wireless signal strength from the anchor point to other anchor points obtained during the fault test is compared with the wireless signal strength data table in the wireless signature database. If the deviation exceeds a preset range, the anchor point is determined to be faulty.
[0074] Optionally, to determine the fault status of the anchor point, the acquired wireless feature data can be input into a fault detection model pre-designed by the developers, and the fault detection model will output the result of whether the anchor point is faulty.
[0075] Optionally, the wireless feature data of a certain anchor point can be compared with the wireless feature data of the corresponding anchor point under different fault conditions in the wireless feature database to determine the fault condition that best matches the anchor point, and the fault condition can be pushed to the vehicle's central control screen or other display devices or the user's terminal device for display.
[0076] Optionally, based on the actual fault situation, a target positioning algorithm model corresponding to the actual fault situation can be selected from a set of preset positioning algorithm models. Different positioning algorithm models in the set of positioning algorithm models correspond to different anchor point fault situations.
[0077] If an anchor point malfunctions or has been repaired, continuing to use the current positioning algorithm model will affect positioning accuracy. Therefore, based on the actual fault conditions measured during anchor point fault testing, a target positioning algorithm model corresponding to the actual fault condition is selected from multiple preset positioning algorithm models. Different positioning algorithm models correspond to different anchor point fault conditions. By pre-setting positioning algorithm models that conform to various anchor point conditions within the vehicle, and selecting the target positioning algorithm model that matches the actual situation based on the test results during fault testing, the positioning algorithm model can be quickly switched when the vehicle's anchor point malfunctions, ensuring the vehicle's positioning accuracy for the digital key.
[0078] It should be noted that the multiple localization algorithm models are pre-set by the developers, including localization algorithm models for vehicles under different combinations of normal anchor points. These models are trained on the training dataset under the corresponding anchor point combinations. These models can be based on Long Short-Term Memory (LSTM) networks, Chan's algorithm, Taylor series algorithms, etc., without restriction.
[0079] Optionally, if it is impossible to select a positioning algorithm model that corresponds to the actual fault situation from multiple positioning algorithm models, a reminder message will be pushed to the vehicle's central control screen or the user's terminal device through a preset mechanism. The reminder message is used to indicate that the anchor point has failed and needs to be repaired.
[0080] When it is impossible to select a positioning algorithm model that matches the actual fault situation from multiple positioning algorithm models, it indicates that the current vehicle anchor point failure is very serious. For example, if all anchor points are faulty, it is impossible to locate the digital key. Therefore, it is necessary to remind the user that the anchor points need to be repaired.
[0081] This application provides a method for detecting anchor point faults in a vehicle. The method includes: controlling each anchor point to perform tests and acquiring wireless feature data for each anchor point; comparing the wireless feature data of each anchor point with data in a pre-stored wireless feature library; and determining the actual fault condition of each anchor point based on the comparison results. The wireless feature library includes wireless feature data corresponding to each anchor point under different fault conditions. By acquiring the wireless feature data of the test anchor point from other anchor points of the vehicle and comparing it with data in the pre-stored wireless feature library to determine the anchor point fault condition, rapid anchor point fault detection is achieved without relying on external devices, ensuring the positioning accuracy of the vehicle anchor points.
[0082] Figure 4 The flowchart of Embodiment 2 of the vehicle anchor point fault detection method provided in this application is shown below. Figure 4 As shown, based on Embodiment 1, the anchor point fault detection method for this vehicle further includes the following steps:
[0083] S201. Detect the broadcast information of the digital key through each anchor point, and obtain the detection data of the digital key for each anchor point.
[0084] In this step, when the user approaches the vehicle with the digital key, the vehicle triggers a control action when the relative position of the digital key conforms to predetermined rules, such as unlocking the door within 3 meters of the vehicle. Therefore, the location of the digital key needs to be determined. The digital key broadcasts a wireless signal containing its identification identifier, which the vehicle receives and authenticates. After authentication, each anchor point on the vehicle performs location detection on the digital key, acquiring detection data. This data represents the distance of the digital key from the anchor point. The anchor points can detect the digital key using either BLE-based signal strength detection or UWB-based actual distance detection. The anchor points continuously detect the digital key, acquiring continuously changing detection data.
[0085] In one possible implementation, Time-of-Flight (TOF) ranging is used to acquire detection data. In a UWB-based positioning session, each anchor point detects the digital key by: the time t1 when the anchor point sends a data packet; the time t2 when the data packet arrives at the digital key; the time t3 when the digital key sends a response packet; and the time t4 when the anchor point receives the response packet. The distance between the anchor point and the digital key is calculated using the following formula based on the data from each moment in the response packet:
[0086]
[0087] In one possible implementation, Bluetooth ranging is used to acquire detection data. The detection of the digital key by each anchor point includes: the key continuously broadcasting a signal; the anchor point detecting the signal strength; and determining the distance to the anchor point based on the received Bluetooth signal strength (RSS).
[0088] S202. Input the detection data of the digital key at each anchor point into the target positioning algorithm model, perform positioning calculation on the digital key, and obtain the position information of the digital key; wherein, the target positioning algorithm model is a pre-determined positioning algorithm model corresponding to the actual fault condition of each anchor point.
[0089] In this step, to accurately determine the current position of the digital key relative to the vehicle, a positioning algorithm model that matches the current state of the vehicle's anchor points is required. Before the user uses the digital key to control the vehicle, the vehicle pre-tests each anchor point to determine if it is faulty. Then, a target positioning algorithm model that matches the current state is selected from multiple pre-stored positioning algorithm models. These pre-stored positioning algorithm models include positioning algorithm models for each anchor point under different fault conditions. During the digital key positioning process, the detection data of the digital key obtained from each anchor point is input into the target positioning algorithm model to obtain the position information of the digital key relative to the vehicle. Based on this position information, the corresponding vehicle control operation is triggered.
[0090] Optionally, the detection data of the digital key from the continuous anchor points can be input into the target positioning algorithm model to reduce the positioning deviation caused by the error of a single measurement.
[0091] Optionally, the detection data of each anchor point for the digital key can be preprocessed to remove abnormal data and / or supplement missing data. During the actual positioning and measurement process of the digital key, the data measured by the anchor points may be inaccurate. For example, communication signals may be blocked, causing the anchor point to not receive a wireless signal or receive an incomplete signal, thus making it impossible to obtain the distance value between the digital key and the anchor point. Therefore, the detection data obtained by the anchor points needs to be preprocessed, and the preprocessing should include at least the following methods:
[0092] The first method: Remove abnormal data from the detection data.
[0093] For example, in the TOF ranging method, the distance from the digital key to the anchor point is compared with the limit distance of the measurement method. If the distance exceeds the limit distance, it is considered abnormal data and is discarded.
[0094] For example, the distance value of a certain anchor point detection data is compared with the average distance obtained from all other anchor points. If it exceeds the preset range, it is considered abnormal data and is removed.
[0095] The second method is to fill in the missing data. If the distance value of the detection data of a certain anchor point is empty and no data has been received, then the detection data is filled in. The filled data can be 0 or the average value of other anchor points.
[0096] The third method involves removing outlier data from the detection data and supplementing any missing data.
[0097] By processing the detection data in the above manner, the accuracy of the data and the positioning accuracy of the positioning algorithm model can be improved.
[0098] This embodiment provides a method for detecting anchor point faults in vehicles. It acquires detection data for each anchor point's digital key by detecting broadcast information from the digital key at each anchor point. Then, this detection data is input into a target positioning algorithm model to calculate the digital key's location. This target positioning algorithm model is a pre-determined model corresponding to the actual fault conditions of each anchor point. By using a pre-selected positioning algorithm model that matches the actual conditions of the vehicle's anchor points, positioning accuracy can be improved, avoiding inaccurate positioning caused by anchor point faults.
[0099] Taking the UWB-based positioning session between the vehicle and the digital key as an example, this paper provides a detailed explanation of the method for detecting anchor point faults in vehicles. Figure 5 The flowchart is a sample of an example of the vehicle anchor point fault detection method provided in this application, as shown below. Figure 5 As shown, this example includes the following steps:
[0100] S301. When the vehicle is turned off, randomly select two anchor points from the vehicle anchor points to conduct fault tests and obtain the wireless characteristic data of the two anchor points based on UWB wireless communication.
[0101] In this step, before the user controls the vehicle via the digital key, the vehicle first performs an anchor point fault test. Two anchor points are randomly selected for the fault test. The randomly selected anchor point acts as the initiator to initiate a UWB broadcast, and the other anchor points act as the responders to receive the broadcast and establish a connection. After the connection is established, distance measurement is performed. The distance measurement method can be unidirectional or bidirectional, and this patent does not limit this.
[0102] Taking the one-way ranging (TOF) method as an example, the ranging process is explained as follows: the test anchor point sends a data packet containing a timestamp; the anchor point under test receives the data packet and generates a response packet with a timestamp; the response packet with the timestamp is sent to the test anchor point, the test anchor point receives the response packet and records the timestamp of the received response packet, calculates the time difference of radio transmission based on the timestamp, and uses the radio propagation speed multiplied by the time difference to obtain the distance value.
[0103] S302. Compare the wireless characteristic data of the two anchor points with the wireless characteristic data tables of the two anchor points that are pre-stored in the wireless characteristic database, and determine the actual fault status of the two anchor points based on the comparison results.
[0104] In this step, the wireless characteristic data of the two anchor points obtained from the test are acquired, that is, the distance value of a single anchor point from other anchor points. The distance values of each anchor point from other anchor points obtained from the test are compared with the distance values of the anchor point from other anchor points stored in the wireless characteristic library in advance. If the deviation exceeds the preset range, the anchor point that exceeds the range is determined to be faulty.
[0105] S303. Select the target location algorithm model that corresponds to the actual fault situation from the preset multiple location algorithm models.
[0106] In this step, multiple positioning algorithm models are pre-set in the vehicle, including positioning algorithm models applicable to all anchor points under different conditions. If the test data of two anchor points are within the normal range, the positioning algorithm for which all anchor points are normal is selected; if one anchor point is faulty, the positioning algorithm model corresponding to the faulty anchor point is selected; if both anchor points are faulty, the positioning algorithm model for which both anchor points are faulty is selected.
[0107] S304: Receive the broadcast signal from the digital key, establish a positioning session based on UWB wireless communication, and perform ranging.
[0108] In this step, when the user approaches the vehicle with the digital key, the digital key broadcasts via UWB. All anchor points on the vehicle that can link with the digital key receive the broadcast and establish a connection. After the connection is established, distance is measured between each anchor point and the digital key.
[0109] S305. Each anchor point performs distance detection on the digital key to obtain detection data.
[0110] This step is similar to the distance measurement process in S301, and will not be described again. After the distance measurement is completed, the distance detection data of each anchor point to the digital key is obtained.
[0111] S306. Input the distance detection data into the target localization algorithm model.
[0112] In this step, the detection data obtained from anchor point distance detection is input into the target localization algorithm model. If there is an anchor point fault in the previous fault test, the faulty anchor point data is discarded and not input into the target localization algorithm model.
[0113] S307. Output the location information of the digital key and respond according to the location information.
[0114] In this step, the target localization algorithm model outputs the location information of the digital key. Based on the current location information of the digital key, and according to the vehicle control commands corresponding to different pre-stored locations, the model executes the vehicle control commands to respond to the user.
[0115] This example provides a method for detecting anchor point faults in vehicles. Before the user takes control of the vehicle, two anchor points are randomly selected for fault testing to determine if they are faulty. Based on the actual fault condition, a corresponding target positioning algorithm is selected, and the digital key is located using this algorithm. This method can quickly determine the status of vehicle anchor points, improving anchor point detection speed, and by selecting the appropriate positioning algorithm model based on the actual status of the anchor points, it improves positioning accuracy and precision.
[0116] Figure 6 This is a schematic diagram of the structure of an embodiment of the vehicle anchor point fault detection device provided in this application, as shown below. Figure 6 As shown, the vehicle's anchor point fault detection device 300 includes:
[0117] Anchor point fault test module 311 is used to control each anchor point to perform tests and obtain wireless characteristic data of each anchor point on other anchor points.
[0118] Anchor point fault detection module 312 is used to compare the wireless feature data of each anchor point on other anchor points with the data in the pre-stored wireless feature library, and determine the actual fault status of each anchor point based on the comparison results. The wireless feature library includes the wireless feature data of each anchor point under different fault conditions.
[0119] Optionally, the device further includes:
[0120] The algorithm control module 313 is used to select the target positioning algorithm model corresponding to the actual fault situation from a set of preset positioning algorithm models according to the actual fault situation. Different positioning algorithm models in the set of positioning algorithm models correspond to different anchor point fault situations.
[0121] Optionally, the device further includes:
[0122] The reminder module 314 is used to push reminder information through a preset terminal device if the anchor point fails. The reminder information is used to indicate that the anchor point has failed and needs to be repaired.
[0123] Optionally, the device further includes:
[0124] The positioning and measurement module 315 is used to detect the broadcast information of the digital key through each anchor point and obtain the detection data of the digital key at each anchor point;
[0125] The positioning algorithm module 316 is used to input the detection data of each anchor point to the digital key into the target positioning algorithm model, perform positioning calculations on the digital key, and obtain the position information of the digital key; wherein, the target positioning algorithm model is a pre-determined positioning algorithm model corresponding to the actual fault conditions of each anchor point.
[0126] Optionally, the device further includes:
[0127] The preprocessing module 317 is used to preprocess the detection data of the digital key for each anchor point, remove abnormal data and / or supplement missing data.
[0128] The vehicle anchor point fault detection device provided in this embodiment is used to execute the technical solution on the vehicle side of any of the above method embodiments. Its implementation principle and technical effect are similar, and will not be described in detail here.
[0129] Figure 7 A structural schematic diagram of a vehicle provided in this application, such as Figure 7 As shown, the vehicle 500 includes:
[0130] The vehicle body 511, multiple anchor points 512, control device 513, and communication interface 514 for interacting with other devices, wherein the control device is used to perform the vehicle anchor point fault detection method as described in any of the above method embodiments.
[0131] Optionally, the various devices mentioned above in the vehicle 500 can be connected via a system bus.
[0132] Optionally, the vehicle also includes a memory that stores vehicle control device execution commands, multiple positioning algorithm models, and wireless feature database data.
[0133] The memory can be a separate storage unit or a storage unit integrated into the control device 513.
[0134] Optionally, the vehicle may also include a display for showing the processor's processing results and for human-machine interaction. In some embodiments, the display may be the vehicle's front panel; in other embodiments, the display may be a flexible display screen, or even a non-rectangular, irregularly shaped display screen, i.e., a non-rectangular screen. The display may be made of materials such as liquid crystal display (LCD) or organic light-emitting diode (OLED).
[0135] It should be understood that the control device 513 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.
[0136] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.
[0137] All or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable memory. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disk, and any combination thereof.
[0138] The vehicle provided in this application embodiment can be used to perform the anchor point fault detection method for the vehicle described in any of the above method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.
[0139] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the vehicle anchor point fault detection method as described in any of the foregoing method embodiments.
[0140] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.
[0141] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When the at least one processor executes the computer program, it can implement the vehicle anchor point fault detection method provided in any of the foregoing embodiments.
[0142] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.
[0143] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.
Claims
1. A method for detecting anchor point faults in a vehicle, characterized in that, include: In a vehicle environment, each anchor point is controlled to perform fault tests, and wireless characteristic data of each anchor point on other anchor points is obtained. The wireless feature data of each anchor point on other anchor points are compared with the data in the pre-stored wireless feature library. The actual fault condition of each anchor point is determined based on the comparison results. The wireless feature library includes the wireless feature data of each anchor point under different fault conditions. Based on the actual fault situation, a target positioning algorithm model corresponding to the actual fault situation is selected from a set of preset positioning algorithm models. Different positioning algorithm models in the set of positioning algorithm models correspond to different anchor point fault situations. The target positioning algorithm model is used to perform positioning calculations on the digital key to obtain the location information of the digital key.
2. The method according to claim 1, characterized in that, The method further includes: If an anchor point malfunctions, a notification message will be pushed to a pre-set terminal device, indicating that the anchor point has malfunctioned and needs repair.
3. The method according to claim 1, characterized in that, The method further includes: By detecting the broadcast information of the digital key at each anchor point, the detection data of the digital key at each anchor point is obtained; The detection data of each anchor point relative to the digital key is input into the target positioning algorithm model to perform positioning calculations on the digital key and obtain the location information of the digital key; wherein, the target positioning algorithm model is a pre-determined positioning algorithm model corresponding to the actual fault conditions of each anchor point.
4. The method according to claim 3, characterized in that, Before inputting the test data of each anchor point to the digital key into the target positioning algorithm model to perform positioning calculations on the digital key and obtain the location information of the digital key, the method further includes: The detection data of the digital key at each anchor point is preprocessed to remove abnormal data and / or supplement missing data.
5. A vehicle anchor point fault detection device, characterized in that, The device includes: The anchor point failure test module is used to control each anchor point to perform tests in a vehicle environment and obtain the wireless characteristic data of each anchor point on other anchor points. Anchor point fault detection module is used to compare the wireless feature data of each anchor point on other anchor points with the data in the pre-stored wireless feature library, and determine the actual fault situation of each anchor point based on the comparison results. The wireless feature library includes the wireless feature data of each anchor point under different fault situations. The device further includes: The algorithm control module is used to select a target positioning algorithm model corresponding to the actual fault situation from a set of preset positioning algorithm models. Different positioning algorithm models in the set of positioning algorithm models correspond to different anchor point fault situations. The target positioning algorithm model is used to perform positioning calculations on the digital key to obtain the location information of the digital key.
6. The apparatus according to claim 5, characterized in that, The device further includes: The reminder module is used to push reminder information through a preset terminal device if the anchor point fails. The reminder information is used to indicate that the anchor point has failed and needs to be repaired.
7. The apparatus according to claim 6, characterized in that, The device further includes: The positioning and measurement module is used to detect the broadcast information of the digital key through each anchor point and obtain the detection data of the digital key at each anchor point; The positioning algorithm module is used to input the detection data of each anchor point to the digital key into the target positioning algorithm model, perform positioning calculations on the digital key, and obtain the position information of the digital key; wherein, the target positioning algorithm model is a pre-determined positioning algorithm model corresponding to the actual fault conditions of each anchor point.
8. The apparatus according to claim 7, characterized in that, The device further includes: The preprocessing module is used to preprocess the detection data of the digital key for each anchor point, removing abnormal data and / or supplementing missing data.
9. A vehicle, characterized in that, The vehicles include: The vehicle body, multiple anchor points, a control device, and a communication interface for interacting with other devices, the control device being used to perform the vehicle anchor point fault detection method as described in any one of claims 1 to 4.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle anchor point fault detection method as described in any one of claims 1 to 4.