Digital key ranging value filtering method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a digital key ranging value filtering method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring ranging information of a plurality of UWB anchor points in real time; obtaining the position change trend of the digital key according to the distance measurement information; under the condition that the effective distance measurement value does not exist, a preset target position is obtained according to the positioning result corresponding to the moment t of the previous effective distance measurement value, the position change trend and the unlocking and locking state of the vehicle terminal, and a predicted distance is obtained according to the distance relation between the effective distance measurement value at the moment t and the preset target position; obtaining a prediction duration T according to the prediction distance; in the T, when an effective distance measurement value is not detected, state one-step prediction of a Kalman filtering algorithm is executed to obtain a filtered distance measurement value, and when the effective distance measurement value is detected, the state one-step prediction is terminated, and a filtering estimation value is obtained according to the Kalman filtering algorithm to serve as the filtered distance measurement value; and obtaining a positioning result of the area outside the vehicle according to the filtered distance measurement values of the plurality of anchor points.

Description

Technical Field

[0001] This invention relates to the field of UWB digital key technology, and in particular to a digital key ranging value filtering method and device, electronic device and storage medium. Background Technology

[0002] Ultra-wideband (UWB) digital key technology has emerged 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 has 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 by accurately locating and preventing unauthorized intrusion, thus improving user convenience and peace of mind.

[0003] However, due to the hardware requirements and complexity of UWB technology, the cost of UWB digital keys is much higher than that of BLE digital keys. Current mainstream UWB digital keys require the deployment of 4 to 6 UWB anchor points on the vehicle to achieve a good user experience, resulting in high installation costs and hindering the widespread adoption of high-performance digital keys. While reducing the number of UWB anchor points, it is necessary to ensure the accuracy of the ranging values ​​measured by the UWB anchor points under NLOS conditions. Traditional NLOS compensation methods mostly rely on complex calculation models to identify and compensate for NLOS, resulting in complex algorithms, high computational load, and inconvenient implementation. Summary of the Invention

[0004] This invention provides a digital key ranging value filtering method and device, electronic device and storage medium. By filtering the ranging value of UWB anchor points when they are invalid, the responsiveness of digital key positioning, the accuracy of the filtered ranging value and the robustness can be guaranteed.

[0005] In a first aspect, embodiments of the present invention provide a digital key ranging value filtering method, comprising: acquiring in real time the positioning information of multiple positioning anchor points of a digital key deployed on a vehicle terminal, wherein the positioning information includes ranging information of multiple UWB anchor points;

[0006] The position change trend of the digital key is obtained based on the ranging information of the multiple UWB anchor points; TrendUwb.

[0007] If there is no valid ranging value at UWB anchor point i, the preset target position is obtained based on the vehicle external area positioning result corresponding to the time t where the last valid ranging value of UWB anchor point i is located, TrendUwb, and the unlocking / locking status of the vehicle terminal. The predicted distance is obtained based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position. The predicted duration T is obtained based on the predicted distance and the preset movement speed; i is the number of the UWB anchor point.

[0008] Within the prediction duration T, when no valid ranging value of the UWB anchor point i is detected, the state one-step prediction of the Kalman filter algorithm is performed to obtain the filtered ranging value of the UWB anchor point i. When a valid ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated and the filtered estimated value of the UWB anchor point i is obtained according to the Kalman filter algorithm as the filtered ranging value.

[0009] The vehicle exterior area positioning result is obtained based on the filtered distance measurement value from the multiple UWB anchor points.

[0010] As one embodiment, the step of obtaining a preset target position based on the vehicle external area positioning result corresponding to the time t of a valid ranging value at the UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal, obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of the UWB anchor point i at time t and the preset target position, and obtaining a predicted duration T based on the predicted distance and a preset movement speed includes:

[0011] If the vehicle external area positioning result corresponding to time t is WELCOME, and the time t or the current TrendUwb is Approach, then the difference between Dist(i,t) and the corresponding locking distance is calculated, and the prediction duration T is obtained based on the difference; if the vehicle external area positioning result corresponding to time t is WELCOME, and the current TrendUwb is not Approach, then the prediction duration is set to a preset minimum prediction duration TimePredMin; wherein, the difference between Dist(i,t) and the corresponding locking distance is the prediction distance; and the locking distance is the preset target position.

[0012] As one embodiment, the method of obtaining a preset target position based on the vehicle external area positioning result corresponding to the time t of a valid ranging value at the UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of the UWB anchor point i at time t and the preset target position; and obtaining a predicted duration T based on the predicted distance and a preset movement speed, further includes:

[0013] If the vehicle external area positioning result corresponding to the time t is UNLOCK, then calculate the absolute value of the difference between Dist(i,t) and the corresponding unlocking distance, AbsDiffDist(i). When AbsDiffDist(i) is greater than Dist(i,t), let DisMinToCmd = Dist(i,t). When AbsDiffDist(i) is less than or equal to Dist(i,t), let DisMinToCmd = AbsDiffDist(i). The predicted duration is obtained based on DisMinToCmd and the preset movement speed. Wherein, DisMinToCmd is the predicted distance; and the unlocking distance is the preset target position.

[0014] As one embodiment, the method of obtaining a preset target position based on the vehicle external area positioning result corresponding to the time t of a valid ranging value at the UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of the UWB anchor point i at time t and the preset target position; and obtaining a predicted duration T based on the predicted distance and a preset movement speed, further includes:

[0015] If the location result of the external area corresponding to the time t is LOCK, and the vehicle terminal is currently in a locked state, and the difference between Dist(i,t) and the unlocking distance DistUnlockThrsld is less than a preset value, then the prediction duration is the set value.

[0016] If the difference between Dist(i,t) and the unlocking distance DistUnlockThrsld is greater than or equal to a preset value, then the absolute values ​​(A1, A2) of the distance differences between Dist(i,t) and DistUnlockThrsld and the locking distance DistLockThrsld are obtained respectively, and DisMinToCmd is set to the smaller of the absolute values ​​(A1, A2). When DisMinToCmd is less than the difference threshold DiffDistThsld, and the vehicle terminal is currently in the unlocked state, the predicted duration is set to a preset value. When DisMinToCmd is greater than or equal to DiffDistThsld, the predicted duration is obtained based on DisMinToCmd and the preset movement speed.

[0017] As one embodiment, the method of obtaining a preset target position based on the vehicle external area positioning result corresponding to the time t of a valid ranging value at the UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of the UWB anchor point i at time t and the preset target position; and obtaining a predicted duration T based on the predicted distance and a preset movement speed, further includes:

[0018] If T is greater than TimePredMax, then let T = TimePredMax, where TimePredMax is the preset maximum prediction duration.

[0019] As one embodiment, the locking distance and the unlocking distance are determined based on the orientation of the UWB anchor point i at time t. The orientation of the digital key relative to the vehicle terminal includes: the front, rear, left, and right directions of the vehicle terminal, as well as the transitional direction Default between adjacent directions among the front, rear, left, and right directions. The plurality of positioning anchor points are UWB / BLE dual-mode three anchor points deployed in an isosceles triangle on both sides of the vehicle and at a preset position at the rear. The method further includes:

[0020] The orientation judgment parameters are obtained based on the positioning information of the dual-mode three anchor points; the orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, the pairwise difference between multiple valid ranging values, the minimum ranging value (DistMin), the anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and the pairwise difference between multiple valid RSSI values;

[0021] The location of the digital key is identified according to the preset judgment conditions corresponding to each location; wherein, each location judgment condition includes multiple location judgment parameters used to characterize the features of the corresponding location.

[0022] As one embodiment, obtaining the vehicle exterior area positioning result based on the filtered ranging values ​​from the plurality of UWB anchor points includes:

[0023] Based on the azimuth information, the unlocking distance and locking distance of each UWB anchor point corresponding to each azimuth are obtained;

[0024] If a valid filtered distance measurement value exists, the UWB vehicle exterior positioning result is obtained based on the valid filtered distance measurement value and the corresponding unlocking distance or locking distance, and is used as the vehicle exterior area positioning result.

[0025] Secondly, embodiments of the present invention provide a digital key ranging value filtering device, comprising:

[0026] The positioning information acquisition module is used to acquire positioning information of multiple positioning anchor points of the digital key deployed on the vehicle terminal in real time. The positioning information includes ranging information of multiple UWB anchor points.

[0027] The trend estimation module is used to obtain the position change trend of the digital key, TrendUwb, based on the ranging information of the multiple UWB anchor points.

[0028] The duration estimation module is used to obtain a preset target position when there is no valid ranging value at UWB anchor point i, based on the vehicle external area positioning result corresponding to the time t of the last valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; to obtain a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position; and to obtain a predicted duration T based on the predicted distance and a preset movement speed; where i is the number of the UWB anchor point.

[0029] The state one-step prediction module is used to perform state one-step prediction of the UWB anchor point i by executing the Kalman filter algorithm to obtain the filtered ranging value of the UWB anchor point i when no valid ranging value of the UWB anchor point i is detected within the prediction time T.

[0030] The estimation module is used to terminate the state one-step prediction when a valid ranging value of the UWB anchor point i is detected, and obtain the filtered estimated value of the UWB anchor point i as the filtered ranging value according to the Kalman filter algorithm; the vehicle-exterior area positioning result is obtained based on the filtered ranging values ​​of the multiple UWB anchor points; and

[0031] The UWB positioning module is used to obtain the positioning result of the external area based on the filtered distance measurement value of the multiple UWB anchor points.

[0032] Thirdly, embodiments of the present invention provide an electronic device, including a memory and a processor;

[0033] The memory is used to store computer programs; the processor is used to read the computer programs in the memory and, when executing the programs, implement the digital key ranging value filtering method as described above.

[0034] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the digital key ranging value filtering method as described in the first aspect.

[0035] The technical solutions provided by the embodiments of the present invention have at least the following positive effects compared with the prior art:

[0036] In this embodiment of the invention, the positioning information of multiple positioning anchor points of the digital key deployed on the vehicle terminal is acquired in real time. The positioning information includes the ranging information of multiple UWB anchor points. The position change trend TrendUwb of the digital key is obtained based on the ranging information of multiple UWB anchor points. When there is no valid ranging value at UWB anchor point i, the preset target position is obtained based on the positioning result of the external area corresponding to the time t where the last valid ranging value of UWB anchor point i is located, TrendUwb, and the unlocking / locking status of the vehicle terminal. The effective ranging value Dist(i,t) of UWB anchor point i at time t is used to determine the target position. The predicted distance is obtained from the distance relationship between the UWB anchor point and the preset target position. The prediction duration T is obtained based on the predicted distance and the preset movement speed. i is the number of the UWB anchor point. Within the prediction duration T, if no valid ranging value is detected for UWB anchor point i, a Kalman filter algorithm is executed for state-one prediction to obtain the filtered ranging value of UWB anchor point i. When a valid ranging value is detected for UWB anchor point i, the state-one prediction terminates, and the filtered estimated value of UWB anchor point i is obtained according to the Kalman filter algorithm as the filtered ranging value. The vehicle external area positioning result is obtained based on the filtered ranging values ​​of multiple UWB anchor points. Therefore, since the prediction duration of the state-one prediction is dynamically adjusted according to the distance relationship between the valid ranging value Dist(i,t) at the time t of the previous valid ranging value and the preset target position, the responsiveness of digital key positioning, the accuracy of the filtered ranging value, and robustness can be guaranteed simultaneously, thus achieving a high-performance digital key using fewer UWB anchor points. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a layout example diagram of UWB and BLE dual-mode three-anchor point on a vehicle provided in an embodiment of the present invention;

[0039] Figure 2 This is a flowchart illustrating the digital key ranging value filtering method provided in Embodiment 1 of the present invention;

[0040] Figure 3 This is a schematic diagram of the orientation determination process in one embodiment of the digital key ranging value filtering method of the present invention;

[0041] Figure 4 This is a schematic diagram of the digital key ranging value filtering device provided in Embodiment 2 of the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of the electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0044] The following description, with reference to the accompanying drawings, describes a digital key ranging value filtering method and apparatus, electronic device, and storage medium according to embodiments of this application.

[0045] In the digital key ranging value filtering method of this invention, multiple positioning anchor points can be UWB / BLE dual-mode three-anchor points. Figure 1 This is a schematic diagram of the layout of three anchor points for both UWB and BLE dual-mode operation on a vehicle in a digital key ranging value filtering method. (See diagram for example.) Figure 1 As shown, the dual-mode three anchor points (0, 1, 2) are respectively installed on the right rearview mirror, the left rearview mirror, and the center of the rear of the vehicle, so that the three anchor points are distributed in an isosceles triangle. It is understood that the embodiments of the present invention do not impose excessive restrictions on the number of anchor points or their arrangement.

[0046] Figure 2This is a flowchart illustrating a digital key ranging value filtering method provided in an embodiment of the present invention. It filters the ranging values ​​of UWB anchor points to make the ranging values ​​more accurate, thereby improving the accuracy of the digital key's positioning in the vehicle's external area. This method can be executed by a digital key ranging value filtering device provided in an embodiment of the present invention. This device can be implemented in software and / or hardware and configured in the digital key module of the vehicle's infotainment system. Figure 2 As shown, the digital key ranging value filtering of this application includes steps 201 to 205:

[0047] Step 201: Obtain the location information of multiple positioning anchor points of the digital key deployed on the vehicle terminal in real time. The location information includes the ranging information of multiple UWB anchor points.

[0048] The positioning information of the dual-mode three-anchor point includes the ranging information of the three UWB anchor points and the RSSI value of the three BLE anchor points. The ranging information of the UWB anchor points includes the ranging value and the signal strength RxPower. The ranging value and signal strength of the three UWB anchor points can be denoted as Dist[3] and RxPower[3], respectively, and the RSSI value of the three BLE anchor points can be denoted as RSSI[3].

[0049] Step 202: Obtain the position change trend (TrendUwb) of the digital key based on the ranging information from multiple UWB anchor points. In this embodiment of the invention, the position change trend (TrendUwb) of the digital key can be obtained based on the ranging information from three UWB anchor points. TrendUwb can include: Approach, Leave, Around, and Unknown. Approach, Leave, Around, and Unknown represent the digital key getting closer to the vehicle's infotainment system, getting farther away, having no significant change in distance, or being unknown, respectively. TrendUwb can assist in filtering ranging values ​​to improve the accuracy of filtering. For example, TrendUwb can be obtained based on the changing trend of the minimum ranging value in each round of ranging values. The minimum ranging value continuously decreasing, increasing, having no significant change, or being unknown can be regarded as the Approach, Leave, Around, and Unknown trends, respectively.

[0050] Step 203: If there is no valid ranging value at UWB anchor point i, obtain the preset target position based on the vehicle external area positioning result corresponding to the time t where the last valid ranging value of UWB anchor point i is located, TrendUwb, and the unlocking / locking status of the vehicle terminal. Obtain the predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position. Obtain the predicted duration T based on the predicted distance and the preset movement speed.

[0051] i is the number of the UWB anchor point. The validity of the ranging value of each anchor point can be determined based on the ranging value Dist[3] of the three UWB anchor points acquired in real time and the signal strength RxPower[3], which will not be elaborated here.

[0052] Step 204: Within the prediction time T, when no valid ranging value of UWB anchor point i is detected, the state one-step prediction of the Kalman filter algorithm is executed to obtain the filtered ranging value of UWB anchor point i. When a valid ranging value of UWB anchor point i is detected, the state one-step prediction is terminated and the filtered estimated value of UWB anchor point i is obtained according to the Kalman filter algorithm as the filtered ranging value.

[0053] In this embodiment of the invention, the positioning result of the external area can be obtained based on the distance measurement value after filtering of multiple UWB anchor points, as detailed below.

[0054] In this embodiment of the invention, in order to improve the accuracy of UWB ranging values ​​and the availability of UWB ranging values ​​in NLOS (Non-Line of Sight) conditions, the ranging values ​​of the real-time acquired UWB anchor point i are filtered using a Kalman filter algorithm to obtain the filtered ranging value DistFilter[i].

[0055] Kalman filtering's one-step state prediction is a prediction of the current state based on the previous valid ranging value and the motion model when a valid ranging value for the current moment is lacking. When the ranging value of anchor point i is invalid, Kalman filtering is used for one-step state prediction. Within the prediction time T, the filtered ranging value DistFilter[i] of anchor point i is obtained. When a valid ranging value for anchor point i is detected in real time, one-step state prediction is stopped, and the optimal estimate of Kalman filtering is switched back to obtain the current filtered ranging value DistFilter[i] of anchor point i.

[0056] In this embodiment of the invention, the external area set according to the digital key function may include: PE, LOCK, WELCOME, and CONNECT areas. The unlocking distance is the boundary value between the PE and LOCK areas, and the locking distance is the boundary value between the LOCK and WELCOME areas. This embodiment of the invention can obtain the external area positioning result corresponding to the real-time acquired dual-mode three-anchor point positioning information. The external area positioning result can be one of the PE, LOCK, WELCOME, and CONNECT areas.

[0057] In this embodiment of the invention, step 203 may include sub-steps 2031 to 2034.

[0058] Sub-step 2031: If the vehicle external area positioning result at time t is WELCOME, and either time t or the current TrendUwb is Approach, then calculate the difference between Dist(i,t) and the corresponding locking distance, and obtain the prediction duration T based on the difference; if the vehicle external area positioning result at time t is WELCOME, and the current TrendUwb is not Approach, then set the prediction duration to the preset minimum prediction duration TimePredMin; where the difference between Dist(i,t) and the corresponding locking distance is the prediction distance. TimePredMin can be set according to the positioning scenario requirements, and no specific restrictions are imposed here.

[0059] Since the vehicle external area positioning result at time t is WELCOME, and TrendUwb is the Approach, predicting the user will move towards the LOCK area, the preset target position is the position corresponding to the locking distance (i.e., the boundary between LOCK and WELCOME). In this embodiment of the invention, the prediction duration can be calculated based on the predicted distance and the user's normal walking speed. Therefore, in sub-step 2031, the prediction duration T is the estimated time for the user to walk from time t to the LOCK area. In this embodiment, during the process of the digital key moving from WELCOME to LOCK, T is estimated based on the difference between Dist(i,t) and the locking distance, as well as the user's normal walking speed, which ensures the system's responsiveness, accuracy, and stability.

[0060] Sub-step 2032: If the vehicle external area positioning result at time t is UNLOCK (i.e., PE), then calculate the absolute value of the difference between Dist(i,t) and the corresponding unlocking distance, AbsDiffDist(i). When AbsDiffDist(i) is greater than Dist(i,t), let DisMinToCmd = Dist(i,t); when AbsDiffDist(i) is less than or equal to Dist(i,t), let DisMinToCmd = AbsDiffDist(i). The predicted duration is obtained based on DisMinToCmd and the preset movement speed; where DisMinToCmd is the predicted distance. In this embodiment, when the digital key is in the PE area, T is dynamically estimated based on Dist(i,t) and AbsDiffDist(i). The predicted duration T increases as the distance between the digital key and the vehicle terminal or the unlocking distance increases, which can ensure the responsiveness and stability of the distance prediction in the PE area.

[0061] Sub-step 2033: If the vehicle external area positioning result at time t is LOCK, and the vehicle terminal is currently in a locked state, and the difference between Dist(i,t) and the unlocking distance DistUnlockThrsld is less than a preset value, then the prediction duration is the set value. The set value can be 0, in which case no state prediction is performed.

[0062] If the difference between Dist(i,t) and DistUnlockThrsld is greater than or equal to a preset value, then the absolute values ​​(A1, A2) of the distance differences between Dist(i,t) and DistUnlockThrsld and DistLockThrsld are obtained respectively. Let DisMinToCmd be the smaller of the absolute values ​​(A1, A2). When DisMinToCmd is less than the preset difference threshold DiffDistThsld, DiffDistThsld is, for example, 50cm, and the vehicle terminal is currently in the unlocked state, let T be a set value, for example, 0. Otherwise, when DisMinToCmd is greater than or equal to DiffDistThsld, the preset duration T is obtained based on DisMinToCmd, for example, the ratio of DisMinToCmd to the user's normal walking speed.

[0063] Sub-step 2034: If T is greater than TimePredMax, then let T = TimePredMax, where TimePredMax is the preset maximum prediction duration, thereby avoiding large distance measurement errors caused by excessively long prediction duration.

[0064] In step 204, the three ranging values ​​Dist[3] at the current moment are used as the observation input Kalman filter. The observation noise array R and the system noise array Q are set according to the actual situation and signal characteristics, and the state variable X at the current moment is calculated. X is the ranging value after filtering at the current moment. When the ranging value of anchor point i at the current moment is invalid, a state one-step prediction is performed for anchor point i within the prediction time T. When anchor point i has an effective ranging value within the prediction time, the optimal estimate value is obtained by Kalman filtering as the filtered ranging value. The Kalman filter performs filtering based on the state equation and observation equation of Kalman filtering.

[0065] The state equation for Kalman filtering is: ;

[0066] Among them, for each , This is the number of the UWB anchor point.

[0067] The observation equation is: ;

[0068] Among them, for each =1. The application of the state equation and observation equation of Kalman filtering is well known to those skilled in the art and will not be elaborated here. In step 204, the state one-step prediction is performed based on the validity of the ranging value and the prediction time T, which ensures the responsiveness of the system, the accuracy of the ranging value, and the robustness.

[0069] It should be noted that the locking and unlocking distances can be determined based on the orientation and position of the UWB anchor point i at time t (see below for the locking and unlocking distances of each anchor point in different orientations set according to the total unlocking and locking distances). The orientation of the digital key relative to the vehicle's infotainment system includes: Front, Rear, Left, Right, and the transitional orientation Default between adjacent orientations of Front, Rear, Left, and Right. The aforementioned orientation division is mainly used to set the locking and unlocking distances corresponding to different orientations. As long as the locking and unlocking accuracy requirements are met, this embodiment does not impose specific restrictions on the number or size of the orientations. It is understood that the unlocking and locking distances can also be determined based on the distance between the digital key and the vehicle body, and no excessive restrictions are imposed here.

[0070] The filtering method of this embodiment may further include: obtaining orientation judgment parameters based on the positioning information of the dual-mode three-anchor points; the orientation judgment parameters include: the number of valid UWB anchor points with effective ranging values ​​(ValidDistNum), the effective ranging value, the pairwise difference between multiple effective ranging values, the minimum ranging value (DistMin), the anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with effective RSSI values, the effective RSSI value, and the pairwise difference between multiple effective RSSI values. The differences in ranging values ​​between each pair of UWB anchor points (1,0), (1,2), and (0,2) are denoted as DiffDist[0]~DiffDist[2], respectively, and the differences in RSSI values ​​between each pair of BLE anchor points (1,0), (1,2), and (0,2) are denoted as DiffRssi[0]~DiffDist[2]. It should be noted that the effective ranging value can be the filtered effective ranging value.

[0071] The location of the digital key is identified according to the preset judgment conditions corresponding to each location; wherein, each location judgment condition includes multiple location judgment parameters used to characterize the features of the corresponding location.

[0072] The preset judgment conditions for Front, Rear, Right, and Left include UWB group judgment conditions and BLE group judgment conditions, respectively. For example... Figure 3 As shown, the orientation determination in this embodiment of the invention includes steps S301 to S317:

[0073] S301. When ValidRssiNum < 2 or ValidDistNum = 0 ( Figure 3 condition 1 in Figure 3 ), then DirToVeh = Default, Return. DirToVeh is the orientation of the digital key. DirToVeh = Default means identifying the current orientation as Default and then returning to execute the subsequent program.

[0074] S302. When ValidDistNum = 1, the valid anchor ID = 2, and (DistFilter[2] > DistThrsld_1 (600 cm) or (DistFilter[2] is equal to DistThrsld_1 (600 cm) and RSSI[2] is invalid)) ( Figure 3 condition 2 in Figure 3 ), then enter S303. If condition 2 is not satisfied, then enter S304.

[0075] S303. When both RSSI[1] and RSSI[0] are valid and both < RssiThrsld (-80 dbm) ( Figure 3 condition 3 in Figure 3 ), then DirToVeh = Rear, and then end the current orientation judgment and return. When condition 2 is satisfied and condition 3 is not satisfied, then DirToVeh = Default, Return.

[0076] S304. When DistMinId = 0 or 1, ValidDistNum = 2, abs(DiffDist[0]) < DiffDistThrsld_1 (0.8 m), and there is no valid ranging value for anchor 2 or DistFilter[2] > DistThrsld_1 (600 cm) (i.e., Figure 3 condition 4 in Figure 3 ), then DirToVeh = Front, Return.

[0077] S305. When DistMinId = 0 and ((ValidDistNum = 1 and DistFilter[0] < DistThrsld_2) (100 cm) or (the ranging value of anchor 1 is valid and Dist[1] > DistThrsld_3 (245 cm) and DistFilter[0] > DistThrsld_4 (140 cm) and the ranging value of anchor 2 is invalid)) (i.e., condition 5 in the figure), then DirToVeh = Right, Return; if condition 5 is not satisfied, then enter S306.

[0078] S306. When DistMinId = 1 and ((ValidDistNum = 1 and DistFilter[1] < DistThrsld_2) or (the ranging value of anchor 0 is valid and DistFilter[0] > DistThrsld_3 (245 cm) and DistFilter[1] > DistThrsld_4 (140 cm) and the ranging value of anchor 2 is invalid)) (i.e., condition 6 in the figure), then DirToVeh = Left, Return; when condition 6 is not satisfied, enter S307.

[0079] S307. When both abs(DiffRssi[1]) and abs(DiffRssi[2]) are < RssiDiffThrsld_1 (3 dbm) ( Figure 3 condition 7 in it), then DirToVeh = Default, return; if condition 7 is not satisfied, enter S308.

[0080] S308. When both RSSI[0] and RSSI[1] are valid and both > RSSI[2] (i.e., Figure 3 condition 8 in it), enter S309, when condition 8 is not satisfied, enter S312.

[0081] S309. When abs(DiffRssi[0]) <= RssiDiffThrsld_2 (6 dbm), that is, Figure 3 when condition 9 in it is satisfied, enter S310, when condition 9 is not satisfied, then enter S311.

[0082] S310. When (abs(DiffRssi[1]) > RssiDiffThrsld_3 (10 dbm) and abs(DiffRssi[2]) > RssiDiffThrsld_3 (10 dbm)), that is, when condition 10 in Figure 3 is satisfied, DirToVeh = Front, return; or, when the ranging value of anchor 2 is invalid, and there are 1 or more valid ranging values for anchor 0 or 1, and the valid ranging values are all > DistThrsld_3 (245 cm), that is, when condition 11 in Figure 3 is satisfied, then DirToVeh = Front, return. When condition 10 or condition 11 is not satisfied, DirToVeh = Default, return.

[0083] S311. When there are valid ranging values for both anchor 0 and 1, and abs(DiffDist[0]) < DiffDistThrsld_2 (60 cm), that is, when condition Figure 3If condition 12 is met, then DirToVeh = Default, and return.

[0084] S312. When RSSI[0] is valid and is the maximum RSSI value, that is, when condition 13 is met, enter S313. When condition 13 is not met, enter S314. Figure 3 If condition 13 is met, then enter S313. When condition 13 is not met, enter S314.

[0085] S313. When any of the following sub - conditions in condition 14 is met, then DirToVeh = Default. Otherwise, DirToVeh = Right.

[0086] The sub - conditions of condition 14 include:

[0087] Sub - condition 1: (There is a valid ranging value for anchor 0, DistFilter[0]>DistThrsld_1 (600cm)) and (abs(DiffRssi[0])<RssiDiffThrsld_2 (6dbm) or abs(DiffRssi[1])<RssiDiffThrsld_2 (6dbm));

[0088] Sub - condition 2: There is no valid ranging value for anchor 0, and there is a valid ranging for anchor 1 or 2;

[0089] Sub - condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10dbm).

[0090] S314. When RSSI[1] is valid and is the maximum RSSI value, that is, when condition 15 is met, enter S315. When condition 15 is not met, enter S316.

[0091] S315. When any of the following sub - conditions of condition 16 is met, then DirToVeh = Default. When any of the following sub - conditions of condition 16 is not met, then DirToVeh = Left.

[0092] Condition 16 includes:

[0093] Sub - condition 1: (There is a valid ranging value for anchor 1, DistFilter[1]>DistThrsld_1 (600cm)) and (abs(DiffRssi[0])<RssiDiffThrsld_2 (6dbm) or abs(DiffRssi[1])<RssiDiffThrsld_2 (6dbm));

[0094] Sub - condition 2: There is no valid ranging value for anchor 1, and there is a valid ranging value for anchor 0 or 2;

[0095] Sub - condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10 dbm).

[0096] S316. When RSSI[2] is valid and is the maximum RSSI value, and there is a valid ranging value for Anchor 2 (Condition 17 in the figure), then proceed to S317; otherwise, DirToVeh = Default.

[0097] S317. When DistFilter[2] > DistThrsld_1 (600 cm), and there is a valid RSSI value for Anchor 0 or 1, and (abs(DiffRssi[1]) < RssiDiffThrsld_2 (6 dbm) and abs(DiffRssi[2]) < RssiDiffThrsld_2) (Condition 18 in the figure), then DirToVeh = Default; or, when there is no valid ranging value for Anchor 2, and there is a valid RSSI value for Anchor 0 or 1 (Condition 19 in the figure), then DirToVeh = Default; when Conditions 18 or 19 are not met, DirToVeh = Rear.

[0098] Step 205. Obtain the positioning result of the out - of - vehicle area based on the filtered ranging values of multiple UWB anchors. In an embodiment of the present invention, Step 205 may include: obtaining the unlocking distance and locking distance corresponding to each azimuth for each UWB anchor according to the azimuth information. When there is a valid filtered ranging value, obtain the UWB out - of - vehicle positioning result based on the valid filtered ranging value and the corresponding unlocking distance or locking distance, and use it as the positioning result of the out - of - vehicle area.

[0099] Specifically, the process of obtaining the unlocking distance and locking distance corresponding to each azimuth for each UWB anchor according to the azimuth information is described as follows:

[0100] First, set the total unlocking distance DistUnlockThrsld and locking distance DistLockThrsld according to the application scenario or user requirements. In the digital key function, different functional areas are set around the vehicle body. The unlocking distance and locking distance are the distances corresponding to the boundaries of PE and LOCK and the boundaries of LOCK and WELCOME areas respectively. The unlocking distance is, for example, 2 m, and the locking distance is, for example, 5 m.

[0101] Based on the total unlocking and locking distances, and considering the specific locations of the three anchor points outside the vehicle, the unlocking and locking distances for each anchor point are set. In this embodiment, since anchor point 1 and anchor point 0 are symmetrically arranged relative to the vehicle, they can share the same unlocking and locking distances. Therefore, only two sets of unlocking distances and two sets of locking distances need to be set. The specific settings are as follows:

[0102] 1) Unlock distance of the left and right rearview mirror anchor points (i.e., anchor points 1 and 0): DistUnlockThrsld_1[3] =[DistUnlockThrsld_11, DistUnlockThrsld_12, DistUnlockThrsld_13]. Wherein, DistUnlockThrsld_11 is the unlock distance corresponding to the self direction, the self direction is the left rearview mirror anchor point's position is Left, and the right rearview mirror anchor point's position is Right; DistUnlockThrsld_12 is the unlock distance corresponding to the front and rear directions, and DistUnlockThrsld_13 is the unlock distance corresponding to the default direction and the opposite direction, the opposite direction is the left rearview mirror's position is Right, and the right rearview mirror's position is Left.

[0103] 2) Locking distances of the left and right rearview mirror anchor points: DistLockThrsld_1[3] = [DistLockThrsld_11, DistLockThrsld_12, DistLockThrsld_13]. The correspondence between each locking distance and the orientation is the same as the correspondence between the unlocking distance and the orientation mentioned above, so it will not be repeated here.

[0104] 3) Unlock distance of the rear anchor point: DistUnlockThrsld_2[3] = [DistUnlockThrsld_21, DistUnlockThrsld_22, DistUnlockThrsld_23]. Where DistUnlockThrsld_21 is the unlock distance corresponding to Rear; DistUnlockThrsld_22 is the unlock distance corresponding to Left and Right; and DistUnlockThrsld_23 is the unlock distance corresponding to Default and Front.

[0105] 4) Locking distance of the rear anchor point: DistLockThrsld_2 = [DistLockThrsld_21, DistLockThrsld_22, DistLockThrsld_23]. The correspondence between each locking distance and orientation is the same as the correspondence between unlocking distance and orientation mentioned above, so it will not be repeated. Based on the total locking and unlocking distances, the shape and dimensions of the vehicle body, and the installation positions of the three UWB anchor points, the locking and unlocking distances of each UWB anchor point in different orientations can be calculated.

[0106] In this embodiment of the invention, when there are valid filtered distance values, obtaining the UWB vehicle external positioning result based on the valid filtered distance values ​​and the corresponding unlocking distance or locking distance may include: obtaining the judgment result corresponding to each valid filtered distance value, and taking the judgment result closest to the vehicle terminal as the UWB vehicle external positioning result.

[0107] Step 204 yields N filtered effective ranging values. Based on the locking / unlocking distance of UWB anchor point i, the UWB external positioning result AreaUwb is obtained. The specific steps are as follows:

[0108] (1) If DistFilter[i] < DistUnlockThrsld(i), then AreaUwbTemp[i] is a PE region;

[0109] (2) If it is not a PE and DistFilter[i] < DistLockThrsld(i), then AreaUwbTemp[i] is a LOCK region;

[0110] (3) If it is not PE and LOCK, then AreaUwbTemp[i] is the WELCOME region;

[0111] (4) Similarly, obtain the AreaUwb corresponding to the N filtered effective ranging values ​​and store them in AreaUwbTemp[N].

[0112] (5) Compare the area closest to the vehicle in AreaUwbTemp. Assuming it is the j-th area, then AreaUwb = AreaUwbTemp[j]. AreaUwb can include the PE area, LOCK area, or WELCOME area.

[0113] (6) Special cases, such as N = 0, then AreaUwb = CONNECT region.

[0114] Compared with the prior art, the digital key ranging value filtering method of this invention obtains the position change trend TrendUwb of the digital key based on the ranging information of multiple UWB anchor points. When there is no valid ranging value at UWB anchor point i, a preset target position is obtained based on the vehicle external area positioning result corresponding to the time t of the last valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle's infotainment system. The distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position is then considered. The predicted distance is obtained, and the prediction duration T is obtained based on the predicted distance and the preset movement speed; i is the number of the UWB anchor point; within the prediction duration T, when no valid ranging value of UWB anchor point i is detected, the state one-step prediction of the Kalman filter algorithm is executed to obtain the filtered ranging value of UWB anchor point i. When a valid ranging value of UWB anchor point i is detected, the state one-step prediction is terminated, and the filtered estimated value of UWB anchor point i is obtained according to the Kalman filter algorithm as the filtered ranging value; the vehicle external area positioning result is obtained based on the filtered ranging values ​​of multiple UWB anchor points. Therefore, since the prediction duration of the state one-step prediction is dynamically adjusted according to the distance relationship between the valid ranging value Dist(i,t) at the time t where the previous valid ranging value is located and the preset target position, the responsiveness of digital key positioning, the accuracy of the filtered ranging value, and the robustness can be guaranteed at the same time, so that a high-performance digital key can be achieved with fewer UWB anchor points.

[0115] Embodiment 2 of the present invention provides a digital key ranging value filtering device, which can be configured in a vehicle-mounted digital key system. The vehicle-mounted system can deploy a UWB / BLE dual-mode three-anchor point configuration. For example... Figure 4 As shown, the filtering device 400 includes: a positioning information acquisition module 402, a trend estimation module 404, a duration estimation module 406, a state one-step prediction module 408, an estimation module 410, and a UWB positioning module 412.

[0116] The location information acquisition module 402 is used to acquire the location information of multiple location anchor points of the digital key deployed on the vehicle terminal in real time. The location information includes the ranging information of multiple UWB anchor points.

[0117] The trend estimation module 404 is used to obtain the position change trend of the digital key, TrendUwb, based on the ranging information of multiple UWB anchor points.

[0118] The duration estimation module 406 is used to obtain the preset target position based on the vehicle external area positioning result corresponding to the time t of the last valid ranging value of UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal when there is no valid ranging value at the current UWB anchor point i. The predicted distance is obtained based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position. The predicted duration T is obtained based on the predicted distance and the preset movement speed; i is the number of UWB anchor point.

[0119] The state one-step prediction module 408 is used to perform state one-step prediction of UWB anchor point i by executing the Kalman filter algorithm to obtain the filtered ranging value of UWB anchor point i when no valid ranging value of UWB anchor point i is detected within the prediction time T.

[0120] The estimation module 410 is used to terminate the state one-step prediction when a valid ranging value of UWB anchor point i is detected, and obtain the filtered estimated value of UWB anchor point i as the filtered ranging value according to the Kalman filtering algorithm.

[0121] UWB positioning module 412 is used to obtain the positioning result of the external area based on the filtered distance measurement value of multiple UWB anchor points.

[0122] Optionally, the duration estimation module 406 may include:

[0123] The first submodule is used to calculate the difference between Dist(i,t) and the corresponding locking distance if the vehicle external area positioning result at time t is WELCOME and the current TrendUwb is Approach, and obtain the prediction duration T based on the difference; if the vehicle external area positioning result at time t is WELCOME and the current TrendUwb is not Approach, then set the prediction duration to the preset minimum prediction duration TimePredMin; where the difference between Dist(i,t) and the corresponding locking distance is the prediction distance; the locking distance is the preset target position.

[0124] The second submodule is used to calculate the absolute value of the difference between Dist(i,t) and the corresponding unlocking distance, AbsDiffDist(i), if the vehicle external area positioning result at time t is UNLOCK. When AbsDiffDist(i) is greater than Dist(i,t), DisMinToCmd = Dist(i,t); when AbsDiffDist(i) is less than or equal to Dist(i,t), DisMinToCmd = AbsDiffDist(i). The predicted duration is obtained based on DisMinToCmd and the preset movement speed. Wherein, DisMinToCmd is the predicted distance; and the unlocking distance is the preset target position.

[0125] The third submodule is used to predict the duration if the vehicle external area positioning result at time t is LOCK, the vehicle terminal is currently locked, and the difference between Dist(i,t) and the unlocking distance DistUnlockThrsld is less than a preset value.

[0126] If the difference between Dist(i,t) and the unlocking distance DistUnlockThrsld is greater than or equal to a preset value, then the absolute values ​​(A1, A2) of the distance differences between Dist(i,t) and DistUnlockThrsld and the locking distance DistLockThrsld are obtained respectively, and DisMinToCmd is set to the smaller of the absolute values ​​(A1, A2). When DisMinToCmd is less than the difference threshold DiffDistThsld and the vehicle terminal is currently in the unlocked state, the prediction time is set to the preset value. When DisMinToCmd is greater than or equal to DiffDistThsld, the prediction time is obtained based on DisMinToCmd and the preset movement speed.

[0127] The fourth submodule is used to set T = TimePredMax if T is greater than TimePredMax, where TimePredMax is the preset maximum prediction duration.

[0128] Optionally, the locking distance and the unlocking distance are determined based on the orientation of the UWB anchor point i at time t. The orientation of the digital key relative to the vehicle terminal includes: the front, rear, left, and right directions of the vehicle terminal, as well as the transitional orientation Default between adjacent directions among the front, rear, left, and right directions. Multiple positioning anchor points are UWB / BLE dual-mode three-anchor points and are deployed in an isosceles triangle on the two sides of the vehicle exterior and at a preset position at the rear of the vehicle.

[0129] Accordingly, the filter device 400 may also include:

[0130] The orientation recognition module is used to obtain orientation judgment parameters based on the positioning information of the dual-mode three-anchor point system. These parameters include: the number of valid UWB anchor points (ValidDistNum), valid range values, pairwise differences between multiple valid range values, the minimum range value (DistMin), the anchor point identifier information (DistMinId) corresponding to the minimum range value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and pairwise differences between multiple valid RSSI values; and...

[0131] The condition judgment module is used to identify the location of the digital key according to the preset judgment conditions corresponding to each location; wherein, each location judgment condition includes multiple location judgment parameters used to characterize the features of the corresponding location.

[0132] Optionally, the UWB positioning module 412 may include:

[0133] The threshold calculation submodule is used to obtain the unlocking distance and locking distance of each UWB anchor point in each direction based on the orientation information.

[0134] The area determination submodule is used to obtain the UWB vehicle external positioning result based on the valid filtered ranging value and the corresponding unlocking distance or locking distance, when a valid filtered ranging value exists, so as to serve as the vehicle external area positioning result.

[0135] Compared with the prior art, the digital key ranging value filtering device of this invention obtains the position change trend TrendUwb of the digital key based on the ranging information of multiple UWB anchor points. When there is no valid ranging value at UWB anchor point i, the preset target position is obtained based on the vehicle external area positioning result corresponding to the time t of the last valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal. The distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position is then used. The predicted distance is obtained, and the prediction duration T is obtained based on the predicted distance and the preset movement speed; i is the number of the UWB anchor point; within the prediction duration T, when no valid ranging value of UWB anchor point i is detected, the state one-step prediction of the Kalman filter algorithm is executed to obtain the filtered ranging value of UWB anchor point i. When a valid ranging value of UWB anchor point i is detected, the state one-step prediction is terminated, and the filtered estimated value of UWB anchor point i is obtained according to the Kalman filter algorithm as the filtered ranging value; the vehicle external area positioning result is obtained based on the filtered ranging values ​​of multiple UWB anchor points. Therefore, since the prediction duration of the state one-step prediction is dynamically adjusted according to the distance relationship between the valid ranging value Dist(i,t) at the time t where the previous valid ranging value is located and the preset target position, the responsiveness of digital key positioning, the accuracy of the filtered ranging value, and the robustness can be guaranteed at the same time, so that a high-performance digital key can be achieved with fewer UWB anchor points.

[0136] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. The electronic device 50 includes a memory 51 and a processor 52;

[0137] The memory 51 is used to store computer programs; the processor 52 is used to read the computer programs stored in the memory 51 and, when executing the programs, implement the digital key ranging value filtering method as described in the foregoing embodiments.

[0138] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a computer processor, is used to perform the technical solution of any method embodiment.

[0139] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, 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, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or grid device, etc.) to execute the methods described in the various embodiments of the present invention.

[0140] It is worth noting that in the embodiments 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 division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of the present invention.

[0141] Note that the above description is merely a preferred embodiment 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 various obvious changes, readjustments, and substitutions can be made 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 which is determined by the scope of the appended claims.

Claims

1. A method for filtering digital key ranging values, characterized in that, include: The positioning information of multiple positioning anchor points of the digital key deployed on the vehicle terminal is acquired in real time, and the positioning information includes the ranging information of multiple UWB anchor points; The position change trend of the digital key is obtained based on the ranging information of the multiple UWB anchor points; TrendUwb. If there is no valid ranging value at UWB anchor point i, the preset target position is obtained based on the vehicle external area positioning result corresponding to the time t where the last valid ranging value of UWB anchor point i is located, TrendUwb, and the unlocking / locking status of the vehicle terminal. The predicted distance is obtained based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position. The predicted duration T is obtained based on the predicted distance and the preset movement speed; i is the number of the UWB anchor point. Within the prediction duration T, when no valid ranging value of the UWB anchor point i is detected, the state one-step prediction of the Kalman filter algorithm is performed to obtain the filtered ranging value of the UWB anchor point i. When a valid ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated and the filtered estimated value of the UWB anchor point i is obtained according to the Kalman filter algorithm as the filtered ranging value. The vehicle exterior area positioning result is obtained based on the filtered distance measurement value from the multiple UWB anchor points.

2. The method according to claim 1, characterized in that, The process of obtaining a preset target position based on the vehicle-external area positioning result corresponding to the time t of a valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle-mounted system; obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position; and obtaining a predicted duration T based on the predicted distance and a preset movement speed includes: If the vehicle external area positioning result corresponding to time t is WELCOME, and the time t or the current TrendUwb is Approach, then the difference between Dist(i,t) and the corresponding locking distance is calculated, and the prediction duration T is obtained based on the difference; if the vehicle external area positioning result corresponding to time t is WELCOME, and the current TrendUwb is not Approach, then the prediction duration is set to a preset minimum prediction duration TimePredMin; wherein, the difference between Dist(i,t) and the corresponding locking distance is the prediction distance; and the locking distance is the preset target position.

3. The method according to claim 2, characterized in that, The process of obtaining a preset target position based on the vehicle external area positioning result corresponding to the time t of a valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position; and obtaining a predicted duration T based on the predicted distance and a preset movement speed, further includes: If the vehicle external area positioning result corresponding to the time t is UNLOCK, then calculate the absolute value of the difference between Dist(i,t) and the corresponding unlocking distance, AbsDiffDist(i). When AbsDiffDist(i) is greater than Dist(i,t), let DisMinToCmd = Dist(i,t). When AbsDiffDist(i) is less than or equal to Dist(i,t), let DisMinToCmd = AbsDiffDist(i). The predicted duration is obtained based on DisMinToCmd and the preset movement speed. Wherein, DisMinToCmd is the predicted distance; and the unlocking distance is the preset target position.

4. The method according to claim 3, characterized in that, The process of obtaining a preset target position based on the vehicle external area positioning result corresponding to the time t of a valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position; and obtaining a predicted duration T based on the predicted distance and a preset movement speed, further includes: If the location result of the external area corresponding to the time t is LOCK, and the vehicle terminal is currently in a locked state, and the difference between Dist(i,t) and the unlocking distance DistUnlockThrsld is less than a preset value, then the prediction duration is the set value. If the difference between Dist(i,t) and the unlocking distance DistUnlockThrsld is greater than or equal to a preset value, then the absolute values ​​(A1, A2) of the distance differences between Dist(i,t) and DistUnlockThrsld and the locking distance DistLockThrsld are obtained respectively, and DisMinToCmd is set to the smaller of the absolute values ​​(A1, A2). When DisMinToCmd is less than the difference threshold DiffDistThsld, and the vehicle terminal is currently in the unlocked state, the predicted duration is set to a preset value. When DisMinToCmd is greater than or equal to DiffDistThsld, the predicted duration is obtained based on DisMinToCmd and the preset movement speed.

5. The method according to claim 4, characterized in that, The process of obtaining a preset target position based on the vehicle external area positioning result corresponding to the time t of a valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; obtaining a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position; and obtaining a predicted duration T based on the predicted distance and a preset movement speed, further includes: If T is greater than TimePredMax, then let T = TimePredMax, where TimePredMax is the preset maximum prediction duration.

6. The method according to claim 5, characterized in that, The locking distance and the unlocking distance are determined based on the orientation of the UWB anchor point i at time t. The orientation of the digital key relative to the vehicle terminal includes: the front, rear, left, and right directions of the vehicle terminal, as well as the transitional direction Default between adjacent directions among the front, rear, left, and right directions. The multiple positioning anchor points are UWB / BLE dual-mode three-anchor points deployed in an isosceles triangle on both sides of the vehicle and at a preset position at the rear. The method further includes: The orientation judgment parameters are obtained based on the positioning information of the dual-mode three anchor points; the orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, the pairwise difference between multiple valid ranging values, the minimum ranging value (DistMin), the anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and the pairwise difference between multiple valid RSSI values; The location of the digital key is identified according to the preset judgment conditions corresponding to each location; wherein, each location judgment condition includes multiple location judgment parameters used to characterize the features of the corresponding location.

7. The method according to claim 6, characterized in that, The step of obtaining the vehicle exterior area positioning result based on the filtered ranging value from the multiple UWB anchor points includes: Based on the azimuth information, the unlocking distance and locking distance of each UWB anchor point corresponding to each azimuth are obtained; If a valid filtered distance measurement value exists, the UWB vehicle exterior positioning result is obtained based on the valid filtered distance measurement value and the corresponding unlocking distance or locking distance, and is used as the vehicle exterior area positioning result.

8. A digital key ranging value filtering device, characterized in that, include: The positioning information acquisition module is used to acquire positioning information of multiple positioning anchor points of the digital key deployed on the vehicle terminal in real time. The positioning information includes ranging information of multiple UWB anchor points. The trend estimation module is used to obtain the position change trend of the digital key, TrendUwb, based on the ranging information of the multiple UWB anchor points. The duration estimation module is used to obtain a preset target position when there is no valid ranging value at UWB anchor point i, based on the vehicle external area positioning result corresponding to the time t of the last valid ranging value at UWB anchor point i, TrendUwb, and the unlocking / locking status of the vehicle terminal; to obtain a predicted distance based on the distance relationship between the valid ranging value Dist(i,t) of UWB anchor point i at time t and the preset target position; and to obtain a predicted duration T based on the predicted distance and a preset movement speed; where i is the number of the UWB anchor point. The state one-step prediction module is used to perform state one-step prediction of the UWB anchor point i by executing the Kalman filter algorithm to obtain the filtered ranging value of the UWB anchor point i when no valid ranging value of the UWB anchor point i is detected within the prediction time T. An estimation module is used to terminate the state one-step prediction when a valid ranging value of the UWB anchor point i is detected, and obtain the filtered estimated value of the UWB anchor point i as the filtered ranging value according to the Kalman filtering algorithm; the vehicle external area positioning result is obtained based on the filtered ranging values ​​of the multiple UWB anchor points; as well as The UWB positioning module is used to obtain the positioning result of the external area based on the filtered distance measurement value of the multiple UWB anchor points.

9. An electronic device, characterized in that, Including memory and processor; A memory for storing a computer program; the processor for reading the computer program in the memory and, when executing the program, implementing the method as described in any one of claims 1-7.

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

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