Digital key unlocking and locking method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of digital keys, and discloses a digital key unlocking and locking method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the distance measurement information of a plurality of UWB anchor points on a vehicle in real time under the condition that a digital key is located outside the vehicle; under the condition that a minimum effective distance measurement value is obtained according to the obtained distance measurement information of the UWB anchor points, corresponding positioning area information is determined according to the minimum effective distance measurement value; and obtaining a change mode of the positioning area according to the positioning area information obtained through multiple times of distance measurement, and controlling the vehicle to be unlocked or locked according to the change mode of the positioning area. The positioning area where the current key is located relative to the vehicle is determined according to the minimum effective distance measurement values of the UWB anchor points, then unlocking or locking is conducted according to the judgment result whether the change mode of the positioning area conforms to the unlocking or locking change rule of the corresponding positioning area or not, and therefore the unlocking and locking positioning performance requirement is met, calculation is simple, and implementation is easy.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of digital key technology, and more particularly to a digital key unlocking method and device, a vehicle control device, and a storage medium. Background Art

[0002] Ultra-Wide Band (UWB) digital key technology has been gaining popularity in recent years. As an advanced wireless communication technology, UWB enables high-precision positioning and data transmission. Compared with traditional Bluetooth Low Energy (BLE) technology, UWB offers significant advantages in signal penetration and anti-interference capabilities, making it widely used in smart devices such as car keys. UWB digital keys not only provide a faster unlocking experience but also effectively enhance security, preventing unauthorized intrusion through precise positioning, and improving user convenience and security.

[0003] Currently, UWB digital keys usually require five to six UWB anchor points to be deployed on the vehicle side, of which one to two anchor points are installed inside the vehicle and four anchor points are installed outside the vehicle. Figure 1 As shown, there is an anchor point A0 inside the vehicle and four anchor points (A1-A4) outside the vehicle, installed at the four corners. By establishing a local coordinate system for the vehicle body, the digital key's coordinates are calculated using the ranging information between the UWB digital key and each anchor point. This determines the digital key's position relative to the vehicle body, thereby unlocking or locking the vehicle. This unlocking and locking method relies heavily on the accuracy of UWB ranging values for accurate positioning. However, digital keys are inevitably used in NLOS (Non-Line of Sight) environments, posing a significant challenge to accurate ranging. In NLOS environments, UWB signals reach the receiver through reflection, refraction, and scattering, resulting in measurement errors. Existing common methods for NLOS detection using UWB ranging values include CIR-based NLOS detection, residual-based NLOS determination, and artificial intelligence-based NLOS determination. These methods are overly model-dependent and cannot be effectively applied to UWB positioning in complex environments. Their complex algorithmic processes and computational complexity make them difficult to implement. Therefore, it is desirable to provide a digital key solution that not only meets the requirements of unlocking and locking positioning accuracy, but is also simple to calculate and easy to implement. Summary of the Invention

[0004] Embodiments of the present invention provide a digital key unlocking method and device, vehicle control equipment, and storage medium. To address the problems of existing unlocking methods, such as complex procedures, large computational complexity, and difficulty in implementation, the method determines the current positioning area based on the minimum effective ranging value of multiple UWB anchor points, and then unlocks or locks the vehicle based on the judgment result of whether the change patterns of the multiple positioning areas obtained during the positioning process conform to the unlocking or locking change rules of the corresponding positioning areas, thereby meeting the unlocking and locking positioning performance requirements, and the method is simple in calculation and easy to implement.

[0005] In a first aspect, an embodiment of the present invention provides a digital key unlocking method, comprising:

[0006] When the digital key is outside the vehicle, real-time ranging information of multiple UWB anchor points on the vehicle is obtained;

[0007] When a minimum valid ranging value is obtained according to the ranging information of the multiple UWB anchor points obtained each time, determining corresponding positioning area information according to the minimum valid ranging value;

[0008] A change pattern of the positioning area is obtained based on the positioning area information obtained from multiple ranging measurements, and the vehicle is unlocked or locked according to the change pattern of the positioning area; wherein the change pattern of the positioning area includes: an unlocking mode for representing gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle.

[0009] As an embodiment, the positioning area information includes: connect, welcome, lock, unlock;

[0010] The method of obtaining a change pattern of the positioning area based on the positioning area information obtained by multiple ranging measurements, and controlling the vehicle to be unlocked or locked based on the change pattern of the positioning area, includes:

[0011] Set the unlock mode parameter count_unlock;

[0012] When the vehicle's status information is locked, if the positioning area information obtained based on multiple ranging measurements is connect to lock or welcome to lock, the value of count_unlock is set to the operation value corresponding to unlock enable. When the value of count_unlock is the operation value corresponding to unlock enable and the current positioning area information is unlock, the vehicle is controlled to unlock.

[0013] As an embodiment, obtaining a change pattern of the positioning area based on the positioning area information obtained by multiple ranging measurements, and controlling the unlocking or locking of the vehicle based on the change pattern of the positioning area, further includes:

[0014] Set the lock mode parameter count_lock;

[0015] When the vehicle's status information is unlocked, if the positioning area information obtained based on multiple ranging measurements is unlock to lock in sequence, the value of count_lock is set to the operation value corresponding to the locking enable. When the value of count_lock is the operation value corresponding to the locking enable and the current positioning area information is welcome or connect, the vehicle is controlled to be locked.

[0016] As an embodiment, the positioning area information includes: connect, welcome, lock, unlock; the method further includes:

[0017] When the current status information of the vehicle is unlocked:

[0018] If a minimum valid ranging value is obtained according to the ranging information of the multiple UWB anchor points obtained each time, recording the minimum valid ranging value and its corresponding time;

[0019] If no valid ranging value is obtained according to the ranging information of the multiple UWB anchor points at the current moment, an estimated time time_estimate corresponding to the locked position from the position corresponding to the last valid ranging value is calculated at a preset speed;

[0020] Determine whether the current positioning area information is connect according to the time time_effect_dist corresponding to the last valid ranging value, the time_estimate, and the current time time_now where no valid ranging value is obtained.

[0021] As an embodiment, determining whether the current positioning area information is connected according to the time instant time_effect_dist corresponding to the last valid ranging value, the time_estimate, and the current time instant time_now at which no valid ranging value is obtained includes:

[0022] If time_now>time_estimate, the current location area information is connect.

[0023] If time_now<=time_estimate, the positioning area information at the current moment is lock.

[0024] As an embodiment, the multiple UWB anchor points include 5 UWB anchor points, and the 5 UWB anchor points are arranged on the vehicle in the following manner: the 5 UWB anchor points are arranged in a cross shape on the vehicle along the longitudinal and transverse directions of the vehicle body, and the anchor point at the center of the cross is located in a preset area inside the vehicle.

[0025] As an embodiment, the method further includes:

[0026] When the current status information of the vehicle is unlocked, the door opening and closing information of the vehicle is monitored and the position change of the digital key is determined to be consistent with the preset exit mode based on the ranging information of the multiple UWB anchor points, it is determined that the digital key is outside the vehicle.

[0027] In a second aspect, an embodiment of the present invention provides a digital key unlocking device, comprising: an acquisition module, configured to acquire ranging information of multiple UWB anchor points on a vehicle in real time when the digital key is located outside the vehicle;

[0028] a positioning area identification module, configured to determine corresponding positioning area information according to the minimum valid ranging value obtained based on the ranging information of the multiple UWB anchor points obtained each time;

[0029] A control module is configured to obtain a change pattern of a positioning area based on positioning area information obtained through multiple ranging measurements, and to control unlocking or locking of the vehicle based on the change pattern of the positioning area; wherein the change pattern of the positioning area includes an unlocking mode for gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle.

[0030] In a third aspect, an embodiment of the present invention provides a positioning device, including a memory and a processor;

[0031] The memory is used to store a computer program; the processor is used to read the computer program in the memory and implement the digital key unlocking method as described above when executing the program.

[0032] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the digital key unlocking method as described in the first aspect.

[0033] Compared with the prior art, the technical solution provided by the embodiments of the present invention has at least the following positive effects:

[0034] In the technical solution of the embodiment of the present invention, when the digital key is outside the vehicle, the ranging information of multiple UWB anchor points on the vehicle is obtained in real time; when the minimum effective ranging value is obtained based on the ranging information of the multiple UWB anchor points obtained each time, the corresponding positioning area information is determined based on the minimum effective ranging value; the changing pattern of the positioning area is obtained based on the positioning area information obtained from multiple ranging, and the vehicle is unlocked or locked according to the changing pattern of the positioning area; wherein the changing pattern of the positioning area includes: an unlocking mode for characterizing gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle. The embodiment of the present application determines the positioning area based on the minimum effective ranging value of multiple UWB anchor points, without the need to solve the coordinates of the digital key, and avoids the complex NLOS identification and compensation process, which can greatly reduce the amount of calculation; and the changing pattern of multiple positioning areas during the positioning process can accurately and effectively identify the unlocking or locking operation, thereby meeting the unlocking and locking positioning performance, so the calculation is simple, easy to implement, and conducive to rapid deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of the layout of a UWB anchor point for a vehicle digital key in the prior art;

[0037] Figure 2 A schematic diagram of the layout of the UWB anchor points of a vehicle digital key provided in the first embodiment of the present invention;

[0038] Figure 3 for Figure 2 Schematic diagram of the positioning area coverage of the UWB anchor point shown;

[0039] Figure 4 A schematic flow chart of a digital key unlocking method according to the first embodiment of the present invention;

[0040] Figure 5 for Figure 4 Schematic diagram of the unlocking distance test route of the digital key unlocking method shown;

[0041] Figure 6 A schematic diagram of the structure of a digital key unlocking device provided in the second embodiment of the present invention;

[0042] Figure 7 This is a structural diagram of an electronic device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0044] The following describes the digital key unlocking method and device, electronic device and storage medium of the embodiment of the present application with reference to the accompanying drawings. In response to the problems mentioned in the background technology that the UWB multi-anchor digital key determines the UWB positioning area by solving the coordinates and relies too much on the accuracy of the ranging value, and the NLOS environment recognition and ranging value compensation process are complex and computationally intensive, the present application provides a digital key unlocking method. In this method, when the digital key is outside the vehicle, the ranging information of multiple UWB anchor points on the vehicle is obtained in real time. When the minimum valid ranging value is obtained based on the ranging information of the multiple UWB anchor points obtained each time, the corresponding positioning area information is determined based on the minimum valid ranging value, and the positioning area change pattern is obtained based on the positioning area information obtained by multiple ranging. The change pattern includes the change order information between at least two positioning areas; the vehicle is unlocked or locked according to the change pattern of the positioning area and the current positioning area information. The embodiment of the present application determines the positioning area based on the minimum effective ranging value of multiple UWB anchor points, without the need to solve the coordinates of the digital key, which can greatly reduce the amount of calculation; the change pattern of multiple positioning areas during the positioning process can accurately and effectively identify the unlocking or locking operation, and combined with the positioning area information, the unlocking or locking timing can be accurately determined, thereby meeting the unlocking and locking positioning performance and avoiding the complex NLOS identification and compensation process. It has strong robustness, simple process, simple calculation, and is easy to implement.

[0045] Figure 2 This is a schematic diagram of the layout of multiple UWB anchor points on a vehicle in the digital key unlocking method provided in an embodiment of the present application. Since the vehicle is not a regular circle, the ranging range of a single UWB anchor point cannot cover the positioning of the area outside the vehicle. Therefore, multiple UWB anchor points can be arranged in a specific manner to cover the positioning of the area outside the vehicle, so that there is no blind spot when the area outside the vehicle is positioned separately by multiple UWB anchor points. Figure 2As shown, the vehicle body is provided with 5 UWB anchor points A0~A5, and the 5 UWB anchor points are arranged in the vehicle in the following manner: the 5 UWB anchor points are arranged in a cross shape along the longitudinal and transverse directions of the vehicle body, and the anchor point in the center of the cross is located in a preset area inside the vehicle. Specifically, the 4 exterior UWB anchor points A1~A4 are respectively set in the middle of the exterior front bumper, on the exterior right rearview mirror, on the exterior left rearview mirror and in the middle of the exterior rear bumper, and the 1 interior UWB anchor point A0 is set in the middle of A2~A3 in the horizontal direction. It can be understood that the influence of the installation height of the 5 UWB anchor points on the positioning accuracy is within the error range. Figure 3 As shown, the ranging range of the five UWB anchor points can cover the area outside the vehicle. UWB anchor points A0-A4 can cover the area outside the vehicle without any blind spots. The positioning areas covered by different UWB anchor points are marked with different colors, allowing the positioning area to be determined based on the ranging value of a specific anchor point among the multiple UWB anchor points without any blind spots. It is understood that other installation locations can also be selected based on the vehicle's structural characteristics and requirements. This embodiment does not impose any specific restrictions on the number or installation locations of the multiple UWB anchor points.

[0046] Figure 4 This is a flow chart of a digital key unlocking method provided by an embodiment of the present invention, which can be applied to PEPS (Passive Entry Passive Start). This method can be executed by a digital key unlocking device provided by an embodiment of the present invention, which can be implemented in software and / or hardware and configured in a vehicle-side control device. Figure 4 As shown, the digital key unlocking method of the present application includes the following steps:

[0047] Step 401: When the digital key is outside the vehicle, the ranging information of multiple UWB anchor points on the vehicle is obtained in real time.

[0048] The digital key is located outside the vehicle before or after the user enters or leaves the vehicle. For the determination of being outside the vehicle before entering the vehicle, the digital key can obtain ranging information from multiple UWB anchor points in real time after establishing a communication connection with the vehicle. If a minimum valid ranging value is determined based on the ranging information obtained from the multiple UWB anchor points, the digital key is determined to be outside the vehicle if the minimum valid ranging value is greater than a preset threshold, such as greater than 10 meters, and the vehicle's current status information is locked. Alternatively, the digital key is determined to be outside the vehicle if the ranging information from the multiple UWB anchor points determines that no valid ranging value exists and the vehicle's current status information is locked.

[0049] Regarding the determination of being outside the vehicle after leaving the vehicle, if the vehicle's current status is unlocked, door opening and closing information is detected, and the digital key's position change is determined to meet a preset exit pattern based on ranging information from multiple UWB anchor points, the digital key is determined to be outside the vehicle. Door opening and closing information refers to the detection of the opening and closing of at least one door. Determining the digital key's position change based on ranging information from multiple UWB anchor points to meet a preset exit pattern refers to the process of the digital key ending a long-term position inside the vehicle and arriving near any door before leaving the vehicle. For example, the digital key moves from the driver's seat to the corresponding driver's door and then leaves the vehicle. The digital key's long-term position inside the vehicle, the position at the corresponding door, and the position after leaving the vehicle can all be determined based on the positions of multiple UWB anchor points and the minimum valid ranging value. Therefore, when the digital key is detected to have left the long-term position and has arrived at a door, and the door opening and closing information and the distance between the digital key and the vehicle after the door opens and closes meet preset conditions, the digital key is determined to be outside the vehicle. The position of the digital key inside the car and near the door can be determined by solving the coordinates, or other known methods can be used to determine whether it is inside or outside the car. This application does not impose specific restrictions on this.

[0050] Step 402: When a minimum valid ranging value is obtained according to the ranging information of the multiple UWB anchor points obtained each time, corresponding positioning area information is determined according to the minimum valid ranging value.

[0051] The corresponding positioning area information is determined based on each minimum valid ranging value obtained and the corresponding relationship between the ranging value and the positioning area. The positioning area refers to the area within a specific distance from the vehicle. The positioning area outside the vehicle can be divided according to the distance from the vehicle. The positioning area information may include: connect, welcome, lock, unlock. The functions of each positioning area in the digital key system and the distance range from the vehicle are shown in Table 1 below:

[0052] Table 1

[0053]

[0054] The "connect" in Table 1 indicates that the UWB digital key is active, but the ranging values of all UWB anchor points are 65535, indicating that no valid ranging values exist. This is usually caused by the digital key being far away from all anchor points (greater than 20 meters), or when there is NLOS between the digital key and all anchor points, the ranging between the key and all anchor points fails.

[0055] When it is determined that the digital key is outside the car, the ranging values of the five UWB anchor points in the current round are arranged in ascending order. If the minimum valid ranging value is less than 2m, the current positioning area is the unlock area; if the minimum valid ranging value is greater than or equal to 2m and less than 5m, the current area is the lock area; if the minimum valid ranging value is greater than or equal to 5m and less than 10m, the current area is the welcome area; if there is no valid ranging value or the minimum valid ranging value is greater than or equal to 10m, the current area is the connect area. The division of the positioning area in the embodiment of the present application adopts the positioning area division method commonly used in digital keys. In some examples, the granularity of the positioning area can be divided more finely, such as dividing welcome and unlock into two positioning areas respectively, which is not excessively restricted here. Since there are few cases where the digital key is NLOS with all anchor points, the positioning area is directly mapped by the minimum valid ranging value of each round, which has higher accuracy; and there is no need to solve the digital key coordinates, avoiding the complicated NLOS identification and compensation calculation process.

[0056] Step 403: Obtain a change pattern of the positioning area based on the positioning area information obtained through multiple ranging measurements, and control the vehicle to be unlocked or locked based on the change pattern of the positioning area.

[0057] The change pattern of the positioning area includes: an unlocking mode for representing gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle. The judgment condition for the unlocking mode is: the status information of the vehicle is in a locked state and while the locked state persists, the change process of the status information of the positioning area is: welcome->lock->unlock or connect->lock->unlock. The judgment condition for the locking mode is: the status information of the vehicle is in an unlocked state and while the unlocked state persists, the change process of the status information of the positioning area is: unlock->lock->welcome or unlock->lock->connect. Controlling the unlocking or locking of the vehicle according to the change pattern of the positioning area and the current positioning area information includes: controlling the vehicle to unlock when the change pattern of the positioning area is an unlocking mode, and controlling the vehicle to lock when the change pattern of the positioning area is a locking mode.

[0058] To facilitate identification of a change pattern in a positioning area and control of unlocking or locking a vehicle, the change pattern in the positioning area is obtained based on positioning area information obtained through multiple ranging measurements, and controlling unlocking or locking a vehicle based on the change pattern in the positioning area may include: setting an unlock mode parameter count_unlock and a lock mode parameter count_lock; when the vehicle's status information is locked, if the positioning area information obtained through multiple ranging measurements changes from connect to lock or welcome to lock in sequence, setting the value of count_unlock to an operation value corresponding to unlock enablement; and when the value of count_unlock is an operation value corresponding to unlock enablement and the current positioning area information is unlock, controlling the vehicle to unlock. When the vehicle's status information is unlocked, if the positioning area information obtained through multiple ranging measurements changes from unlock to lock in sequence, setting the value of count_lock to an operation value corresponding to lock enablement; and when the value of count_lock is an operation value corresponding to lock enablement and the current positioning area information is welcome or connect, controlling the vehicle to lock. Specifically, the initial values of the parameters count_unlock and count_lock are both set to 0. When the vehicle is locked, when the positioning area information of two adjacent rounds is welcome->lock or connect->lock, count_unlock = 1 and count_lock = 0. When the vehicle is unlocked, when the positioning area information of two adjacent rounds is unlock->lock, count_unlock = 0 and count_lock = 1. It should be noted that the values of count_unlock and count_lock can also be determined based on more positioning area information. For example, when the positioning area information of two adjacent rounds changes from welcome->lock for the first time, continuous monitoring can be performed to determine that the positioning area information is lock multiple times, thereby determining that there has been a positioning area change from welcome->lock. This embodiment does not specifically limit the method for identifying positioning area information changes. The unlocked or locked state of the vehicle can be obtained by the vehicle controller. Obtain ranging information from multiple UWB anchor points for the current round and sort the ranging values of these anchor points in ascending order based on this ranging information. If the minimum valid ranging value is less than 2 meters and count_unlock = 1, the vehicle is unlocked. If the current positioning zone is a welcome or connect zone and count_lock = 1, the vehicle is locked. After the vehicle is unlocked or locked, both count_unlock and count_lock are initialized.

[0059] UWB is a high-frequency electromagnetic wave. UWB mainly uses channel 9, and its center frequency is 7987.2MHz. When high-frequency electromagnetic waves are blocked by obstacles, the energy attenuation is very serious. When the UWB signal of channel 9 penetrates the human body, the effective distance is usually less than 3m. For example, when the user browses the mobile phone (digital key) and moves away from the vehicle, if the distance between the mobile phone and the car is greater than 3m, because the user is facing away from the vehicle, there is NLOS between the digital key and all UWB anchor points. At this time, the ranging value of all anchor points is 65535 (that is, there is no valid ranging value). If the positioning area information is determined to be connected at this time, the locking operation will be automatically performed, and the locking distance requirement of 5m is not met. In the case where there is no valid ranging value, the positioning area information is judged to be connected based on the size of the previous valid ranging value, the ranging time, the current time when there is no valid ranging value, and the preset moving speed:

[0060] When the vehicle's current status information is unlocked: if a minimum valid ranging value is obtained based on the ranging information of multiple UWB anchor points obtained each time, the minimum valid ranging value and its corresponding time are recorded; and if no valid ranging value is obtained based on the ranging information of multiple UWB anchor points at the current time, the estimated time corresponding to the distance from the position corresponding to the last valid ranging value to the locked position at a preset speed is calculated time_estimate; based on the time corresponding to the last valid ranging value, time_effect_dist, time_estimate, and the current time, time_now, at which no valid ranging value is obtained, whether the current positioning area information is connected is determined. Based on the time corresponding to the last valid ranging value, time_effect_dist, time_estimate, and the current time, time_now, at which no valid ranging value is obtained, whether the current positioning area information is connected is determined, including: if time_now>time_estimate, the positioning area information at the current time is connected; if time_now<=time_estimate, the positioning area information at the current time is locked.

[0061] Specifically, the detailed judgment steps for connect when no valid ranging value is obtained are described as follows:

[0062] (1) Obtain all the ranging values of each round and the corresponding time_now. Time_now can be provided by the MCU (Micro Control Unit) chip of the digital key control module.

[0063] (2) If at least one ranging value in the current round is not 65535 and the minimum ranging value is dist_min, then record time_effect_dist = time_now and dist_effect = dist_min. When the ranging value in the current round is 65535, time_effect_dist and dist_effect are not updated. Therefore, time_effect_dist represents the moment when the last non-65535 ranging value occurred before the current round, and dist_effect represents the last non-65535 ranging value before the current round. If dist_min <= 2m, the positioning area information is unlock; if 2m < dist_min <= 5m, the positioning area information is lock; if dist_min > 5m, the positioning area information is welcome.

[0064] (3) If all the ranging values in the current round are 65535, then time_effect_dist and dist_effect remain unchanged. Assuming the user's moving speed, such as the walking speed is 1.5m / s, starting from the moment when the last valid ranging value occurred, estimate time_estimate = (5 - dist_effect) / 1.5 + time_effect_dist. If time_now > time_estimate, the current area is connect; if time_now <= time_estimate, then the current area is lock. When the positioning area information is lock, it can be delayed until time_now > time_estimate to lock.

[0065] (4) After the vehicle executes unlocking or locking, time_now, time_effect_dist, dist_effect, and time_estimate are reset to 0.

[0066] The verification method and results of the unlocking and locking method in the embodiments of the present application are briefly described below: The unlocking and locking method of the above embodiments is verified on a real vehicle. 12 test routes are planned around the vehicle body, as Figure 5 shown. The digital key selects a mainstream smart phone. Carry the digital key and approach the vehicle along the planned 12 routes Line1~Line12 from a distance. After the vehicle is unlocked, then move away from the vehicle along the original route, and record the distance between the digital key and the vehicle when unlocking and locking. Each route is repeated three round trips (the walking speed of the person is 1.5m / s). The attitudes of the digital key select two common mobile phone usage methods: the tester holds the mobile phone in the right hand (simulating the user browsing the screen) and the mobile phone is in the back pocket of the tester. The unlocking and locking distance results of the 12 test routes are shown in Tables 2 and 3.

[0067] Table 2 (Unlocking and locking distances on different routes when holding the phone in the right hand)

[0068]

[0069] Table 3 (Unlocking and locking distances for different routes with the phone in the back pocket)

[0070]

[0071] Analysis of Tables 2 and 3 reveals that the three unlocking distances for each route, using both phone usage methods, were all between 0.5m and 1.5m, while the algorithm sets the unlocking distance to 2m. The three locking distances for each route, using both phone postures, were all between 5.5m and 7.0m, while the algorithm sets the locking distance to 5m. This is because the time from when the MCU issues the unlock or lock command until the vehicle completes the unlock or lock operation is approximately 0.5s, and the user is still walking during this 0.5s.

[0072] By simulating two common ways of using digital keys on a real vehicle (holding the phone in the right hand to simulate a user browsing the screen and the phone being in the back pocket), along 12 preset test routes around the vehicle body, the distance deviation of three unlocking attempts on all test routes was less than 1m, and the distance deviation of three locking attempts was less than 1.5m, meeting the digital key unlocking performance requirements and demonstrating excellent stability and reliability.

[0073] Compared with the prior art, the digital key unlocking method of the embodiment of the present invention obtains the ranging information of multiple UWB anchor points on the vehicle in real time when the digital key is outside the vehicle; when the minimum effective ranging value is obtained based on the ranging information of multiple UWB anchor points obtained each time, the corresponding positioning area information is determined based on the minimum effective ranging value; the positioning area change pattern is obtained based on the positioning area information obtained from multiple ranging, and the vehicle is unlocked or locked according to the positioning area change pattern; wherein the positioning area change pattern includes: an unlocking mode that is gradually approaching the vehicle and a locking mode that is gradually moving away from the vehicle. The embodiment of the present application determines the positioning area based on the minimum effective ranging value of multiple UWB anchor points, without the need to solve the coordinates of the digital key, and avoids the complex NLOS identification and compensation process, which can greatly simplify the process and reduce the amount of calculation; and the unlocking or locking operation can be accurately and effectively identified through the change pattern of multiple positioning areas during the positioning process, thereby meeting the unlocking positioning performance. Therefore, the calculation is simple, easy to implement, and conducive to rapid deployment.

[0074] The second embodiment of the present invention provides a digital key unlocking device, which is configured as a control device of a digital key system on a vehicle. Figure 6 As shown, the digital key unlocking device 600 includes:

[0075] An acquisition module 601 is configured to acquire ranging information of multiple UWB anchor points on the vehicle in real time when the digital key is outside the vehicle;

[0076] The positioning area identification module 602 is configured to determine corresponding positioning area information according to the minimum valid ranging value obtained based on the ranging information of multiple UWB anchor points obtained each time;

[0077] The control module 603 is configured to determine a change pattern of the positioning area based on the positioning area information obtained through multiple ranging measurements, and to control the unlocking or locking of the vehicle based on the change pattern of the positioning area. The change pattern of the positioning area includes an unlocking mode for gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle.

[0078] Optionally, the positioning area information may include: connect, welcome, lock, unlock; the control module 602 includes: a first parameter setting submodule, configured to set an unlock mode parameter count_unlock;

[0079] The unlocking submodule is used to set the value of count_unlock to the operation value corresponding to unlocking if the positioning area information obtained based on multiple ranging measurements is connected to lock or welcome to lock in sequence when the vehicle status information is locked. If the value of count_unlock is the operation value corresponding to unlocking and the current positioning area information is unlock, the vehicle is unlocked;

[0080] The second parameter setting submodule is used to set the locking mode parameter count_lock;

[0081] The locking submodule is used to set the value of count_lock to the operation value corresponding to the locking enable when the vehicle status information is unlocked and the positioning area information obtained according to multiple ranging is unlocked to locked in sequence. When the value of count_lock is the operation value corresponding to the locking enable and the current positioning area information is welcome or connect, the vehicle is locked.

[0082] Optionally, the unlocking device 600 may further include:

[0083] The Connect determination module is used when the vehicle's current status information is unlocked:

[0084] If a minimum valid ranging value is obtained based on the ranging information of multiple UWB anchor points obtained each time, the minimum valid ranging value and its corresponding time are recorded;

[0085] If no valid ranging value is obtained based on the ranging information of multiple UWB anchor points at the current moment, an estimated time time_estimate is calculated from the position corresponding to the last valid ranging value to the locked position according to the preset speed;

[0086] Determine whether the current positioning area information is connected based on the time instants time_effect_dist and time_estimate corresponding to the last valid ranging value and the current time instant time_now when no valid ranging value is obtained.

[0087] Optionally, the Connect determination module is specifically configured to: if time_now>time_estimate, the positioning area information at the current moment is connect; if time_now<=time_estimate, the positioning area information at the current moment is lock.

[0088] Optionally, the multiple UWB anchor points include 5 UWB anchor points, and the 5 UWB anchor points are arranged in the vehicle in the following manner: the 5 UWB anchor points are arranged in a cross shape in the vehicle along the longitudinal and transverse directions of the vehicle body, and the anchor point in the center of the cross is located in a preset area inside the vehicle.

[0089] Optionally, the unlocking device 600 may further include:

[0090] The vehicle exterior recognition module is used to detect when the vehicle's current status information is unlocked, monitor the vehicle's door opening and closing information, and determine based on the ranging information of multiple UWB anchor points that the position change of the digital key meets the preset exit mode, and determine that the digital key is outside the vehicle.

[0091] Compared with the prior art, the digital key unlocking device of the embodiment of the present invention obtains the ranging information of multiple UWB anchor points on the vehicle in real time when the digital key is outside the vehicle; when the minimum effective ranging value is obtained based on the ranging information of multiple UWB anchor points obtained each time, the corresponding positioning area information is determined based on the minimum effective ranging value; the positioning area change pattern is obtained based on the positioning area information obtained from multiple ranging, and the vehicle is unlocked or locked according to the positioning area change pattern; wherein the positioning area change pattern includes: an unlocking mode for characterizing gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle. The embodiment of the present application determines the positioning area based on the minimum effective ranging value of multiple UWB anchor points, without the need to solve the coordinates of the digital key, and avoids the complex NLOS identification and compensation process, which can greatly simplify the process and reduce the amount of calculation; and the unlocking or locking operation can be accurately and effectively identified through the change pattern of multiple positioning areas during the positioning process, thereby meeting the unlocking and locking positioning performance. Therefore, the calculation is simple, easy to implement, and conducive to rapid deployment.

[0092] Figure 7 This is a schematic diagram of the structure of a positioning device provided in Embodiment 3 of the present invention. The electronic device 70 includes a memory 71 and a processor 72;

[0093] The memory 71 is used to store computer programs; the processor 72 is used to read the computer programs in the memory 71 and implement the digital key unlocking method as described in the above embodiment when executing the program.

[0094] A fourth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computer processor, the computer program is used to execute the technical solution of any method embodiment.

[0095] Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware. Of course, it can also be implemented with hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or grid device, etc.) to execute the methods described in various embodiments of the present invention.

[0096] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0097] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A digital key unlocking method, characterized in that: include: When the digital key is outside the vehicle, real-time ranging information of multiple UWB anchor points on the vehicle is obtained; When a minimum valid ranging value is obtained according to the ranging information of the multiple UWB anchor points obtained each time, determining corresponding positioning area information according to the minimum valid ranging value; A change pattern of the positioning area is obtained based on the positioning area information obtained from multiple ranging measurements, and the vehicle is unlocked or locked according to the change pattern of the positioning area; wherein the change pattern of the positioning area includes: an unlocking mode for representing gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle.

2. The digital key unlocking method according to claim 1, characterized in that: The positioning area information includes: connect, welcome, lock, unlock; The method of obtaining a change pattern of the positioning area based on the positioning area information obtained by multiple ranging measurements, and controlling the vehicle to be unlocked or locked based on the change pattern of the positioning area, includes: Set the unlock mode parameter count_unlock; When the vehicle's status information is locked, if the positioning area information obtained based on multiple ranging measurements is connect to lock or welcome to lock, the value of count_unlock is set to the operation value corresponding to unlock enable. When the value of count_unlock is the operation value corresponding to unlock enable and the current positioning area information is unlock, the vehicle is controlled to unlock.

3. The digital key unlocking method according to claim 2, characterized in that: The method further comprises: obtaining a change pattern of the positioning area based on the positioning area information obtained by multiple ranging measurements, and controlling the vehicle to be unlocked or locked based on the change pattern of the positioning area. Set the lock mode parameter count_lock; When the vehicle's status information is unlocked, if the positioning area information obtained based on multiple ranging measurements is unlock to lock in sequence, the value of count_lock is set to the operation value corresponding to the locking enable. When the value of count_lock is the operation value corresponding to the locking enable and the current positioning area information is welcome or connect, the vehicle is controlled to be locked.

4. The digital key unlocking method according to claim 1, characterized in that: The positioning area information includes: connect, welcome, lock, unlock; the method further includes: When the current status information of the vehicle is unlocked: If a minimum valid ranging value is obtained according to the ranging information of the multiple UWB anchor points obtained each time, recording the minimum valid ranging value and its corresponding time; If no valid ranging value is obtained according to the ranging information of the multiple UWB anchor points at the current moment, an estimated time time_estimate corresponding to the locked position from the position corresponding to the last valid ranging value is calculated at a preset speed; Determine whether the current positioning area information is connect according to the time time_effect_dist corresponding to the last valid ranging value, the time_estimate, and the current time time_now where no valid ranging value is obtained.

5. The digital key unlocking method according to claim 4, characterized in that: The determining whether the current positioning area information is connected according to the time time_effect_dist corresponding to the last valid ranging value, the time_estimate, and the current time time_now at which no valid ranging value is obtained includes: If time_now>time_estimate, the current location area information is connect. If time_now<=time_estimate, the positioning area information at the current moment is lock.

6. The digital key unlocking method according to claim 1, characterized in that: The multiple UWB anchor points include 5 UWB anchor points, and the 5 UWB anchor points are arranged on the vehicle in the following manner: the 5 UWB anchor points are arranged in a cross shape on the vehicle along the longitudinal and transverse directions of the vehicle body, and the anchor point at the center of the cross is located in a preset area inside the vehicle.

7. The digital key unlocking method according to claim 1, characterized in that: The method further comprises: When the current status information of the vehicle is unlocked, the door opening and closing information of the vehicle is monitored and the position change of the digital key is determined to be consistent with the preset exit mode based on the ranging information of the multiple UWB anchor points, it is determined that the digital key is outside the vehicle.

8. A digital key unlocking device, characterized in that: include: An acquisition module, used to obtain ranging information of multiple UWB anchor points on the vehicle in real time when the digital key is outside the vehicle; a positioning area identification module, configured to determine corresponding positioning area information according to the minimum valid ranging value obtained based on the ranging information of the multiple UWB anchor points obtained each time; A control module is configured to obtain a change pattern of a positioning area based on positioning area information obtained through multiple ranging measurements, and to control unlocking or locking of the vehicle based on the change pattern of the positioning area; wherein the change pattern of the positioning area includes an unlocking mode for gradually approaching the vehicle and a locking mode for gradually moving away from the vehicle.

9. An electronic device, characterized in that: including memory and processor; A memory for storing a computer program; the processor is used to read the computer program in the memory and implement the digital key unlocking method as described in any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the digital key unlocking method as described in any one of claims 1 to 7 is implemented.

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