Digital vehicle key positioning system, method and related device

Abstract

The invention discloses a digital vehicle key positioning system and method and a related device, and belongs to the technical field of vehicle control. According to the method, a vehicle can receive position information sent by terminal equipment, and position information of a digital vehicle key relative to the vehicle is determined based on the position information of the terminal equipment and wireless signals collected by a plurality of short-distance wireless communication modules on the vehicle. Namely, the position information determined by the terminal equipment and the wireless signal acquired by the vehicle are fused to realize more accurate positioning of the digital vehicle key, so that the positioning error of the digital vehicle key is reduced, the positioning accuracy is improved, and the ping-pong problem of vehicle unlocking and locking and the consistency problem of unlocking and locking distances can be effectively solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a positioning system, method and related device for a digital vehicle key. Background Art

[0002] Digital car keys use smart phones, smart bracelets, smart watches and other terminal devices as carriers to achieve vehicle unlocking control, vehicle start and stop control, air conditioning temperature control, etc. The precise control of the vehicle through the digital car key mainly depends on the precise positioning of the digital car key, such as precise control of the vehicle unlocking through the precise positioning of the digital car key.

[0003] In the related art, the positioning of digital car keys is mainly achieved based on Bluetooth positioning. For example, the distance between the digital car key and the vehicle is determined based on the strength of the Bluetooth signal sent by the terminal device with the digital car key to the vehicle.

[0004] However, when the user carrying the terminal device turns around, swings his arm, or places the terminal device in a backpack or pocket, the Bluetooth signal received by the vehicle is unstable, resulting in a large positioning error for the digital car key, and it is easy to have a ping-pong problem in vehicle unlocking and consistency problems in the unlocking distance. Summary of the invention

[0005] The present application provides a digital car key positioning system, method and related device, which can reduce the positioning error of the digital car key, improve the positioning accuracy, reduce the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance. The technical solution is as follows:

[0006] In a first aspect, a digital car key positioning system is provided, the system comprising a vehicle and a terminal device, the vehicle having a plurality of short-range wireless communication modules, the terminal device having a digital car key of the vehicle;

[0007] The terminal device is used to transmit a wireless signal and send location information of the terminal device to the vehicle;

[0008] The vehicle is used to collect the wireless signals respectively through the multiple short-range wireless communication modules and receive the location information of the terminal device, and obtain the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

[0009] That is, this solution integrates the location information determined by the terminal device itself and the wireless signal collected by the vehicle itself to achieve more accurate positioning of the digital car key, reducing the positioning error of the digital car key, improving the positioning accuracy, and can effectively solve the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance.

[0010] Optionally, the vehicle is further configured to send a first instruction to the terminal device; the terminal device is configured to send the location information of the terminal device to the vehicle after receiving the first instruction. That is, this solution supports the vehicle controlling the terminal device to send the location information of the terminal device.

[0011] Optionally, the vehicle is further configured to send a second instruction to the terminal device; the terminal device is further configured to stop sending the location information of the terminal device to the vehicle after receiving the second instruction. That is, this solution supports the vehicle controlling the terminal device to stop sending the location information of the terminal device, which can save resource consumption of the terminal device and the vehicle to a certain extent.

[0012] Optionally, the terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data. That is, this solution can be implemented using the PDR function of the terminal device.

[0013] In a second aspect, a method for locating a digital vehicle key is provided, which is applied to a vehicle having multiple short-range wireless communication modules. The method includes:

[0014] The vehicle receives location information of a terminal device, which has a digital car key of the vehicle; wireless signals transmitted by the terminal device are respectively collected by the multiple short-range wireless communication modules; and the position of the digital car key relative to the vehicle is obtained based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

[0015] That is, this solution integrates the location information determined by the terminal device itself and the wireless signal collected by the vehicle itself to achieve more accurate positioning of the digital car key, reducing the positioning error of the digital car key, improving the positioning accuracy, and can effectively solve the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance.

[0016] Optionally, the method further includes: the vehicle sends a first instruction to the terminal device, the first instruction is used to instruct the terminal device to send the location information of the terminal device. That is, this solution supports the vehicle controlling the terminal device to send the location information of the terminal device.

[0017] Optionally, the first instruction is sent when any one of multiple first conditions is met; the multiple first conditions include: a wireless communication connection has been established between the vehicle and the terminal device; the vehicle is parked or enters the parking gear; the vehicle is parked and the vehicle doors are open.

[0018] Optionally, the method further includes: the vehicle sends a second instruction to the terminal device, the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device. That is, this solution supports the vehicle to control the terminal device to stop sending the location information of the terminal device, which can save resource consumption of the terminal device and the vehicle to a certain extent.

[0019] Optionally, the second instruction is sent when any one of multiple second conditions is met; the multiple second conditions include: the vehicle is unlocked or the vehicle is out of the parking gear; the wireless communication connection between the terminal device and the vehicle is disconnected; the terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle.

[0020] As can be seen from the above, after the wireless communication connection is established between the vehicle and the terminal device, the vehicle sends a first instruction to the terminal device to instruct the terminal device to start sending the location information of the terminal device. The vehicle will establish a wireless communication connection with the terminal device as the terminal device approaches the vehicle. In this way, the terminal device starts to send the location information of the terminal device to the vehicle as it approaches the vehicle, so that the vehicle starts to locate the terminal device, thereby realizing unlocking control of the vehicle based on the positioning result.

[0021] When the vehicle is unlocked or the vehicle exits the parking gear based on the positioning result, the terminal device can be instructed to stop sending the location information of the terminal device through the second instruction. After that, the vehicle can drive normally. When the vehicle is parked or enters the parking gear, or when the vehicle is parked and the door is open, the vehicle sends the first instruction to the terminal device again to instruct the terminal device to continue sending the location information of the terminal device. Among them, the situation where the vehicle is parked or enters the parking gear or the door is open means that the driver usually wants to get off and leave the vehicle, that is, the terminal device is going to be away from the vehicle. In this way, the location information of the terminal device continues to be sent to the vehicle while the terminal device is moving away from the vehicle, so that the vehicle can start to locate the terminal device, thereby realizing locking control of the vehicle based on the positioning result.

[0022] When the vehicle determines based on the positioning results that the terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle and locks the vehicle, or when the wireless communication connection with the terminal device is disconnected, the terminal device can be instructed to stop sending the location information of the terminal device through a second instruction.

[0023] Optionally, the location information of the terminal device includes information of multiple track points; the method further includes: the vehicle sends a third instruction to the terminal device, the third instruction is used to instruct the terminal device to determine the information of the multiple track points according to the first frequency. That is, this solution also supports the vehicle to control the frequency of the terminal device outputting the track points. In a specific implementation, the frequency control can be used to make the frequency of the terminal device outputting the track points consistent with the frequency of the distance estimation value between each short-range wireless communication module and the terminal device determined by the vehicle based on the wireless signal, thereby facilitating fusion positioning.

[0024] Optionally, the terminal device has a PDR function, and the location information of the terminal device includes PDR data. That is, this solution can be implemented by utilizing the PDR function of the terminal device.

[0025] Optionally, the method further includes: when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, executing the step of obtaining the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules respectively; the third condition includes: the signal strength of multiple frames of continuous signals in the wireless signals collected by at least P short-range wireless communication modules among the multiple short-range wireless communication modules exceeds the signal strength threshold. Wherein, P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules. That is, when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, the effective positioning algorithm is determined, so that the waste of resources on the vehicle can be reduced to a certain extent, while ensuring the positioning precision and accuracy.

[0026] Optionally, the vehicle obtains the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules, including: obtaining the position of the digital car key relative to the vehicle based on the position information of the terminal device, the wireless signals respectively collected by the multiple short-range wireless communication modules, and the position information of the multiple short-range wireless communication modules. That is, this solution can further integrate the position information of the short-range wireless communication module to accurately locate the digital car key.

[0027] Optionally, each of the above-mentioned short-range wireless communication modules is a Bluetooth module or an ultra-wideband (Ultra-Wideband, UWB) module, a SparkLink Basic (SparkLink Basic, SLB) module or a (Sparklink Low Energy, SLE) module.

[0028] In a third aspect, a method for locating a digital car key is provided, which is applied to a terminal device, wherein the terminal device has a digital car key of a vehicle; the method comprises:

[0029] The terminal device transmits a wireless signal; receives a first instruction sent by a vehicle; after receiving the first instruction, sends the location information of the terminal device to the vehicle, and the location information and the wireless signal of the terminal device are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

[0030] That is, this solution integrates the location information determined by the terminal device itself and the wireless signal collected by the vehicle itself to achieve more accurate positioning of the digital car key, reducing the positioning error of the digital car key, improving the positioning accuracy, and effectively solving the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance. In addition, this solution supports the vehicle control terminal device to send the location information of the terminal device.

[0031] Optionally, the method further includes: the terminal device receives a second instruction sent by the vehicle; after receiving the second instruction, the terminal device stops sending the location information of the terminal device to the vehicle. That is, this solution supports the vehicle controlling the terminal device to stop sending the location information of the terminal device, which can save resource consumption of the terminal device and the vehicle to a certain extent.

[0032] Optionally, the location information of the terminal device includes information of multiple track points; the method further includes: receiving a third instruction sent by the vehicle, the third instruction indicating the first frequency; after receiving the third instruction, determining the information of the multiple track points according to the first frequency. That is, this solution also supports the vehicle controlling the frequency of the track points output by the terminal device. In a specific implementation, the frequency control can be used to make the frequency of the track points output by the terminal device consistent with the frequency of the distance estimation value between each short-range wireless communication module and the terminal device determined by the vehicle based on the wireless signal, thereby facilitating fusion positioning.

[0033] Optionally, the terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data. That is, this solution can be implemented using the PDR function of the terminal device.

[0034] Optionally, the method further includes: obtaining a fourth instruction generated based on the user's operation on the terminal device; after obtaining the fourth instruction, enabling the function of sending the location information of the terminal device to the vehicle. That is, this solution also supports the function of the user selecting whether to send the location information of the terminal device to the vehicle.

[0035] In a fourth aspect, a digital car key positioning device is provided, wherein the digital car key positioning device has the function of implementing the digital car key positioning method described in the second aspect or the third aspect. The digital car key positioning device includes one or more modules, and the one or more modules are used to implement the digital car key positioning method described in the second aspect or the third aspect.

[0036] In a fifth aspect, a computing device is provided, the computing device comprising a processor and a memory, the memory being used to store a program for executing the method for locating a digital car key provided in the second aspect or the third aspect, and storing data involved in implementing the method for locating a digital car key provided in the second aspect or the third aspect. The processor is configured to execute the program stored in the memory. The computing device may also include a communication bus, the communication bus being used to establish a connection between the processor and the memory.

[0037] In a sixth aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is executed on a processor, the processor executes the steps of the method for locating a digital vehicle key described in the second aspect or the third aspect.

[0038] In a seventh aspect, a computer program product comprising instructions is provided, which, when executed on a processor, enables the processor to execute the steps of the method for locating a digital vehicle key as described in the second aspect or the third aspect above.

[0039] The technical effects obtained in the above-mentioned fourth to seventh aspects are similar to the technical effects obtained by the corresponding technical means in the first to third aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is an architecture diagram of a digital car key positioning system provided in an embodiment of the present application;

[0041] Figure 2 is a structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0042] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0043] Figure 4 is a flow chart of a method for locating a digital car key provided in an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of a position relationship diagram provided in an embodiment of the present application;

[0045] Figure 6 It is a functional schematic diagram of a vehicle unlocking control provided by an embodiment of the present application;

[0046] Figure 7 is a schematic diagram of a positioning algorithm provided in an embodiment of the present application;

[0047] Figure 8 It is a structural schematic diagram of a positioning device for a digital car key provided in an embodiment of the present application;

[0048] Fig. 9 It is a structural schematic diagram of another digital car key positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0050] To facilitate understanding, the terms involved in the embodiments of the present application are first explained.

[0051] Digital car key: refers to a car key that is implemented using terminal devices such as smartphones, electronic bracelets, and electronic watches as carriers. A digital car key is usually a functional software that can realize vehicle unlocking control, vehicle start and stop control, temperature control of the air conditioner in the car, etc. In the embodiment of the present application, the terminal device having the digital car key of the vehicle means that the terminal device is installed with the functional software of the digital car key. Of course, if the digital car key is implemented by a combination of software and hardware, then the terminal device having the digital car key of the vehicle means that the terminal device is equipped with software and hardware with the function of the digital car key.

[0052] PDR (pedestrian dead reckoning) algorithm: refers to the processing of sensor data collected by one or more sensors such as inertial measurement unit (IMU), visual-inertial odometry (VIO), wheel speed meter, accelerometer, magnetometer, gyroscope, etc., including measuring and counting the number of steps, step length, direction of pedestrians, so as to infer information such as the pedestrian's walking trajectory.

[0053] Short-range wireless communication: The communication sending and receiving parties use radio waves to transmit information and the information can be transmitted within a short distance (such as within a few dozen meters). Short-range wireless communication mainly refers to communication through IEEE802.11 communication protocol, wireless Universal Serial Bus (USB), etc. In the embodiment of the present application, the short-range wireless communication module can be a Bluetooth module, UWB module, SLE module or SLB module, etc. The short-range wireless communication module can also be called a short-range communication module, a short-range communication base station, a wireless communication module, a wireless base station, a wireless node, etc.

[0054] Next, the digital car key positioning system provided in the embodiment of the present application is introduced.

[0055] Figure 1 is an architecture diagram of a digital car key positioning system provided in an embodiment of the present application. Figure 1The positioning system includes a vehicle and a terminal device. The vehicle has multiple short-range wireless communication modules, such as Figure 1 The short-range wireless communication modules 1 to n shown are located in different positions, and the terminal device has a digital car key of the vehicle. Each of the short-range wireless communication modules can be a Bluetooth module, a UWB module, an SLB module, or an SLE module. The short-range wireless communication modules can be the same or different.

[0056] The vehicle can establish a wireless communication connection with the terminal device through one of the multiple short-range wireless communication modules. For example, the multiple short-range wireless communication modules include a main base station and at least one auxiliary base station. The vehicle can detect wireless signals in the environment through the main base station, and after detecting the wireless signal transmitted by the terminal device, establish a wireless communication connection with the terminal device based on the detected wireless signal.

[0057] Taking the case where the main base station can be a Bluetooth module in the vehicle's computer and the terminal device also includes a Bluetooth module, after the vehicle's computer detects the Bluetooth signal transmitted by the Bluetooth module of the terminal device through the Bluetooth module in the vehicle's computer, a Bluetooth connection is established with the terminal device based on the detected Bluetooth signal.

[0058] In the embodiment of the present application, the terminal device is used to transmit a wireless signal, and after establishing a wireless communication connection with the vehicle, the terminal device sends the location information of the terminal device to the vehicle. The vehicle is used to receive the location information of the terminal device, and respectively collect wireless signals through the multiple wireless signals, and obtain the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

[0059] Optionally, the vehicle is further configured to send a first instruction to the terminal device, and the terminal device is configured to send the location information of the terminal device to the vehicle after receiving the first instruction. And / or, the vehicle is further configured to send a second instruction to the terminal device, and the terminal device is configured to stop sending the location information of the terminal device to the vehicle after receiving the second instruction. That is, the vehicle can control the terminal device to start and / or stop sending the location information.

[0060] In the embodiment of the present application, the terminal device has a PDR function, and the location information of the terminal device includes PDR data. It should be understood that the PDR function is not used to limit the embodiment of the present application. In some other embodiments, the terminal device can also determine the location information of the terminal device through other functions similar to the PDR function.

[0061] In combination with the above-mentioned PDR function, the first instruction and the second instruction, the first instruction sent by the vehicle to the terminal device may be referred to as a PDR start instruction, and the second instruction may be referred to as a PDR stop instruction. The terminal device can start the PDR function under the instruction of the PDR start instruction sent by the vehicle, and after starting the PDR function, run the PDR algorithm to determine the location information of the terminal device, and send the location information of the terminal device to the vehicle. The terminal device can also stop the PDR function under the instruction of the PDR stop instruction sent by the vehicle, and after stopping the PDR function, stop running the PDR algorithm and stop sending the location information of the terminal device to the vehicle.

[0062] In the embodiment of the present application, the terminal device may be an electronic device such as a smart phone, a smart bracelet, a smart watch, etc.

[0063] Figure 2 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Figure 2 The vehicle has a plurality of short-range wireless communication modules, the plurality of short-range wireless communication modules include a primary base station and four secondary base stations, the vehicle includes a vehicle computer, and the vehicle computer includes the primary base station. Figure 2 As shown, the vehicle computer is located near the center of the vehicle, and the four auxiliary base stations are respectively located at the middle position of the front of the vehicle, the middle position of the rear of the vehicle, and the middle position of both sides of the vehicle. Of course, the four auxiliary base stations can also be located near the four corners of the vehicle or other positions, and the embodiment of the present application does not limit the positions of the multiple short-range wireless communication modules.

[0064] It should be understood that the system architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0065] Figure 3 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Optionally, the electronic device becomes Figure 1 or Figure 2 A part of a vehicle, such as a part of a vehicle engine, or a part of a vehicle engine Figure 1 The electronic device includes one or more processors 301, a communication bus 302, a memory 303 and one or more communication interfaces 304.

[0066] The processor 301 is a general-purpose central processing unit (CPU), a network processing (NP), a microprocessor, or one or more integrated circuits for implementing the solution of the present application, such as an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. Optionally, the PLD is a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0067] The communication bus 302 is used to transmit information between the above components. Optionally, the communication bus 302 is divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0068] Optionally, the memory 303 is a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), an optical disc (including a compact disc read-only memory (CD-ROM), a compressed optical disc, a laser disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 303 exists independently and is connected to the processor 301 through the communication bus 302, or the memory 303 is integrated with the processor 301.

[0069] The communication interface 304 uses any transceiver-like device for communicating with other devices or communication networks. The communication interface 304 includes a wired communication interface, and optionally, also includes a wireless communication interface. Among them, the wired communication interface is, for example, an Ethernet interface. Optionally, the Ethernet interface is an optical interface, an electrical interface, or a combination thereof. The wireless communication interface is a wireless local area network (WLAN) interface, a cellular network communication interface, or a combination thereof.

[0070] Optionally, in some embodiments, the electronic device includes multiple processors, such as Figure 3 The processor 301 and the processor 305 shown in FIG. Each of these processors is a single-core processor or a multi-core processor. Optionally, the processor here refers to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0071] In a specific implementation, as an embodiment, the electronic device also includes an output device 306 and an input device 307. The output device 306 communicates with the processor 301 and can display information in a variety of ways. For example, the output device 306 is a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device or a projector. The input device 307 communicates with the processor 301 and can receive user input in a variety of ways. For example, the input device 207 is a mouse, a keyboard, a touch screen device or a sensor device.

[0072] In some embodiments, the memory 303 is used to store the program code 310 for executing the solution of the present application, and the processor 301 can execute the program code 310 stored in the memory 303. The program code includes one or more software modules, and the electronic device can implement the following by the processor 301 and the program code 310 in the memory 303. Figure 4 The embodiment provides a method for locating a digital car key.

[0073] Figure 4 This is a flowchart of a method for locating a digital car key provided by an embodiment of the present application. The method is applied to a digital car key positioning system, which includes a vehicle and a terminal device. The vehicle has multiple short-range wireless communication modules, and the terminal device has a digital car key of the vehicle. Please refer to Figure 4 , the method comprises the following steps.

[0074] Step 401: The terminal device transmits a wireless signal.

[0075] In an embodiment of the present application, the terminal device may transmit a wireless signal after establishing a wireless communication connection with the vehicle. For example, the terminal device periodically broadcasts a data packet after establishing a wireless communication connection with the vehicle. That is, the wireless signal may be in the form of a data packet. In addition, the wireless signal transmitted by the terminal device includes one or more of a Bluetooth signal, a UWB signal, a SLB signal, and a SLE signal.

[0076] The wireless communication connection established between the terminal device and the vehicle may be a Bluetooth connection or other wireless communication connection, which is not limited in this application. The following description takes the wireless communication connection established between the terminal device and the vehicle as a Bluetooth connection as an example.

[0077] Exemplarily, the vehicle includes a head unit, which includes a Bluetooth module. The Bluetooth module of the head unit broadcasts a Bluetooth signal. The Bluetooth module of the terminal device detects the Bluetooth signal of the head unit when approaching the vehicle. The head unit and the terminal device are authenticated by binding through a pairing code based on the detected Bluetooth signal. After the authentication, the Bluetooth connection between the terminal device and the head unit is completed. Afterwards, the Bluetooth module of the terminal device periodically broadcasts data packets, that is, the terminal device transmits Bluetooth signals to the environment so that multiple Bluetooth modules on the vehicle can receive them.

[0078] It should be understood that the type of wireless signal transmitted by the terminal device matches the type of multiple short-range wireless communication modules on the vehicle. For example, if the multiple short-range wireless communication modules on the vehicle are all Bluetooth modules, then the terminal device includes a Bluetooth module, and the wireless signal transmitted by the terminal device is a Bluetooth signal transmitted by the Bluetooth module of the terminal device. For another example, the types of multiple short-range wireless communication modules on the vehicle are different, and the multiple short-range wireless communication modules include a Bluetooth module, a UWB module, etc., then the terminal device also includes a Bluetooth module, a UWB module, etc., and the wireless signal transmitted by the terminal device includes a Bluetooth signal, a UWB signal, etc. Of course, in some possible embodiments, the type of wireless signal transmitted by the terminal device may also be different from the type of multiple short-range wireless communication modules on the vehicle, and the vehicle can process the wireless signals transmitted by the terminal device collected by the multiple short-range wireless communication modules.

[0079] Step 402: The vehicle collects wireless signals transmitted by the terminal device through multiple short-range wireless communication modules.

[0080] In an embodiment of the present application, after establishing a wireless communication connection with the terminal device, the vehicle can collect wireless signals transmitted by the terminal device through multiple short-range wireless communication modules.

[0081] Among them, the categories of the multiple short-range wireless communication modules may be the same. For example, the multiple short-range wireless communication modules may all include Bluetooth modules. Alternatively, the categories of the multiple short-range wireless communication modules may be different. For example, the main base station includes a Bluetooth module, and the auxiliary base station includes a UWB module. For another example, the main base station and one of the auxiliary base stations include Bluetooth modules, and each of the remaining auxiliary base stations includes a UWB module or an SLE module. Among them, the Bluetooth module may also be referred to as a Bluetooth base station or a Bluetooth tag, etc. In addition, the positions of the multiple short-range wireless communication modules are different, so that the distance measurement accuracy of the digital car key can be improved by using multiple short-range wireless communication modules at multiple positions, thereby improving the positioning accuracy of the digital car key.

[0082] Optionally, the multiple short-range wireless communication modules include a main base station and at least one auxiliary base station, the vehicle includes a vehicle computer, and the vehicle computer includes the main base station. After the vehicle computer establishes a wireless communication connection with the terminal device, it collects the wireless signal transmitted by the terminal device through the main base station, and sends a fourth instruction to the at least one auxiliary base station, the fourth instruction is used to instruct the at least one auxiliary base station to collect the wireless signal transmitted by the terminal device. After receiving the fourth instruction, the at least one auxiliary base station responds to the fourth instruction and collects the wireless signal transmitted by the terminal device.

[0083] The at least one auxiliary base station may send the collected wireless signal to the vehicle computer, and the vehicle computer receives the wireless signal collected by the at least one auxiliary base station. Alternatively, the at least one auxiliary base station processes the collected wireless signal and sends the processed data to the vehicle computer.

[0084] Exemplarily, taking one of the auxiliary base stations as a Bluetooth base station as an example, the Bluetooth base station determines the signal strength of the collected wireless signal after collecting the wireless signal, obtains the received signal strength indication (RSSI) data, and reports the RSSI data to the vehicle. The RSSI data represents the signal strength of the wireless signal received by the Bluetooth base station. Taking one of the auxiliary base stations as a UWB base station as an example, the UWB base station determines the distance estimation data based on the collected wireless signal after collecting the wireless signal, and reports the distance estimation data to the vehicle. The distance estimation data includes the estimated value of the distance between the terminal device and the UWB base station.

[0085] Step 403: The terminal device sends the location information of the terminal device to the vehicle.

[0086] In order to improve the positioning accuracy of the digital car key, the terminal device also sends the location information of the terminal device to the vehicle. The location information of the terminal device and the wireless signal transmitted by the terminal device are both used by the vehicle to obtain the position of the digital car key relative to the vehicle.

[0087] The location information of the terminal device refers to the location information of the terminal device relative to the vehicle determined by the terminal device, and specifically can be the location information of the terminal device relative to the vehicle computer. Alternatively, the location information of the terminal device refers to the location information of the terminal device on a world map. In short, the location information of the terminal device can be relative location information or absolute location information, which is not limited in the embodiments of the present application.

[0088] In the embodiment of the present application, the terminal device has a PDR function, and the location information of the terminal device includes PDR data. It should be understood that the PDR function is not used to limit the embodiment of the present application. In some other embodiments, the terminal device can also determine the location information of the terminal device through other functions similar to the PDR function.

[0089] Taking the location information of the terminal device including PDR data as an example, after the terminal device collects sensor data through one or more sensors such as IMU, VIO, wheel speed meter, accelerometer, magnetometer, gyroscope, etc. in the terminal device, the PDR function is used to process the sensor data to obtain the PDR data.

[0090] Among them, the PDR data includes two-dimensional coordinates, and the two-dimensional coordinates include X coordinates and Y coordinates. Taking the example that the location information of the terminal device refers to the location information of the terminal device relative to the vehicle computer, the X coordinate and the Y coordinate may refer to the coordinates of the terminal device with the vehicle computer as the origin and the ground as the coordinate plane. Alternatively, the PDR data includes three-dimensional coordinates, and the three-dimensional coordinates include the Z coordinate in addition to the above-mentioned X coordinate and Y coordinate. Still taking the example that the location information of the terminal device refers to the location information of the terminal device relative to the vehicle computer, the Z coordinate refers to the coordinate of the terminal device perpendicular to the ground.

[0091] It should be understood that, generally speaking, the terminal device and the vehicle are approximately at the same horizontal plane, so the PDR data may not include the above Z coordinate. Alternatively, the PDR data includes the Z coordinate, but the vehicle may subsequently ignore the Z coordinate of the received terminal device, that is, the Z coordinate is not involved in the calculation.

[0092] The terminal device determines and sends the location information of the terminal device, which consumes certain resources of the terminal device, including computing resources, memory resources, and power resources. In order to reduce the waste of resources of the terminal device, in the embodiment of the present application, the vehicle can control the terminal device to start and / or stop sending the location information of the terminal device. This will be introduced below.

[0093] The vehicle controls the terminal device to start sending the location information by: the vehicle sends a first instruction to the terminal device, the first instruction is used to instruct the terminal device to send the location information of the terminal device. Correspondingly, the terminal device receives the first instruction sent by the vehicle and sends the location information of the terminal device to the vehicle.

[0094] The first instruction is sent when any of a plurality of first conditions is met, including: a wireless communication connection has been established between the vehicle and the terminal device; the vehicle is parked or in parking gear; the vehicle is parked and the door of the vehicle is open.

[0095] That is, after establishing a wireless communication connection between the vehicle and the terminal device, the vehicle sends a first instruction to the terminal device to instruct the terminal device to start sending the location information of the terminal device. The vehicle will establish a wireless communication connection with the terminal device as the terminal device approaches the vehicle, so that the terminal device starts to send the location information of the terminal device to the vehicle as it approaches the vehicle, so that the vehicle starts to locate the terminal device, thereby realizing unlocking control of the vehicle based on the positioning result.

[0096] When the vehicle is unlocked or exits the parking gear based on the positioning result, the terminal device can be instructed to stop sending the location information of the terminal device through a second instruction. After that, the vehicle can drive normally. When the vehicle is parked or enters the parking gear, or when the vehicle is parked and the door is open, the vehicle sends the first instruction to the terminal device again to instruct the terminal device to continue sending the location information of the terminal device. Among them, the situation where the vehicle is parked or enters the parking gear or the door is open means that the driver usually wants to get off and leave the vehicle, that is, the terminal device is going to be away from the vehicle. In this way, the location information of the terminal device continues to be sent to the vehicle while the terminal device is moving away from the vehicle, so that the vehicle can start to locate the terminal device, thereby realizing locking control of the vehicle based on the positioning result.

[0097] When the vehicle determines based on the positioning results that the terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle and locks the vehicle, or when the wireless communication connection between the vehicle and the terminal device is disconnected, the terminal device can be instructed to stop sending the location information of the terminal device through a second instruction.

[0098] For a detailed description of the second instruction, please refer to the detailed description of step 404 below.

[0099] Taking the example that the location information of the terminal device includes PDR data, in combination with the above-mentioned PDR function, the first instruction and the second instruction, the first instruction sent by the vehicle to the terminal device can be called a PDR start instruction, and the second instruction can be called a PDR stop instruction. The terminal device can start the PDR function under the instruction of the PDR start instruction sent by the vehicle. After starting the PDR function, the PDR function is used to run the PDR algorithm to determine the location information of the terminal device and send the location information of the terminal device to the vehicle. The terminal device can also stop the PDR function under the instruction of the PDR stop instruction sent by the vehicle. After stopping the PDR function, the PDR algorithm is stopped and the location information of the terminal device is stopped to the vehicle.

[0100] In the embodiment of the present application, the location information of the terminal device includes information of multiple track points. That is, the terminal device continuously sends the real-time location information of the terminal device to the vehicle, and the real-time location information represents the continuous running track of the terminal device.

[0101] Optionally, the vehicle sends a third instruction to the terminal device, and the third instruction is used to instruct the terminal device to determine the information of the multiple trajectory points according to the first frequency. Accordingly, the terminal device receives the third instruction sent by the vehicle, and the third instruction indicates the first frequency. After receiving the third instruction, the terminal device determines the information of the multiple trajectory points according to the first frequency. That is, the embodiment of the present application supports the vehicle to control the frequency of the terminal device outputting the trajectory points. In a specific implementation, the frequency control can be used to make the frequency of the terminal device outputting the trajectory points consistent with the frequency of the vehicle determining the distance estimate based on the wireless signal, thereby facilitating fusion positioning.

[0102] The first frequency may be 5 Hz or 10 Hz or other values.

[0103] It should be understood that the vehicle can carry the first instruction and the third instruction in one data packet, thereby instructing the terminal device to determine and send information of multiple trajectory points of the terminal device according to the first frequency through the data packet. Alternatively, the vehicle can carry the first instruction and the third instruction respectively through two data packets.

[0104] Optionally, this solution also supports the user to choose whether to enable the function of sending the terminal device's location information to the vehicle. In a specific implementation, the terminal device can also obtain a fourth instruction generated based on the user's operation on the terminal device, and after obtaining the fourth instruction, the function of sending the terminal device's location information to the vehicle is enabled. Correspondingly, the terminal device can also obtain a fifth instruction generated based on the user's operation on the terminal device, and after obtaining the fifth instruction, the function of sending the terminal device's location information to the vehicle is disabled.

[0105] Taking the terminal device as a mobile phone as an example, a setting interface is displayed on the mobile phone, and the user can choose to turn on or off the function of sending the location information of the terminal device to the vehicle by operating the setting interface of the mobile phone.

[0106] It should be understood that, when the location information of the terminal device includes PDR data, the step of the terminal device sending the location information of the terminal device to the vehicle is performed when the terminal device turns on the function of sending the location information of the terminal device to the vehicle and turns on the PDR function. When the terminal device does not turn on the function of sending the location information of the terminal device to the vehicle, the terminal device can still turn on the PDR function to calculate the location information of the terminal device, but does not send the location information of the terminal device to the vehicle.

[0107] Step 404: The vehicle receives the location information of the terminal device.

[0108] Specifically, the vehicle's onboard computer receives the location information of the terminal device. Alternatively, in some other possible embodiments, the vehicle receives the location information of the terminal device through other modules. That is, this solution does not limit which module in the vehicle is used to receive the location information of the terminal device.

[0109] It should be noted that the embodiment of the present application does not limit the order of the above steps 401 and 403. The terminal device may start transmitting the wireless signal first, and then start transmitting the location information of the terminal device. The terminal device may also first transmit the location information of the terminal device, and then transmit the wireless signal. The terminal device may also send the wireless signal and the location information of the terminal device at the same time.

[0110] Step 405: The vehicle obtains the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

[0111] When the vehicle receives the location information of the terminal device and collects the wireless signals transmitted by the terminal device through the multiple short-range wireless communication modules, the vehicle obtains the relative position of the digital car key based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules. That is, the digital car key is accurately located by integrating the continuous running trajectory of the terminal device.

[0112] Determining the position of the digital car key relative to the vehicle will consume certain resources of the vehicle. In order to reduce the waste of vehicle resources and to ensure positioning accuracy, the vehicle can, when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, execute the step of obtaining the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules respectively.

[0113] In an embodiment of the present application, the third condition includes: the signal strength of a continuous multi-frame signal in the wireless signal collected by at least P short-range wireless communication modules among the multiple short-range wireless communication modules exceeds the signal strength threshold. Wherein, P is an integer not less than 1 and not greater than the total number of the multiple short-range wireless communication modules, the number of frames of the continuous multi-frame signal is M, and M is an integer not less than 2. The signal strength threshold can be -50dB, -60dB or other values.

[0114] Exemplarily, taking P as 3, M as 10, and a signal strength threshold of -60dB as an example, when there are 10 consecutive frames of signals with a signal strength exceeding -60dB among the wireless signals collected by no less than 3 short-range wireless communication modules among the multiple short-range wireless communication modules, the vehicle obtains the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules.

[0115] It should be understood that the third condition mentioned above is used to exemplify the present solution and is not used to limit the present solution. The third condition may also include some other possible conditions.

[0116] Next, the implementation method for the vehicle to obtain the position of the digital car key relative to the vehicle is introduced in detail.

[0117] In the embodiment of the present application, the vehicle obtains the position of the digital car key relative to the vehicle based on the position information of the terminal device, the wireless signals collected by the multiple short-range wireless communication modules, and the position information of the multiple short-range wireless communication modules. It should be understood that since the positions of the multiple short-range wireless communication modules are different, the position information of the multiple short-range wireless communication modules can be further integrated to accurately locate the digital car key.

[0118] Among them, the vehicle determines the distance estimation data corresponding to the multiple short-range wireless communication modules based on the wireless signals respectively collected by the multiple short-range wireless communication modules, and the distance estimation data includes the estimated distance between the corresponding short-range wireless communication module and the digital car key. The vehicle obtains the position of the digital car key relative to the vehicle based on the location information of the terminal device, the distance estimation data corresponding to the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules. That is, the vehicle first estimates the distance of the digital car key relative to each short-range wireless communication module based on the wireless signals respectively collected by the multiple short-range wireless communication modules, and then accurately locates the digital car key in combination with the location information determined by the terminal device itself.

[0119] As can be seen from the foregoing, there are many types of short-range wireless communication modules that can be deployed on a vehicle. The types of the multiple short-range wireless communication modules deployed can be the same or different, and the multiple short-range wireless communication modules can directly send the collected wireless signals to the vehicle computer, or send the processed data to the vehicle computer after processing the collected wireless signals. Based on this, there are many implementation methods for the vehicle to determine the distance estimation data corresponding to the multiple short-range wireless communication modules based on the wireless signals collected by the multiple short-range wireless communication modules. Some of the implementation methods are introduced here.

[0120] Exemplarily, one of the auxiliary base stations is a Bluetooth base station, and the Bluetooth base station determines the signal strength of the collected wireless signal, obtains RSSI data, and reports the RSSI data to the vehicle computer. After receiving the RSSI data sent by the Bluetooth base station, the vehicle computer determines the distance estimation data corresponding to the Bluetooth base station based on the RSSI data, that is, determines the location information between the Bluetooth base station and the digital car key. Taking one of the auxiliary base stations as a UWB base station as an example, the UWB base station determines the distance estimation data based on the collected wireless signal, and reports the distance estimation data to the vehicle computer. Among them, the UWB base station can determine the distance estimation data by a time of flight (TOF) algorithm or a time difference method or other algorithms.

[0121] It should be understood that the embodiments of the present application do not limit the execution entity of determining the distance estimation data to the vehicle computer or other short-range wireless communication modules, nor do they limit the specific algorithm for determining the distance estimation data. In specific implementations, the specific implementation process of the process can be determined based on the type of short-range wireless communication modules actually deployed, the designed data interaction process, etc.

[0122] After determining the distance estimation data corresponding to the multiple short-range wireless communication modules, the vehicle constructs a position relationship graph based on the location information of the terminal device, the distance estimation data corresponding to the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules. The position relationship graph represents the running trajectory of the terminal device, and the position relationship between the mobile terminal and each of the multiple short-range wireless communication modules at each time point of the running trajectory. Then, based on the position relationship graph, the vehicle obtains the position of the digital car key relative to the vehicle computer by means of graph optimization. That is, the embodiment of the present application can locate the digital car key by means of graph optimization.

[0123] Among them, the location information of the terminal device includes information of multiple trajectory points determined according to the first frequency, the distance estimation data corresponding to each short-range wireless communication module includes multiple distance estimation values ​​determined according to the second frequency, and the above-mentioned position relationship diagram includes a first sub-graph and a second sub-graph. The vehicle constructs the position relationship diagram based on the location information of the terminal device, the distance estimation data corresponding to the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules. The implementation process is as follows: construct a first sub-graph based on the information of the multiple trajectory points, and the first sub-graph represents the running trajectory of the terminal device; when the first frequency and the second frequency are consistent, the multiple trajectory points are matched with the multiple distance estimation values ​​corresponding to each short-range wireless communication module to obtain a first corresponding relationship, and the first corresponding relationship represents the corresponding relationship between the multiple trajectory points and the multiple distance estimation values ​​corresponding to each short-range wireless communication module; construct a second sub-graph based on the first corresponding relationship, and the second sub-graph represents the position relationship between the terminal device at each trajectory point and each short-range wireless communication module in the multiple short-range wireless communication modules.

[0124] When the first frequency and the second frequency are inconsistent, the vehicle interpolates the multiple trajectory points based on the second frequency, matches the multiple trajectory points after the interpolation process with the multiple distance estimation values ​​corresponding to each short-range wireless communication module, and obtains a second correspondence relationship. The second correspondence relationship represents the correspondence between the multiple trajectory points after the interpolation process and the multiple distance estimation values ​​corresponding to each short-range wireless communication module. Then, the vehicle constructs a second subgraph based on the second correspondence relationship. In which, when the first frequency is less than the second frequency, the number of the multiple trajectory points after the interpolation process is greater than the number of the multiple trajectory points before the interpolation process. In which, when the first frequency is greater than the second frequency, the number of the multiple trajectory points after the interpolation process is less than the number of the multiple trajectory points before the interpolation process.

[0125] Alternatively, when the first frequency and the second frequency are inconsistent, the vehicle interpolates the multiple distance estimation values ​​corresponding to each short-range wireless communication module based on the first frequency, and obtains a third correspondence after matching the multiple trajectory points with the multiple distance estimation values ​​corresponding to each short-range wireless communication module after the interpolation processing. The third correspondence represents the correspondence between the multiple trajectory points and the multiple distance estimation values ​​corresponding to each short-range wireless communication module after the interpolation processing. Then, the vehicle constructs a second subgraph based on the third correspondence. In which, when the first frequency is less than the second frequency, the number of the multiple distance estimation values ​​after the interpolation processing is less than the number of the multiple distance estimation values ​​before the interpolation processing. In the case where the first frequency is greater than the second frequency, the number of the multiple distance estimation values ​​after the interpolation processing is more than the number of the multiple distance estimation values ​​before the interpolation processing.

[0126] Alternatively, when the first frequency and the second frequency are inconsistent, the vehicle may also interpolate the multiple trajectory points and the multiple distance estimation values ​​corresponding to each short-range wireless communication module, and obtain a fourth corresponding relationship after matching the multiple trajectory points after interpolation with the multiple distance estimation values ​​corresponding to each short-range wireless communication module after interpolation. The fourth corresponding relationship represents the corresponding relationship between the multiple trajectory points after interpolation and the multiple distance estimation values ​​corresponding to each short-range wireless communication module after interpolation. Then, the vehicle constructs a second subgraph based on the fourth corresponding relationship.

[0127] It should be understood that the above-mentioned first frequency and second frequency are consistent means that the error between the first frequency and the second frequency does not exceed the error threshold. For example, the first frequency and the second frequency are completely equal, which means that the first frequency and the second frequency are consistent, and the error between the first frequency and the second frequency is small, which also means that the first frequency and the second frequency are consistent. The error threshold can be 0.1 Hz or 0.05 Hz or other values.

[0128] It should also be understood that each trajectory point corresponds to a time, the time of the above-mentioned multiple trajectory points is continuous, the time of the trajectory point is the time when the terminal device travels to the corresponding trajectory point, and each distance estimation value also corresponds to a time, and the time of the above-mentioned multiple distance estimation values ​​is also continuous. The time of the distance estimation value is the time when the corresponding short-range wireless communication module collects the corresponding frame wireless signal. When the first frequency and the second frequency are consistent, each trajectory point is directly corresponded to the distance estimation value closest in time, so as to obtain the above-mentioned first corresponding relationship. When the first frequency and the second frequency are inconsistent, taking the interpolation processing of the multiple trajectory points as an example, each trajectory point after the interpolation processing can be corresponded to the distance estimation value closest in time, so as to obtain the above-mentioned second corresponding relationship. Similarly, when the multiple distance estimation values ​​corresponding to each short-range wireless communication module are interpolated, or when the multiple distance estimation values ​​corresponding to the multiple trajectory points and each short-range wireless communication module are interpolated, the trajectory points and the distance estimation values ​​can be corresponded according to the principle of the closest time, which will not be described in detail here.

[0129] Figure 5 is a schematic diagram of a position relationship diagram provided in an embodiment of the present application. The position relationship diagram includes a first sub-diagram and a second sub-diagram. Figure 5 Understand the first sub-graph and the second sub-graph.

[0130] See also Figure 5 , the first sub-graph represents the terminal device (such as Figure 5 The running trajectory of the mobile phone in the figure is shown in FIG. 1 . The vertex of the first subgraph refers to the above trajectory point, such as the trajectory point at time t1 and t2, and the vertex is recorded as Vpdr = p i(x, y, θ), (x, y) represents the position coordinates of the trajectory point, θ represents the running direction of the trajectory point, and the edge of the first subgraph is recorded as Epdr-pdr = Edge (Vpdr, Vpdr). i With p i+1 The absolute value of the distance difference between the two is the step length between adjacent trajectory points, and the step length is recorded as l = |p i+1 -p i |, p i With p i+1 The angle difference between them is recorded as △θ = θ i-1 -θ i The weight of the edge in the first subgraph is denoted by w 1 i In the embodiment of the present application, 1 i The value is a constant C1, that is, w 1 i = C1. In some other embodiments, other variable values ​​may also be taken.

[0131] The distance estimation value corresponding to each of the above short-range wireless communication modules is recorded as i If the first frequency is consistent with the second frequency, for example, the output frequency of the trajectory point (i.e., the first frequency) is high enough, then directly i The p closest to time i If the first frequency is inconsistent with the second frequency, the multiple trajectory points can be interpolated to obtain the value of i The p closest to the interpolated time j The corresponding relationship between the trajectory point and the distance estimation value is expressed as {(p i ,O j )}. Wherein, i and j are both ∈ [1, N], and N represents the total number of the multiple distance estimation values.

[0132] The second subgraph represents the positional relationship between the terminal device at each trajectory point and each short-range wireless communication module in the multiple short-range wireless communication modules. The vertices of the second subgraph include the trajectory points in the above correspondence and the points representing the positions of the multiple short-range wireless communication modules. The points representing the positions of the short-range wireless communication modules are denoted as Vnode. The edge of the second subgraph is denoted as Enode-pdr=Edge(Vnode,Vpdr), and the distance estimation value is the edge length. The weight of the edge in the second subgraph is denoted as w 2 i In the embodiment of the present application, in order to improve the positioning accuracy, the edge with short distance is given an additional weight w 2 i,r , as shown in formula (1). The final weight used is w 2 i As shown in formula (2).

[0133]

[0134]

[0135] Where, C2 represents a constant. K i,acc Represents the ranging confidence, K i,acc ∈[0,1]. In the embodiment of the present application, C1 and C2 may be the same or different. Different types of short-range wireless communication modules may have different corresponding ranging confidences, which can improve positioning accuracy. For example, the ranging confidence corresponding to the Bluetooth module may increase as the distance estimation value decreases, and the ranging confidence corresponding to the UWB module may be a constant.

[0136] After constructing the first subgraph and the second subgraph, the vehicle obtains the position of the digital car key relative to the vehicle computer through graph optimization based on the first subgraph and the second subgraph. The graph optimization method includes constructing a nonlinear optimization objective function, and obtaining the position of the digital car key relative to the vehicle by solving the optimal solution of the objective function.

[0137] Among them, the objective function is F(d) as shown in formula (3), and the optimal solution is d as shown in formula (4) * The relevant algorithm for solving the optimal solution of the objective function may be Gauss-Newton iteration method, g2o, Ceres, quasi-Newton method (BFGS), etc., which is not limited in the embodiment of the present application.

[0138]

[0139]

[0140] Among them, z i Represents an observed value, such as the distance estimate above, d i represents the variable to be solved, that is, the true value. i (d i ,z i ) means d i With z i The error between T Represents matrix transpose. Ω i Represents weight. Where w is the same as above 1 i or 2 i .

[0141] It should be understood that the essence of the graph optimization method is to input the above-mentioned distance estimation value, the location information of the trajectory points and the weights into the relevant algorithms of the graph optimization, and output the variable value when the objective function reaches the minimum value through the relevant algorithms. The output result is the final position of the digital car key relative to the vehicle.

[0142] In the embodiment of the present application, the position of the digital car key relative to the vehicle may refer to the position of the digital car key relative to a reference point in the vehicle. The reference point may refer to the vehicle computer. Of course, the reference point may also refer to other positions in the vehicle.

[0143] The above describes how the vehicle in an embodiment of the present application obtains the position of the digital car key relative to the vehicle based on the received location information of the terminal device and the wireless signals collected respectively by multiple short-range wireless communication modules.

[0144] It should be understood that if the position of the digital car key relative to the vehicle obtained by a relevant algorithm of graph optimization includes the coordinates of the digital car key relative to the vehicle, but does not include the angle of the digital car key relative to the vehicle, after obtaining the coordinates of the digital car key relative to the vehicle, the vehicle can also obtain the position and posture of the digital car key relative to the vehicle through posture fusion. The posture includes distance and angle. The embodiments of this application do not limit the specific implementation method of posture fusion. If the position of the digital car key relative to the vehicle determined by a relevant algorithm of graph optimization includes both the distance of the digital car key relative to the vehicle and the angle of the digital car key relative to the vehicle, then there is no need for additional posture fusion.

[0145] As can be seen from the foregoing, the vehicle can also control the terminal device to stop sending the location information of the terminal device to save resource consumption of the terminal device and the vehicle. That is, in the embodiment of the present application, the vehicle sends a second instruction to the terminal device, and the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device. Correspondingly, the terminal device receives the second instruction sent by the vehicle, and after receiving the second instruction, stops sending the location information of the terminal device to the vehicle.

[0146] The second instruction is sent when any second condition among a plurality of second conditions is satisfied, including: the vehicle is unlocked or the vehicle exits the parking gear; the wireless communication connection between the terminal device and the vehicle is disconnected; the terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle.

[0147] That is, when the vehicle is unlocked or the vehicle exits the parking gear, the terminal device is usually already in the vehicle with the person, and the vehicle no longer needs to calculate the position of the digital car key relative to the vehicle, so the vehicle sends a second instruction to the terminal device to instruct the terminal device to stop sending the location information of the terminal device. When the wireless communication connection between the terminal device and the vehicle is disconnected, or when the terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle, the terminal device is usually already away from the vehicle with the person, and the vehicle no longer needs to calculate the position of the digital car key relative to the vehicle, so the vehicle also sends a second instruction to the terminal device.

[0148] Please refer to Table 1 for an exemplary introduction to the format of the instructions and data exchanged between the vehicle and the terminal device in the embodiment of the present application. Among them, the PDR control instruction includes the PDR start instruction and the PDR stop instruction introduced above, and optionally, also includes a PDR pause instruction. The function of the PDR pause instruction is similar to that of the PDR stop instruction. For example, after the vehicle is unlocked and exits the parking gear, the PDR stop instruction sent by the vehicle computer to the terminal device can be replaced by a PDR pause instruction. The PDR transmission frequency control instruction is the third instruction introduced above. PDR data is the PDR data of the terminal device, and the value of the PDR data can be in type-value-length (TVL) format or other formats.

[0149] Table 1

[0150]

[0151] As can be seen from the foregoing, accurate positioning of the digital car key can be used to perform unlocking control or other control on the vehicle. Next, the unlocking control of the vehicle based on the obtained position of the digital car key relative to the vehicle will be introduced.

[0152] Figure 6 is a functional schematic diagram of a vehicle unlocking control provided by an embodiment of the present application. Figure 6 The vehicle has a main base station and at least one auxiliary base station, and the vehicle computer includes the main base station. Taking the example that both the main base station and the auxiliary base station include Bluetooth modules, the functions and effects of the terminal device and each module in the vehicle mainly include the following points.

[0153] 1): Vehicle identification / application layer authentication. That is, the terminal device and the Bluetooth module of the vehicle computer first establish a Bluetooth connection based on the Bluetooth data packet broadcast by the Bluetooth module in the vehicle computer, and pair and bind through the pairing code to achieve authentication between the terminal device and the vehicle computer.

[0154] 2): RSSI data collection. That is, after completing the Bluetooth connection with the Bluetooth module of the vehicle and passing the authentication, the terminal device periodically broadcasts Bluetooth data packets, the main base station and the auxiliary base station on the vehicle collect the Bluetooth data packets broadcast by the terminal device and determine the RSSI data respectively, and each auxiliary base station reports its own determined RSSI data to the vehicle.

[0155] 3): PDR start and stop are effective. That is, the terminal device has the PDR function. Please understand the effectiveness and stop of the PDR function in combination with the following actual scenarios.

[0156] a. The scenario where the terminal device approaches the vehicle to unlock the vehicle: When the terminal device approaches the vehicle, the terminal device establishes a wireless communication connection with the Bluetooth module of the vehicle computer, and the vehicle computer sends a PDR start instruction to the terminal device to instruct the terminal device to start sending PDR data to the vehicle computer. The vehicle computer notifies each auxiliary node to collect data, that is, to obtain and report RSSI data, and the vehicle computer obtains the RSSI data of each short-range wireless communication module. When it is determined based on the RSSI data of each short-range wireless communication module that there are wireless signals with signal strengths of multiple frames of continuous signals exceeding the signal strength threshold in the wireless signals collected by the multiple short-range wireless communication modules, the vehicle computer determines the effective positioning algorithm, that is, based on the location information of the terminal device (including PDR data) and the wireless signals collected by the multiple short-range wireless communication modules, the position of the digital car key relative to the vehicle is obtained. When the vehicle computer determines that the terminal device enters the unlocking area of ​​the vehicle while approaching the vehicle based on the position of the digital car key relative to the vehicle, the vehicle is unlocked. When the vehicle is unlocked and exits the parking gear, the vehicle computer sends a PDR stop instruction to the terminal device to instruct the terminal device to stop sending PDR data.

[0157] b. Scenario where the terminal device moves away from the vehicle to lock the vehicle: When the driver gets off the vehicle, when the vehicle computer detects that the vehicle enters the parking gear or the vehicle door is opened, the vehicle computer sends a PDR start command to the terminal device to instruct the terminal device to send PDR data to the vehicle computer. The vehicle computer executes a positioning algorithm to obtain the position of the digital car key relative to the vehicle. When it is determined based on the position of the digital car key relative to the vehicle that the terminal device has entered the locking area of ​​the vehicle while moving away from the vehicle, the vehicle is locked. When the Bluetooth connection between the vehicle computer and the terminal device is disconnected or the vehicle is locked, the vehicle computer sends a PDR stop command to the terminal device to instruct the terminal device to stop sending PDR data to the vehicle computer.

[0158] The unlocking area and locking area of ​​the vehicle may overlap or not overlap, which is not limited in the embodiments of the present application. The unlocking area and locking area of ​​the vehicle may be circular, elliptical, rounded rectangular or other shapes, which is not limited in the embodiments of the present application.

[0159] 4): PDR data fusion wireless ranging positioning. That is, the specific implementation of the positioning algorithm in the vehicle is to obtain the position of the digital car key relative to the vehicle based on the PDR data of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules. Figure 7 ,The positioning algorithm mainly includes the following three parts.

[0160] a. PDR step length / heading constraint: The first subgraph is constructed based on the PDR data of the terminal device, and the step length and heading constraints between the trajectory points are constructed in the relevant algorithms for graph optimization. The step length and heading constraints are as described above, i.e., the step length l and the angle difference △θ. Among them, the PDR data is obtained by processing the collected sensor data by the terminal device. The sensors in the terminal device include the accelerometer and gyroscope described above.

[0161] b. Wireless ranging constraints: Perform ranging calculation based on the wireless signals collected by multiple short-range wireless communication modules, that is, determine the distance estimation value corresponding to each short-range wireless communication module, and determine the correspondence between the trajectory points and the distance estimation values, that is, determine the ranging constraints, and construct the second subgraph based on the correspondence.

[0162] c. Non-linear optimization fusion positioning: Based on the first subgraph and the second subgraph, the position of the digital car key relative to the vehicle is obtained by graph optimization. Specifically, based on the PDR step / heading constraints and wireless ranging constraints, fusion positioning is achieved by non-linear optimization. If the position of the digital car key relative to the vehicle determined by the fusion positioning does not include the angle of the digital car key relative to the vehicle, after the position of the digital car key relative to the vehicle is obtained by the fusion positioning, the vehicle can also obtain the posture of the digital car key relative to the vehicle through posture fusion. The embodiment of the present application does not limit the specific implementation method of posture fusion.

[0163] 5): Consistent unlocking control based on positioning. That is, this solution can mainly achieve at least the following two effects.

[0164] a. Unlocking distance consistency. That is, in the process of the terminal device approaching and moving away from the vehicle, in all-scenario signal line of sight (LOS) and non line of sight (NLOS) conditions, this solution can achieve accurate positioning of the digital car key, and achieve consistency in the vehicle unlocking distance based on precise positioning, that is, the unlocking distance in various situations is basically the same, and the locking distance in various situations is also basically the same. Among them, the NLOS situation includes situations where the user carrying the terminal device turns around, swings his arm, puts the terminal device in a backpack or pocket, etc. In the NLOS situation, the wireless signal received by the vehicle is unstable.

[0165] b. State consistency. That is, by accurately positioning the digital car key, the ping-pong problem of vehicle unlocking can be effectively solved.

[0166] In summary, in the embodiment of the present application, the vehicle can receive the location information sent by the terminal device, and obtain the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by multiple short-range wireless communication modules on the vehicle. That is, the location information determined by the terminal device itself and the wireless signals collected by the vehicle itself are integrated to achieve more accurate positioning of the digital car key, reduce the positioning error of the digital car key, and improve the positioning accuracy, so as to effectively solve the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance.

[0167] In the specific implementation, the PDR data and wireless ranging data are integrated to achieve precise positioning, and the vehicle can be unlocked without any sense of touch based on the digital car key. Compared with the related technology that only uses wireless ranging data for positioning, this solution has a smaller positioning error in the NLOS scenario and provides the ability to continuously locate the digital car key. In addition, the vehicle can control the terminal device through instructions to perform the PDR function's senseless start and stop, without the user having to operate the terminal device, and can control the resource consumption of the terminal device and the vehicle.

[0168] Figure 8 800 is a structural diagram of a digital car key positioning device provided in an embodiment of the present application. The device 800 can be implemented by software, hardware, or a combination of both to become part or all of a vehicle, such as a part of a vehicle computer. The vehicle can be Figure 1 In the embodiment of the present application, the device 800 is included in a vehicle, and the vehicle has multiple short-range wireless communication modules. Figure 8 The device 800 includes: a receiving module 801, a collecting module 802 and a determining module 803.

[0169] A receiving module 801 is used to receive location information of a terminal device, where the terminal device has a digital car key of a vehicle;

[0170] The collection module 802 is used to collect the wireless signals transmitted by the terminal device through the multiple short-range wireless communication modules;

[0171] The determination module 803 is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

[0172] Optionally, the device 800 further includes:

[0173] The first sending module is used to send a first instruction to the terminal device, where the first instruction is used to instruct the terminal device to send the location information of the terminal device.

[0174] Optionally, the first instruction is sent when any first condition among a plurality of first conditions is satisfied;

[0175] The plurality of first conditions include:

[0176] A wireless communication connection has been established between the vehicle and the terminal device;

[0177] The vehicle is parked or in park gear;

[0178] The vehicle is parked and the vehicle's doors are open.

[0179] Optionally, the device 800 further includes:

[0180] The second sending module is used to send a second instruction to the terminal device, and the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device.

[0181] Optionally, the second instruction is sent when any second condition among a plurality of second conditions is satisfied;

[0182] The plurality of second conditions include:

[0183] The vehicle is unlocked or the vehicle is out of Park;

[0184] The wireless communication connection between the terminal device and the vehicle has been disconnected;

[0185] The terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle.

[0186] Optionally, the location information of the terminal device includes information of a plurality of track points;

[0187] The apparatus 800 further comprises:

[0188] The third sending module is used to send a third instruction to the terminal device, where the third instruction is used to instruct the terminal device to determine the information of the multiple trajectory points according to the first frequency.

[0189] Optionally, the terminal device has a PDR function, and the location information of the terminal device includes PDR data.

[0190] Optionally, the device 800 further includes:

[0191] a trigger module, configured to trigger the determination module 803 to execute a step of obtaining a position of the digital vehicle key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition;

[0192] The third condition includes:

[0193] The signal strength of multiple frames of continuous signals in the wireless signals collected by at least P short-range wireless communication modules among the multiple short-range wireless communication modules exceeds the signal strength threshold, and P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules.

[0194] Optionally, the determining module 803 includes:

[0195] The determination submodule is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device, the wireless signals respectively collected by the multiple short-range wireless communication modules, and the position information of the multiple short-range wireless communication modules.

[0196] Optionally, each short-range wireless communication module is a Bluetooth module, a UWB module, a SLB module, or a SLE module.

[0197] In the embodiment of the present application, the vehicle can receive the location information sent by the terminal device, and obtain the relative position of the digital car key to the vehicle based on the location information of the terminal device and the wireless signals collected by multiple short-range wireless communication modules on the vehicle. That is, the location information determined by the terminal device itself and the wireless signals collected by the vehicle itself are integrated to achieve more accurate positioning of the digital car key, reduce the positioning error of the digital car key, improve the positioning accuracy, and effectively solve the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance.

[0198] It should be noted that: the digital car key positioning device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when positioning the digital car key. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the digital car key positioning device provided in the above embodiment and the digital car key positioning method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0199] Fig. 9 is a structural diagram of a digital car key positioning device 900 provided in an embodiment of the present application. The device 900 can be implemented as part or all of a terminal device by software, hardware, or a combination of both. The terminal device can be Figure 1 In the embodiment of the present application, the device 900 is included in the terminal device, and the terminal device has a digital car key of the vehicle. Fig. 9 The device 900 includes: a transmitting module 901, a first receiving module 902 and a sending module 903.

[0200] Transmitting module 901, used for transmitting wireless signals;

[0201] A first receiving module 902, used to receive a first instruction sent by a vehicle;

[0202] The sending module 903 is used to send the location information of the terminal device to the vehicle after receiving the first instruction. The location information of the terminal device and the wireless signal are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

[0203] Optionally, the device 900 further includes:

[0204] A second receiving module, used for receiving a second instruction sent by the vehicle;

[0205] The stop module is used to stop sending the location information of the terminal device to the vehicle after receiving the second instruction.

[0206] Optionally, the location information of the terminal device includes information of a plurality of track points;

[0207] The device 900 further includes:

[0208] A third receiving module, used for receiving a third instruction sent by the vehicle, where the third instruction indicates the first frequency;

[0209] The determination module is used to determine the information of the multiple trajectory points according to the first frequency after receiving the third instruction.

[0210] Optionally, the terminal device has a PDR function, and the location information of the terminal device includes PDR data.

[0211] Optionally, the device 900 further includes:

[0212] An acquisition module, configured to acquire a fourth instruction generated based on an operation of the user on the terminal device;

[0213] A function activation module is used to activate the function of sending the location information of the terminal device to the vehicle after obtaining the fourth instruction.

[0214] In the embodiment of the present application, the vehicle can receive the location information sent by the terminal device, and obtain the relative position of the digital car key to the vehicle based on the location information of the terminal device and the wireless signals collected by multiple short-range wireless communication modules on the vehicle. That is, the location information determined by the terminal device itself and the wireless signals collected by the vehicle itself are integrated to achieve more accurate positioning of the digital car key, reduce the positioning error of the digital car key, improve the positioning accuracy, and effectively solve the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance.

[0215] It should be noted that: the digital car key positioning device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when positioning the digital car key. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the digital car key positioning device provided in the above embodiment and the digital car key positioning method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0216] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiment of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0217] It should be understood that the "at least one" mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not limit them to be necessarily different.

[0218] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0219] The above-mentioned embodiments are provided for the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A digital car key positioning system, characterized in that: The system includes a vehicle and a terminal device, wherein the vehicle has a plurality of short-range wireless communication modules, and the terminal device has a digital car key of the vehicle; The terminal device is used to transmit a wireless signal and send the location information of the terminal device to the vehicle; The vehicle is used to receive the location information of the terminal device, and collect the wireless signals respectively through the multiple short-range wireless communication modules, and obtain the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

2. The system according to claim 1, characterized in that The vehicle is also used to send a first instruction to the terminal device; The terminal device is used to send the location information of the terminal device to the vehicle after receiving the first instruction.

3. The system according to claim 2, characterized in that The vehicle is further used to send a second instruction to the terminal device; The terminal device is also used to stop sending the location information of the terminal device to the vehicle after receiving the second instruction.

4. The system according to any one of claims 1 to 3, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

5. A method for locating a digital car key, characterized in that: Applied to a vehicle, the vehicle having a plurality of short-range wireless communication modules, the method comprising: Receiving location information of a terminal device, the terminal device having a digital vehicle key of the vehicle; respectively collecting wireless signals transmitted by the terminal device through the multiple short-range wireless communication modules; Based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules, the position of the digital car key relative to the vehicle is obtained.

6. The method according to claim 5, characterized in that The method further comprises: A first instruction is sent to the terminal device, where the first instruction is used to instruct the terminal device to send location information of the terminal device.

7. The method according to claim 6, characterized in that The first instruction is sent when any first condition among a plurality of first conditions is satisfied; The plurality of first conditions include: A wireless communication connection has been established between the vehicle and the terminal device; The vehicle is stopped or put into parking gear; The vehicle is parked and a door of the vehicle is open.

8. The method according to any one of claims 5 to 7, characterized in that: The method further comprises: A second instruction is sent to the terminal device, where the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device.

9. The method according to claim 8, characterized in that The second instruction is sent when any second condition among a plurality of second conditions is satisfied; The second conditions include: The vehicle is unlocked or the vehicle is out of park; The wireless communication connection between the terminal device and the vehicle has been disconnected; The terminal device reaches a locking area of ​​the vehicle while moving away from the vehicle.

10. The method according to any one of claims 5 to 9, characterized in that: The location information of the terminal device includes information of multiple track points; The method further comprises: A third instruction is sent to the terminal device, where the third instruction is used to instruct the terminal device to determine information of the multiple trajectory points according to the first frequency.

11. The method according to any one of claims 5 to 10, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

12. The method according to any one of claims 5 to 11, characterized in that: The method further comprises: When it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, executing the step of obtaining the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules respectively; The third condition includes: At least P of the multiple short-range wireless communication modules have collected wireless signals whose signal strengths exceed a signal strength threshold, and P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules.

13. The method according to any one of claims 5 to 12, characterized in that: The obtaining the position of the digital vehicle key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules includes: Based on the location information of the terminal device, the wireless signals respectively collected by the multiple short-range wireless communication modules and the location information of the multiple short-range wireless communication modules, the location of the digital car key relative to the vehicle is obtained.

14. The method according to any one of claims 5 to 13, characterized in that: Each short-range wireless communication module is a Bluetooth module, an ultra-wideband UWB module, a Star Flash basic access SLB module, or a Star Flash low power access SLE module.

15. A method for locating a digital car key, characterized in that: Applied to a terminal device, the terminal device has a digital car key of a vehicle; the method comprises: Transmitting wireless signals; receiving a first instruction sent by the vehicle; After receiving the first instruction, the location information of the terminal device is sent to the vehicle, and the location information of the terminal device and the wireless signal are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

16. The method according to claim 15, characterized in that The method further comprises: receiving a second instruction sent by the vehicle; After receiving the second instruction, stop sending the location information of the terminal device to the vehicle.

17. The method according to claim 15 or 16, characterized in that The location information of the terminal device includes information of multiple track points; The method further comprises: receiving a third instruction sent by the vehicle, wherein the third instruction indicates a first frequency; After receiving the third instruction, information of the plurality of trajectory points is determined according to the first frequency.

18. The method according to any one of claims 15 to 17, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

19. The method according to any one of claims 15 to 18, characterized in that: The method further comprises: Acquire a fourth instruction generated based on an operation of the user on the terminal device; After obtaining the fourth instruction, the function of sending the location information of the terminal device to the vehicle is enabled.

20. A positioning device for a digital car key, characterized in that: The device is included in a vehicle, the vehicle has a plurality of short-range wireless communication modules, and the device includes: A receiving module, used to receive location information of a terminal device, wherein the terminal device has a digital vehicle key of the vehicle; A collection module, used to collect the wireless signals transmitted by the terminal device through the multiple short-range wireless communication modules respectively; A determination module is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

21. The device according to claim 20, characterized in that The device also includes: The first sending module is used to send a first instruction to the terminal device, where the first instruction is used to instruct the terminal device to send the location information of the terminal device.

22. The device according to claim 21, characterized in that The first instruction is sent when any first condition among a plurality of first conditions is satisfied; The plurality of first conditions include: A wireless communication connection has been established between the vehicle and the terminal device; The vehicle is stopped or put into parking gear; The vehicle is parked and a door of the vehicle is open.

23. The device according to any one of claims 20 to 22, characterized in that: The device also includes: The second sending module is used to send a second instruction to the terminal device, where the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device.

24. The device according to claim 23, characterized in that The second instruction is sent when any second condition among a plurality of second conditions is satisfied; The second conditions include: The vehicle is unlocked or the vehicle is out of park; The wireless communication connection between the terminal device and the vehicle has been disconnected; The terminal device reaches a locking area of ​​the vehicle while moving away from the vehicle.

25. The device according to any one of claims 20 to 24, characterized in that: The location information of the terminal device includes information of multiple track points; The device also includes: The third sending module is used to send a third instruction to the terminal device, and the third instruction is used to instruct the terminal device to determine the information of the multiple trajectory points according to the first frequency.

26. The device according to any one of claims 20 to 25, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

27. The device according to any one of claims 20 to 26, characterized in that: The device also includes: a triggering module, configured to trigger the determining module to execute the step of obtaining the position of the digital vehicle key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet a third condition; The third condition includes: At least P of the multiple short-range wireless communication modules have collected wireless signals whose signal strengths exceed a signal strength threshold, and P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules.

28. The device according to any one of claims 20 to 27, characterized in that: The determination module comprises: A determination submodule is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device, the wireless signals respectively collected by the multiple short-range wireless communication modules, and the position information of the multiple short-range wireless communication modules.

29. The device according to any one of claims 20 to 28, characterized in that: Each short-range wireless communication module is a Bluetooth module, an ultra-wideband UWB module, a Star Flash basic access SLB module, or a Star Flash low power access SLE module.

30. A positioning device for a digital car key, characterized in that: Included in a terminal device, the terminal device has a digital car key of a vehicle; the device includes: A transmitting module, used for transmitting wireless signals; A first receiving module, used for receiving a first instruction sent by the vehicle; A sending module is used to send the location information of the terminal device to the vehicle after receiving the first instruction, and the location information of the terminal device and the wireless signal are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

31. The device according to claim 30, characterized in that The device also includes: A second receiving module, used for receiving a second instruction sent by the vehicle; A stop module is used to stop sending the location information of the terminal device to the vehicle after receiving the second instruction.

32. The device according to claim 30 or 31, characterized in that The location information of the terminal device includes information of multiple track points; The device also includes: A third receiving module, used for receiving a third instruction sent by the vehicle, wherein the third instruction indicates the first frequency; A determination module is used to determine the information of the multiple trajectory points according to the first frequency after receiving the third instruction.

33. The device according to any one of claims 30 to 32, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

34. The device according to any one of claims 30 to 33, characterized in that: The device also includes: An acquisition module, configured to acquire a fourth instruction generated based on an operation of the user on the terminal device; A function activation module is used to activate the function of sending the location information of the terminal device to the vehicle after obtaining the fourth instruction.

35. A vehicle, characterized in that: The vehicle has a plurality of short-range wireless communication modules; The vehicle is used to implement the steps of any method described in claims 1-14.

36. A terminal device, characterized in that: The terminal device has a digital car key of the vehicle; The terminal device is used to implement the steps of any method described in claims 15-19.

37. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any one of the methods of claims 1-14, or implements any one of the methods of claims 15-19.

38. A computer program product, characterized in that The computer program product stores computer instructions, and when the computer instructions are executed by a processor, the method described in any one of claims 1 to 14 is implemented, or the method described in any one of claims 15 to 19 is implemented.

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