Position identification method and apparatus for digital key, and storage medium

Abstract

The present application relates to the technical field of vehicle control, in particular to a position identification method and apparatus for a digital key, and a storage medium. The method comprises: acquiring an anchor point distance between every two adjacent anchor points among four anchor points on a vehicle, a test distance between each anchor point and a digital key, and a boundary distance between each anchor point and an inner and outer boundary of a vehicle body, wherein each anchor point is used for determining the test distance on the basis of a distance measurement signal between the anchor point and the digital key, the four anchor points on the vehicle form an anchor point plane, and the boundary distance is the distance between each anchor point and the nearest inner and outer boundary of the vehicle body; determining a projection distance of the test distance on the anchor point plane on the basis of the test distance and the anchor point distance; and determining a final position of the digital key on the basis of the projection distance, the anchor point distance and the boundary distance, wherein the final position is inside or outside the vehicle. The embodiments of the present application are used for solving the problem of the position identification of a digital key being inaccurate.

Description

Digital key position identification method, device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on November 8, 2023, with application number 202311481693.6 and application name “A digital key position identification method, device and storage medium”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0003] The present application relates to the field of vehicle control technology, and in particular to a digital key position identification method, device, and storage medium. Background Art

[0004] As technology advances and vehicles become increasingly sophisticated, improving the positioning accuracy of digital keys will open up new avenues for the automotive industry. For example, a user can simply place their digital key in their pocket and enter the vehicle, pressing the start button and simultaneously pressing the brake or clutch to start the vehicle without having to remove the key.

[0005] The current commonly used digital key location recognition method is usually based on ultra-wideband (UWB) technology to determine the positional relationship between the vehicle and the digital key. The principle is usually that the UWB anchor point outside the vehicle sends a signal to the digital key. When the digital key receives the signal, it returns a signal to the vehicle. The vehicle calculates the positional relationship between the vehicle and the digital key based on the time difference between the two signals. However, the coverage of the UWB anchor point outside the vehicle on the edge of the vehicle body is affected by the shape and material of the vehicle body and cannot be completely covered. In this way, when the digital key is located at the edge of the vehicle body, the positional relationship between the digital key and the edge of the vehicle body identified by this method is not accurate, which can easily form an identification blind spot or excessive overflow outside the vehicle.

[0006] Summary of the Invention

[0007] In order to solve the above technical problems, the present application provides a digital key position identification method, device and storage medium, which can improve the accuracy of digital key position identification.

[0008] In the first aspect, the present application provides a digital key position identification method, including: obtaining the anchor point distance between every two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein, the anchor point is used to determine the test distance based on the ranging signal between the anchor point and the digital key; the four anchor points on the vehicle constitute an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; based on the test distance and the anchor point distance, the projection distance of the test distance on the anchor point plane is determined; based on the projection distance, the anchor point distance, and the boundary distance, the final position of the digital key is determined; the final position is inside or outside the vehicle.

[0009] In the second aspect, the present application provides a digital key position identification device, including: an acquisition module, configured to obtain the anchor point distance between every two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein the anchor point is used to determine the test distance based on the ranging signal between the digital key; the four anchor points on the vehicle constitute an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; a determination module, configured to determine the projection distance of the test distance on the anchor point plane based on the test distance and the anchor point distance; a processing module, configured to determine the final position of the digital key based on the projection distance, the anchor point distance, and the boundary distance; the final position is inside or outside the vehicle.

[0010] In a third aspect, the present application provides an electronic device comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the digital key position identification method of the first aspect is implemented.

[0011] In a fourth aspect, the present application provides a computer-readable storage medium, comprising: a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, the digital key position identification method as in the first aspect is implemented.

[0012] In a fifth aspect, the present application provides a computer program product, comprising: when the computer program product is run on a computer, the computer implements the digital key position identification method as in the first aspect.

[0013] In a sixth aspect, the present application provides a vehicle, comprising: the digital key position identification device provided in the present application, or the electronic device provided in the present application.

[0014] The technical solution provided by the present application has the following advantages compared with the prior art: first, the anchor point distance between each two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body are obtained, and the projection distance of the test distance on the anchor point plane is determined based on the test distance and the anchor point distance. Afterwards, the final position of the digital key is determined based on the projection distance, the anchor point distance, and the boundary distance. In this way, the final position of the digital key can be determined based on the anchor point distance, the projection distance, and the boundary distance, that is, when determining the position of the digital key, the boundary distance between the anchor point and the inner and outer boundaries of the vehicle body is taken into account, and the influence on the final position of the digital key is avoided, thereby avoiding the problem of inaccurate recognition results caused by blind spots or excessive overflow outside the vehicle when directly determining the position of the digital key based on the projection distance and the anchor point distance, thereby improving the accuracy of the determined digital key position. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] FIG1 is a flow chart of a method for identifying a digital key position according to an embodiment of the present application;

[0018] FIG2 is a second flow chart of a method for identifying a digital key position according to an embodiment of the present application;

[0019] FIG3 is a third flow chart of a method for identifying a digital key position according to an embodiment of the present application;

[0020] FIG4A is a schematic diagram of one scenario of a digital key location identification method provided in an embodiment of the present application;

[0021] FIG4B is a second schematic diagram of a scenario of a digital key location identification method provided in an embodiment of the present application;

[0022] FIG5 is a fourth flow chart of a method for identifying a digital key position according to an embodiment of the present application;

[0023] FIG6 is a fifth flow chart of a method for identifying a digital key position according to an embodiment of the present application;

[0024] FIG7A is a third schematic diagram of a scenario of a digital key location identification method provided in an embodiment of the present application;

[0025] FIG7B is a fourth schematic diagram of a scenario of a digital key location identification method provided in an embodiment of the present application;

[0026] FIG7C is a fifth schematic diagram of a scenario of a digital key location identification method provided in an embodiment of the present application;

[0027] FIG8 is a sixth flow chart of a method for identifying a digital key position according to an embodiment of the present application;

[0028] FIG9 is a seventh flow chart of a method for identifying a digital key position according to an embodiment of the present application;

[0029] FIG10 is a flowchart of the eighth embodiment of the method for identifying the position of a digital key provided in the present application;

[0030] FIG11A is a sixth schematic diagram of a scenario of a digital key location identification method provided in an embodiment of the present application;

[0031] FIG11B is a seventh schematic diagram of a scenario of a digital key location identification method provided in an embodiment of the present application;

[0032] FIG12 is a ninth flowchart of a method for identifying a digital key position according to an embodiment of the present application;

[0033] FIG13 is an eighth schematic diagram of a scenario of a digital key position identification method provided in an embodiment of the present application;

[0034] FIG14 is a schematic structural diagram of a digital key position identification device provided in an embodiment of the present application;

[0035] FIG15 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application can also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present application, not all of the embodiments.

[0038] Currently, the commonly used digital key location identification methods include Bluetooth-based positioning methods and UWB-based positioning methods. The Bluetooth-based positioning method usually locates the digital key based on Bluetooth communication combined with the corresponding algorithm. However, due to the limitations of Bluetooth technology, it is difficult to achieve high-precision positioning of the digital key. The positioning method based on UWB technology cannot fully cover the edge of the vehicle body because the coverage of the UWB anchor point outside the vehicle to the edge of the vehicle body is affected by the shape and material of the vehicle body. In this way, when the digital key is located at the edge of the vehicle body, the positional relationship between the digital key and the edge of the vehicle body identified by this method is not accurate, which can easily form an identification blind spot or excessive overflow outside the vehicle.

[0039] In response to the above problems, an embodiment of the present application provides a digital key position identification method, which can obtain the anchor point distance between each two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body, and determine the projection distance of the test distance on the anchor point plane based on the test distance and the anchor point distance. Finally, the final position of the digital key is determined based on the projection distance, the anchor point distance, and the boundary distance. This can avoid the problem of inaccurate identification results caused by blind spots or excessive overflow outside the vehicle when directly determining the digital key position based on the projection distance and the anchor point distance, thereby improving the accuracy of the determined digital key position.

[0040] The digital key position identification method provided in the embodiment of the present application can be implemented by a digital key position identification device, and the digital key position identification device provided in the embodiment of the present application can be hardware or software. When the digital key position identification device is hardware, it can be various electronic devices with the function of running digital key position identification, including but not limited to vehicle-mounted equipment, smart vehicles, mobile phones, computers, etc. When the digital key position identification device is software, it can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules, or as a single software or software module, which is not specifically limited here.

[0041] FIG1 is a flow chart of a digital key position identification method provided in an embodiment of the present application. As shown in FIG1 , the digital key position identification method may include the following steps.

[0042] S1. Obtain the anchor point distance between each two adjacent anchor points among the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body.

[0043] The anchor points are used to determine the test distance based on the ranging signal from the digital key. The four anchor points on the vehicle form an anchor plane. The boundary distance is the distance between the anchor point and the nearest inner or outer boundary of the vehicle. Furthermore, in the quadrilateral formed by the four anchor points, two pairs of opposite sides are parallel.

[0044] In some embodiments, the anchor point in the present application may be a UWB anchor point, which can send a ranging signal to the digital key so that the digital key position identification device can determine the test distance based on the ranging signal.

[0045] The four anchor points on the vehicle are set in advance by relevant personnel, and the locations of the anchor points are generally two at the front of the vehicle and two at the rear. For example, the anchor points at the front of the vehicle can be set below the headlights on both sides of the license plate, and the anchor points at the rear of the vehicle can be set below the taillights on both sides of the license plate. Of course, this application does not limit the specific locations of the anchor points.

[0046] The inner and outer boundaries of the vehicle body refer to the boundaries that distinguish the inside and outside of the vehicle. For example, at the door position, the inner and outer boundaries of the vehicle body can be a closed door.

[0047] First, the anchor point distance between every two adjacent anchor points among the four anchor points on the vehicle is obtained.

[0048] In some embodiments, the anchor point distance between every two adjacent anchor points among the four anchor points on the vehicle may be obtained by obtaining the anchor point coordinates of the four anchor points on the vehicle and determining the anchor point distance between every two adjacent anchor points according to the anchor point coordinates.

[0049] Afterwards, the test distance between each anchor point and the digital key is obtained.

[0050] A ranging signal is sent to the digital key through the anchor point. After receiving the ranging signal, the digital key (anchor point is also provided on the digital key) returns a response signal. The digital key position identification device calculates the test distance between the anchor point and the digital key based on the time difference between the sending time of the ranging signal and the receiving time of the response signal.

[0051] Finally, the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body is obtained. The boundary distance is obtained by measuring the anchor point and the inner and outer boundaries of the vehicle body after the anchor point is set.

[0052] S2. Determine the projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance.

[0053] In some embodiments, as shown in FIG2 , a method for determining the projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance includes the following steps.

[0054] S21. Determine the height distance between the digital key and the digital key projection based on the anchor point distance and the test distance.

[0055] The digital key projection is the projection of the digital key on the anchor point plane.

[0056] In some embodiments, as shown in FIG3 , a method for determining the height distance between the digital key and the digital key projection based on the anchor point distance and the test distance includes the following steps.

[0057] S211. Determine a first height according to the first anchor point distance, the first test distance, and the second test distance.

[0058] The first anchor point distance is the anchor point distance between the first anchor point and the second anchor point; the first test distance is the test distance between the first anchor point and the digital key; the second test distance is the test distance between the second anchor point and the digital key; the first anchor point and the second anchor point are both anchor points among the four anchor points on the vehicle, and the first anchor point and the second anchor point are adjacent; the first height is the height of the triangle formed by the first anchor point, the second anchor point and the digital key.

[0059] For example, in the scenario shown in FIG4A , including a digital key X, a digital key projection X', and four anchor points, namely a first anchor point A, a second anchor point B, a third anchor point C, and a fourth anchor point D. The first anchor point distance AB is the anchor point distance between the first anchor point A and the second anchor point B, the first test distance XA is the test distance between the first anchor point A and the digital key X, the second test distance XB is the test distance between the second anchor point B and the digital key X, and the first height XE is the height of the triangle formed by the first anchor point A, the second anchor point B, and the digital key X (denoted as △ABX).

[0060] In some embodiments, a method for determining the first height based on the first anchor point distance, the first test distance, and the second test distance includes the following steps.

[0061] S2111. Determine a first area of ​​a triangle formed by the first anchor point, the second anchor point, and the digital key using Heron's formula based on the first anchor point distance, the first test distance, and the second test distance.

[0062] For example, in the scenario shown in FIG4A or 4B, the three sides of △ABX are the first anchor point distance AB, the first test distance XA, and the second test distance XB. Thus, according to Heron's formula, the area of ​​△ABX (i.e., the first area) is: Among them, P ABX =(AB+XA+XB)÷2, S △ABX It is used to represent the first area, AB is used to represent the first anchor point distance, XA is used to represent the first test distance, and XB is used to represent the second test distance.

[0063] S2112: Determine a first height according to the first area and the distance from the first anchor point.

[0064] For example, in the scenario shown in FIG4A or 4B, the distance AB from the first anchor point in △ABX is taken as the base, and the height of △ABX is XE (i.e., the first height). The area of ​​△ABX can also be expressed as: first area = base × height ÷ 2, i.e. but Among them, S △ABX It is used to represent the first area, AB is used to represent the first anchor point distance, and XE is used to represent the first height.

[0065] S212: Determine a second height according to the second anchor point distance, the third test distance, and the fourth test distance.

[0066] The second anchor point distance is the anchor point distance between the third anchor point and the fourth anchor point; the third test distance is the test distance between the third anchor point and the digital key; the fourth test distance is the test distance between the fourth anchor point and the digital key; the third anchor point and the fourth anchor point are anchor points among the four anchor points on the vehicle that are different from the first anchor point and the second anchor point, and the third anchor point and the fourth anchor point are adjacent; the second height is the height of the triangle formed by the third anchor point, the fourth anchor point and the digital key.

[0067] For example, in the scenario shown in FIG4A or 4B , including a digital key X, a digital key projection X', and four anchor points, the four anchor points are respectively a first anchor point A, a second anchor point B, a third anchor point C, and a fourth anchor point D. The second anchor point distance CD is the anchor point distance between the third anchor point C and the fourth anchor point D, the third test distance XC is the test distance between the third anchor point C and the digital key X, the fourth test distance XD is the test distance between the second anchor point D and the digital key X, and the second height XF is the height of the triangle formed by the third anchor point C, the fourth anchor point D, and the digital key X (denoted as ΔCDX).

[0068] In some embodiments, a method for determining the second height based on the second anchor point distance, the third test distance, and the fourth test distance includes the following steps.

[0069] S2121. Determine the second area of ​​the triangle formed by the third anchor point, the fourth anchor point, and the digital key using Heron's formula based on the second anchor point distance, the third test distance, and the fourth test distance.

[0070] For example, in the scenario shown in FIG4A or 4B, the three sides of △CDX are the second anchor point distance CD, the third test distance XC, and the fourth test distance XD. Thus, according to Heron's formula, the area of ​​△CDX (i.e., the second area) is: Among them, P CDX =(CD+XC+XD)÷2, S △CDXIt is used to represent the second area, CD is used to represent the second anchor point distance, XC is used to represent the third test distance, and XD is used to represent the fourth test distance.

[0071] S2122: Determine a second height according to the second area and the distance from the second anchor point.

[0072] For example, in the scenario shown in FIG4A or 4B, the distance CD from the second anchor point in △CDX is taken as the base, and the height of △CDX is XF (i.e., the second height). The area of ​​△CDX can also be expressed as: second area = base × height ÷ 2, i.e. but Among them, S △CDX It is used to represent the second area, CD is used to represent the second anchor point distance, and XF is used to represent the second height.

[0073] S213 : Determine a height distance between the digital key and the digital key projection according to the first height, the second height, and the third anchor point distance.

[0074] The third anchor point distance is the distance between the first anchor point and the third anchor point, or the distance between the second anchor point and the fourth anchor point.

[0075] For example, in the scenario shown in Figure 4A or 4B, in the triangle formed by the first height XE, the second height XF, and EF, since the two pairs of opposite sides of the quadrilateral formed by the four anchor points in this application are parallel, the length of EF, the anchor distance AC between the first anchor point A and the third anchor point C, and the anchor distance BD between the second anchor point B and the fourth anchor point D are all equal. X' is the projection of the digital key on the ABCD plane, so XX' is perpendicular to the ABCD plane, that is, XX' is the height corresponding to the base EF of △XEF.

[0076] In this way, according to the formula: Determine the height distance XX' between the digital key and the digital key projection, where EF = AC = BD, P XEF =(XE+XF+EF)÷2, S △XEF It is used to represent the area of ​​△XEF, XE is used to represent the first height, XF is used to represent the second height, AC is used to represent the anchor point distance between the first anchor point A and the third anchor point C, BD is used to represent the anchor point distance between the second anchor point B and the fourth anchor point D, and XX' is used to represent the height distance between the digital key and the digital key projection.

[0077] S22. Determine the projection distance of the test distance on the anchor point plane according to the height distance and the test distance.

[0078] For example, in the scenario shown in FIG4A or 4B, the projection distance XA of the test distance of the first anchor point A on the anchor plane is X'A, the projection distance XB of the test distance of the second anchor point B on the anchor plane is X'B, the projection distance XC of the test distance of the third anchor point C on the anchor plane is X'C, and the projection distance XD of the test distance of the fourth anchor point D on the anchor plane is X'D. Since XX' is perpendicular to the ABCD plane, △XX'A, △XX'B, △XX'C, and △XX'D are all right triangles.

[0079] In this way, the test distance and the projection distance on the anchor plane can be determined according to the following formula:

[0080] Among them, X'A is used to represent the projection distance of the test distance XA of the first anchor point A on the anchor plane, X'B is used to represent the projection distance of the test distance XB of the second anchor point B on the anchor plane, X'C is used to represent the projection distance of the test distance XC of the third anchor point C on the anchor plane, and X'D is used to represent the projection distance of the test distance XD of the fourth anchor point D on the anchor plane; XA is used to represent the test distance of the first anchor point A, XB is used to represent the test distance of the second anchor point B, XC is used to represent the test distance of the third anchor point C, and XD is used to represent the test distance of the fourth anchor point D; XX' is used to represent the height distance between the digital key and the digital key projection.

[0081] In the above scheme, the first height is first determined based on the first anchor point distance, the first test distance, and the second test distance, and the second height is determined based on the second anchor point distance, the third test distance, and the fourth test distance. Then, the height distance between the digital key and the digital key projection is determined based on the first height, the second height, and the third anchor point distance. Finally, the projection distance of the test distance on the anchor point plane is determined based on the height distance and the test distance. The projection distance of the test distance on the anchor point plane can be directly calculated using the triangle area formula, avoiding the use of dedicated equipment to measure the projection distance and saving resources.

[0082] In some embodiments, as shown in FIG5 , before step S2 , the digital key position identification method further includes the following steps:

[0083] S11. When the first distance, the second distance, and the anchor point distance cannot form a triangle, obtain a first adjustment number.

[0084] Among them, when the first distance is the first test distance, the second distance is the second test distance, and the anchor point distance is the first anchor point distance; when the first distance is the third test distance, the second distance is the fourth test distance, and the anchor point distance is the second anchor point distance.

[0085] In a triangle, the three sides must satisfy the requirement that the sum of two sides is greater than the third side, and the difference between the two sides is less than the third side in order to form a triangle. Therefore, if the sum of two sides is less than or equal to the third side, or the difference between the two sides is greater than or equal to the third side, the three sides cannot form a triangle.

[0086] Therefore, when the first distance, the second distance, and the anchor point distance meet any of the following conditions, it is determined that a triangle cannot be formed.

[0087] The conditions include: the sum of the first distance and the second distance is less than or equal to the anchor point distance; the difference between the first distance and the second distance is greater than or equal to the anchor point distance; the sum of the first distance and the anchor point distance is less than or equal to the second distance; the difference between the first distance and the anchor point distance is greater than or equal to the second distance; the sum of the second distance and the anchor point distance is less than or equal to the first distance; and the difference between the second distance and the anchor point distance is greater than or equal to the first distance.

[0088] S12: When the first adjustment number is less than or equal to the first threshold, clip the anchor point distance according to the preset step size, and return to step S11.

[0089] The first threshold and the preset step length are both preset, for example, default values, or values ​​set by relevant personnel based on actual conditions. For another example, the first threshold is 30 times, and the preset step length is 1 centimeter (cm).

[0090] S13: When the first adjustment times is greater than the first threshold, return to invalid.

[0091] In the above solution, the anchor point distance can be adjusted when the lengths of the three sides of the triangle do not meet the conditions for forming a triangle, and the adjustment stops when the first adjustment count exceeds a first threshold. This avoids the situation where the first distance, the second distance, and the anchor point distance cannot form a triangle, resulting in an inability to determine the location of the digital key, and ensures that the digital key location identification method can be correctly executed.

[0092] S3. Determine the final position of the digital key based on the projection distance, anchor point distance, and boundary distance.

[0093] The final position is inside or outside the car.

[0094] In some embodiments, as shown in FIG6 , a method for determining the final position of the digital key based on the projection distance, the anchor point distance, and the boundary distance includes the following steps.

[0095] S31. Determine an intersection distance between the intersection point and the first target anchor point according to the target anchor point distance, the first projection distance, and the second projection distance.

[0096] The target anchor point distance is the anchor point distance between the first target anchor point and the second target anchor point; the first projection distance is the projection distance between the first target anchor point and the digital key projection; the second projection distance is the projection distance between the second target anchor point and the digital key projection; the first target anchor point and the second target anchor point are both anchor points among the four anchor points on the vehicle, and the first target anchor point and the second target anchor point are adjacent; the digital key projection is the projection of the digital key on the anchor point plane; the intersection point is the intersection of the straight line between the digital key projection and the first target anchor point, and the straight line between the inner and outer boundaries of the vehicle body.

[0097] For example, in the scenario shown in FIG7 (either one of 7A and 7B), including the digital key projection X', the inner and outer boundaries of the vehicle body MQ, the first target anchor point B, the second target anchor point A, the third target anchor point C, the straight line where the digital key projection X' and the first target anchor point B are located, and the intersection point X' of the straight line where the inner and outer boundaries of the vehicle body MQ are located. Then the target anchor point distance AB is the anchor point distance between the first target anchor point B and the second target anchor point A; the first projection distance X'B is the projection distance between the first target anchor point B and the digital key projection X'; the second projection distance X'A is the projection distance between the second target anchor point A and the digital key projection X'.

[0098] In some embodiments, as shown in FIG8 , a method for determining the intersection distance between the intersection point and the first target anchor point according to the target anchor point distance, the first projection distance, and the second projection distance includes the following steps.

[0099] S311. Determine the third area of ​​the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection using Heron's formula based on the target anchor point distance, the first projection distance, and the second projection distance.

[0100] The first projection distance is greater than the second projection distance.

[0101] For example, in the scenario shown in Figure 7 (either 7A or 7B), the three sides of the triangle formed by the first target anchor point B, the second target anchor point A, and the digital key projection X' are the target anchor point distance AB, the first projection distance X'B, and the second projection distance X'A. Thus, the area of ​​△AB X' (i.e., the third area) can be determined by Heron's formula as follows: Among them, P ABX’ =(AB+X'B+X'A)÷2, S △ABX’ It is used to represent the third area, AB is used to represent the target anchor point distance, X'B is used to represent the first projection distance, and X'A is used to represent the second projection distance.

[0102] S312: Determine the sine value of the target angle according to the third area, the target anchor point distance, and the first projection distance.

[0103] The target angle is the angle corresponding to the second projection distance in the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection.

[0104] For example, in the scenario shown in FIG7 (either of 7A and 7B), the area of ​​△AB X can be calculated based on To calculate, where S △ABX’ is used to represent the third area, AB is used to represent the target anchor point distance, X'B is used to represent the first projection distance, and θ is the angle between the target anchor point distance AB and the first projection distance X'B.

[0105] S313: Determine the intersection distance between the intersection point and the first target anchor point according to the sine value, the target anchor point distance, and the first boundary distance.

[0106] The first boundary distance is the boundary distance between the second target anchor point and the inner and outer boundaries of the vehicle body.

[0107] For example, in the scenario shown in FIG. 7 (either of FIG. 7A and FIG. 7B ), the sine value of the angle between the target anchor point distance AB and the first projection distance X′B is calculated in step S312. The target anchor point distance AB is the anchor point distance between the first target anchor point B and the second target anchor point A. The first boundary distance AQ is the boundary distance between the second target anchor point A and the inner and outer boundary MQ of the vehicle body. Since the inner and outer boundary MQ of the vehicle body is perpendicular to the extension line of the target anchor point distance AB, △X”QB is a right triangle, which can be calculated according to the formula Determine the intersection distance X'B between the intersection point X' and the first target anchor point B. Where, S △ABX’ It is used to represent the third area, AB is used to represent the target anchor point distance, X'B is used to represent the first projection distance, θ is the angle between the target anchor point distance AB and the first projection distance X'B, AQ is used to represent the first boundary distance, and X"B is used to represent the intersection distance.

[0108] For another example, in the scene shown in FIG7C , the sine value of the angle between the target anchor point distance AB and the first projection distance X′B is calculated in step S312. The target anchor distance AB is the anchor distance between the first target anchor point B and the second target anchor point A. It can be calculated according to the formula Determine the intersection distance X'B between the intersection point X' and the first target anchor point B. Where, S △ABX’ It is used to represent the third area, AB is used to represent the target anchor point distance, X'B is used to represent the first projection distance, θ is the angle between the target anchor point distance AB and the first projection distance X'B, and X"B is used to represent the intersection distance.

[0109] In the above scheme, first, based on the target anchor point distance, the first projection distance, and the second projection distance, the third area of ​​the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection is determined by Heron's formula, and the sine value of the target angle is determined based on the third area, the target anchor point distance, and the first projection distance. Finally, based on the sine value, the target anchor point distance, and the first boundary distance, the intersection distance between the intersection point and the first target anchor point is determined. The intersection distance between the intersection point and the first target anchor point can be directly calculated using the triangle area formula, avoiding the use of special equipment to measure the intersection distance and saving resources.

[0110] S32: When the intersection distance is less than or equal to the first projection distance, determine that the digital key is outside the vehicle.

[0111] For example, in the scenario shown in FIG. 7A and FIG. 7B , if the intersection distance X″B is less than the first projection distance X′B, it is determined that the digital key is outside the vehicle.

[0112] S33: When the intersection distance is greater than the first projection distance, determine that the digital key is in the vehicle.

[0113] For example, in the scenario shown in FIG7C , if the intersection distance X″B is greater than the first projection distance X′B, it is determined that the digital key is in the vehicle compartment.

[0114] In the above scheme, the anchor point distance between each two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body are first obtained, and the projection distance of the test distance on the anchor point plane is determined based on the test distance and the anchor point distance. Afterwards, the final position of the digital key is determined based on the projection distance, the anchor point distance, and the boundary distance. In this way, the final position of the digital key can be determined based on the anchor point distance, the projection distance, and the boundary distance. That is, when determining the position of the digital key, the boundary distance between the anchor point and the inner and outer boundaries of the vehicle body is taken into account, and the influence on the final position of the digital key is avoided. The problem of inaccurate recognition results caused by blind spots or excessive overflow outside the vehicle when directly determining the position of the digital key based on the projection distance and the anchor point distance is avoided, thereby improving the accuracy of the determined digital key position.

[0115] In some embodiments, as shown in FIG9 , before step S3 , the digital key position identification method further includes the following steps:

[0116] S14. When the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle, obtain a second adjustment number.

[0117] Similar to step S11, when the target anchor point distance, the first projection distance, and the second projection distance meet any of the following conditions, it is determined that a triangle cannot be formed.

[0118] The conditions include: the sum of the target anchor point distance and the first projection distance is less than or equal to the second projection distance; the difference between the target anchor point distance and the first projection distance is greater than or equal to the second projection distance; the sum of the target anchor point distance and the second projection distance is less than or equal to the first projection distance; the difference between the target anchor point distance and the second projection distance is greater than or equal to the first projection distance; the sum of the first projection distance and the second projection distance is less than or equal to the target anchor point distance; the difference between the first projection distance and the second projection distance is greater than or equal to the target anchor point distance.

[0119] S15. When the second adjustment number is less than or equal to the second threshold, adjust the first projection distance or the second projection distance according to a preset rule, and return to step S14.

[0120] Among them, the preset rules are: when the first projection distance is greater than the second projection distance, the first projection distance is cropped according to the preset step size, or the second projection distance is increased according to the preset step size; when the first projection distance is equal to the second projection distance, the first projection distance and the second projection distance are increased at the same time according to the preset step size.

[0121] The second threshold and the preset step length are both preset, for example, default values, or values ​​set by relevant personnel based on actual conditions. For another example, the second threshold is 30 times, and the preset step length is 1 centimeter (cm).

[0122] In an optional embodiment, the second threshold is equal to the first threshold.

[0123] S16: When the second adjustment times is greater than the second threshold, return to invalid.

[0124] In the above scheme, if the lengths of the three sides of the triangle do not meet the conditions for forming a triangle, the first projection distance or the second projection distance can be adjusted, and the adjustment stops when the second adjustment number exceeds the second threshold. This avoids the situation where the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle, resulting in an inability to determine the location of the digital key, and ensures that the digital key location identification method can be correctly executed.

[0125] In some embodiments, as shown in FIG10 , before step S2 , the digital key position identification method further includes the following steps:

[0126] S17: Determine the anchor point corresponding to the minimum test distance as the first preset anchor point.

[0127] For example, in the scenario shown in FIG11 (either 11A or 11B), a digital key X and four anchor points are included, namely, a first anchor point A, a second anchor point B, a third anchor point C, and a fourth anchor point D. XA is the test distance between the first anchor point A and the digital key X, XB is the test distance between the second anchor point B and the digital key X, XC is the test distance between the third anchor point C and the digital key X, and XD is the test distance between the fourth anchor point A and the digital key D. When XA<XB<XC<XD, the first anchor point A is determined as the first preset anchor point.

[0128] S18. Determine a preliminary position of the digital key based on the preset test distance, the first preset anchor point distance, and the second preset anchor point distance.

[0129] The preset test distance is the test distance between the first preset anchor point and the digital key, the first preset anchor point distance is the anchor point distance between the first preset anchor point and the second preset anchor point, the second preset anchor point distance is the anchor point distance between the first preset anchor point and the third preset anchor point, and the first preset anchor point is adjacent to the first preset anchor point, the first preset anchor point is adjacent to the third preset anchor point, and the second preset anchor point is not adjacent to the third preset anchor point.

[0130] For example, in the scenario shown in FIG11 (either of 11A and 11B), when the first anchor point A is determined as the first preset anchor point, the second anchor point B is the second preset anchor point, and the third anchor point C is the third preset anchor point. The preset test distance XA is the test distance between the first preset anchor point A and the digital key X. The first preset anchor point distance AB is the anchor point distance between the first preset anchor point A and the second preset anchor point B. The second preset anchor point distance AC is the anchor point distance between the first preset anchor point A and the third preset anchor point C. Of course, when determining the second and third preset anchor points, the third anchor point C may also be determined as the second preset anchor point, and the second anchor point B may be determined as the third preset anchor point. This is not limited in this application.

[0131] In some embodiments, as shown in FIG12 , a method for determining a preliminary position of a digital key based on a preset test distance, a first preset anchor point distance, and a second preset anchor point distance includes the following steps.

[0132] S181. Determine a preset area according to a first preset anchor point and a preset test distance, and determine a first intersection point and a second intersection point on the preset area.

[0133] Among them, the first intersection point is the intersection of the extension line of the line segment where the first preset anchor point and the third preset anchor point are located, and the edge of the preset area; the second intersection point is the intersection of the extension line of the line segment where the first preset anchor point and the second preset anchor point are located, and the edge of the preset area.

[0134] In some embodiments, a preset area is determined based on a first preset anchor point and a preset test distance, and the first intersection point and the second intersection point are determined on the preset area. The method can be to draw a circle (preset area) with the first preset anchor point as the center and the preset test distance as the radius, and determine the first intersection point and the second intersection point on the circle.

[0135] In this way, the first intersection point is the intersection of the extended line of the line segment where the first preset anchor point and the third preset anchor point are located, and the circle; the second intersection point is the intersection of the extended line of the line segment where the first preset anchor point and the second preset anchor point are located, and the circle.

[0136] For example, in the scenario shown in Figure 11 (either 11A or 11B), when the first anchor point A is the first preset anchor point, the second anchor point B is the second preset anchor point, and the third anchor point C is the third preset anchor point, the preset area is a circular area with the first preset anchor point A as the center and the preset test distance XA as the radius. In this case, the first intersection point O is the intersection of the extended line of the line segment containing the first preset anchor point A and the second preset anchor point B, and the circle; the second intersection point P is the intersection of the extended line of the line segment containing the first preset anchor point A and the third preset anchor point C, and the circle.

[0137] S182: Determine a first area distance between the first intersection point and the second preset anchor point according to the first preset anchor point distance and the preset test distance.

[0138] For example, in the scenario shown in FIG11 (either of 11A and 11B), the preset area is a circular area with the first preset anchor point A as the center and the preset test distance XA as the radius. The first preset anchor point distance AB is the anchor point distance between the first preset anchor point A and the second preset anchor point B, the preset test distance XA is the test distance between the first preset anchor point A and the digital key X, and the first area distance OB is the distance between the first intersection O and the second preset anchor point B. Since XA=OA, △OAB is a right triangle, according to the Pythagorean theorem, the distance on the first circle can be obtained OB is used to represent the first area distance, XA is used to represent the preset test distance, and AB is used to represent the first preset anchor point distance.

[0139] S183: Determine a second area distance between the second intersection point and the third preset anchor point according to the second preset anchor point distance and the preset test distance.

[0140] For example, in the scenario shown in FIG11 (either of 11A and 11B), the preset area is a circular area with the first preset anchor point A as the center and the preset test distance XA as the radius. The second preset anchor point distance AC is the anchor point distance between the first preset anchor point A and the third preset anchor point C, the preset test distance XA is the test distance between the first preset anchor point A and the digital key X, and the second area distance PC is the distance between the second intersection point P and the third preset anchor point C. Since XA=PA, △PAC is a right triangle, the second area distance can be obtained according to the Pythagorean theorem. Among them, PC is used to represent the second area distance, XA is used to represent the preset test distance, and AC is used to represent the second preset anchor point distance.

[0141] S184: When the first area distance is greater than the first preset test distance and the second area distance is greater than or equal to the second preset test distance, determine that the initial position of the digital key is within the anchor point area.

[0142] The first preset test distance is the test distance between the digital key and the second preset anchor point, and the second preset test distance is the test distance between the digital key and the third preset anchor point.

[0143] For example, in the scenario shown in FIG11A , the first preset test distance XB is the test distance between the digital key X and the second preset anchor point B, and the second preset test distance XC is the test distance between the digital key X and the third preset anchor point C. Thus, when the first area distance OB > the first preset test distance XB, and the second area distance PC ≥ the second preset test distance XC, the preliminary position of the digital key is determined to be within the anchor point area.

[0144] S185: When the first area distance is less than or equal to the first preset test distance, or the second area distance is less than the second preset test distance, determine that the initial position of the digital key is outside the anchor point area.

[0145] Exemplarily, in the scenario shown in FIG11B , when the first area distance OB ≤ the first preset test distance XB, and the second area distance PC < the second preset test distance XC, the preliminary position of the digital key is determined to be outside the anchor area.

[0146] In the above scheme, a preset area is first determined based on a first preset anchor point and a preset test distance, and a first intersection and a second intersection are determined within the preset area. Next, a first area distance is determined between the first intersection and the second preset anchor point based on the first preset anchor point distance and the preset test distance, and a second area distance is determined between the second intersection and the third preset anchor point based on the second preset anchor point distance and the preset test distance. Finally, if the first area distance is greater than the first preset test distance and the second area distance is greater than or equal to the second preset test distance, the digital key's preliminary position is determined to be within the anchor area. If the first area distance is less than or equal to the first preset test distance, or the second area distance is less than the second preset test distance, the digital key's preliminary position is determined to be outside the anchor area. By determining the preliminary position of the digital key based on the preset test distance, the first preset anchor point distance, and the second preset anchor point distance, the appropriate method can be selected for determining the projection distance of the test distance on the anchor plane and the final position of the digital key, thereby improving the efficiency of determining the digital key's position.

[0147] In some embodiments, the digital key position identification method further includes:

[0148] When the distance to the first area is less than or equal to the first preset test distance, and the distance to the second area is less than the second preset test distance, the preliminary position of the digital key is determined to be the first target area; the first target area is: the area composed of the first extension line and the second extension line, excluding the anchor point area; the first extension line is the extension line of the straight line where the second preset anchor point and the first preset anchor point are located, and the second extension line is the extension line of the straight line where the third preset anchor point and the first preset anchor point are located.

[0149] When the distance in the first area is greater than the first preset test distance and the distance in the second area is less than the second preset test distance, the preliminary position of the digital key is determined to be the second target area; the second target area is: the area formed by the second extension line and the first straight line excluding the anchor point area, and the first straight line is the straight line where the second preset anchor point and the first preset anchor point are located.

[0150] When the distance in the first area is less than or equal to the first preset test distance, and the distance in the second area is greater than or equal to the second preset test distance, the preliminary position of the digital key is determined to be the third target area; the third target area is: the area formed by the first extension line and the second straight line excluding the anchor point area; the second straight line is the straight line where the third preset anchor point and the first preset anchor point are located.

[0151] When the first area distance is greater than the first preset test distance and the second area distance is greater than or equal to the second preset test distance, the preliminary position of the digital key is determined to be the fourth target area; the fourth target area is the area where the anchor point area is located.

[0152] For example, in the scenario shown in FIG13 , the first anchor point A is the first preset anchor point, the second anchor point B is the second preset anchor point, and the third anchor point C is the third preset anchor point.

[0153] In this way, when the first area distance OB is less than or equal to the first preset test distance XB, and the second area distance PC is less than the second preset test distance XC, the preliminary position of the digital key is determined to be the first target area 1; the first target area is: the area composed of the first extension line AP and the second extension line AO, excluding the anchor point area ABCD; the first extension line AP is the extension line of the straight line where the second preset anchor point B and the first preset anchor point A are located, and the second extension line AO ​​is the extension line of the straight line where the third preset anchor point C and the first preset anchor point A are located.

[0154] When the first area distance OB is greater than the first preset test distance XB and the second area distance PC is less than the second preset test distance XC, the preliminary position of the digital key is determined to be the second target area 2; the second target area is: the area formed by the second extension line AO ​​and the first straight line AB, excluding the anchor point area ABCD, and the first straight line AB is the straight line where the second preset anchor point B and the first preset anchor point A are located.

[0155] When the first area distance OB is less than or equal to the first preset test distance XB, and the second area distance PC is greater than or equal to the second preset test distance XC, the preliminary position of the digital key is determined to be the third target area 3; the third target area 3 is: the area formed by the first extension line AP and the second straight line CA, excluding the anchor point area ABCD; the second straight line AC is the straight line where the third preset anchor point C and the first preset anchor point A are located.

[0156] When the first area distance OB is greater than the first preset test distance XB, and the second area distance PC is greater than or equal to the second preset test distance XC, the initial position of the digital key is determined to be the fourth target area 4; the fourth target area 4 is the area where the anchor area ABCD is located.

[0157] In the above scheme, the target area where the initial position of the digital key is located can be determined based on the first area distance, the first preset test distance, the second area distance, and the second preset test distance, so that when subsequently determining the projection distance of the test distance on the anchor point plane and the final position of the digital key, an appropriate method can be selected, thereby improving the efficiency of determining the position of the digital key.

[0158] In some embodiments, after determining the preliminary position of the digital key according to Figures 10-13, when determining the projected distance of the test distance on the anchor plane based on the test distance and the anchor distance, an appropriate calculation method may be selected based on the preliminary position of the digital key to determine the projected distance of the test distance on the anchor plane. For example, when the digital key is located in the second target area, the projected distance of the test distance on the anchor plane may be determined using the method corresponding to Figure 4A; when the digital key is located in the fourth target area, the projected distance of the test distance on the anchor plane may be determined using the method corresponding to Figure 4B.

[0159] In the above solution, when determining the projection distance of the test distance on the anchor point plane, a suitable determination method can be selected according to the preliminary position of the digital key, thereby improving the efficiency of determining the position of the digital key.

[0160] In some embodiments, after determining the preliminary position of the digital key according to Figures 10-13 , when determining the final position of the digital key based on the projection distance, the anchor point distance, and the boundary distance, an appropriate calculation method may be selected based on the preliminary position of the digital key to determine the final position of the digital key. For example, when the digital key is located in the first target area, the final position of the digital key may be determined using the method corresponding to Figure 7A ; when the digital key is located in the third target area, the final position of the digital key may be determined using the method corresponding to Figure 7C .

[0161] In the above solution, when determining the final position of the digital key, an appropriate determination method can be selected according to the initial position of the digital key, thereby improving the efficiency of determining the position of the digital key.

[0162] The embodiment of the present application can divide the functional modules of the digital key position identification device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0163] As shown in FIG14 , which is a schematic structural diagram of a digital key position identification device provided in an embodiment of the present application, the digital key position identification device includes an acquisition module 1401 , a determination module 1402 , and a processing module 1403 .

[0164] The acquisition module 1401 is configured to obtain the anchor point distance between every two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein, the anchor point is used to determine the test distance based on the ranging signal between the anchor point and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; the determination module 1402 is configured to determine the projection distance of the test distance on the anchor point plane based on the test distance and the anchor point distance; the processing module 1403 is configured to determine the final position of the digital key based on the projection distance, the anchor point distance, and the boundary distance; the final position is inside or outside the vehicle.

[0165] In some embodiments, the determination module 1402 is specifically configured as follows: determining the height distance between the digital key and the digital key projection based on the anchor point distance and the test distance; the digital key projection is the projection of the digital key on the anchor point plane; determining the projection distance of the test distance on the anchor point plane based on the height distance and the test distance.

[0166] In some embodiments, the determination module 1402 is specifically configured to: determine the first height according to the first anchor point distance, the first test distance, and the second test distance; the first anchor point distance is the anchor point distance between the first anchor point and the second anchor point; the first test distance is the test distance between the first anchor point and the digital key; the second test distance is the test distance between the second anchor point and the digital key; the first anchor point and the second anchor point are both anchor points among the four anchor points on the vehicle, and the first anchor point and the second anchor point are adjacent; the first height is the height of the triangle formed by the first anchor point, the second anchor point, and the digital key; determine the second height according to the second anchor point distance, the third test distance, and the fourth test distance; the second anchor point distance is the test distance between the first anchor point and the digital key; The distance is the anchor point distance between the third anchor point and the fourth anchor point; the third test distance is the test distance between the third anchor point and the digital key; the fourth test distance is the test distance between the fourth anchor point and the digital key; the third anchor point and the fourth anchor point are anchor points different from the first anchor point and the second anchor point among the four anchor points on the vehicle, and the third anchor point and the fourth anchor point are adjacent to each other; the second height is the height of the triangle formed by the third anchor point, the fourth anchor point and the digital key; the height distance between the digital key and the digital key projection is determined based on the first height, the second height, and the third anchor point distance; the third anchor point distance is the distance between the first anchor point and the third anchor point, or the distance between the second anchor point and the fourth anchor point.

[0167] In some embodiments, the determination module 1402 is specifically configured as follows: according to the first anchor point distance, the first test distance, and the second test distance, determine the first area of ​​the triangle formed by the first anchor point, the second anchor point, and the digital key by Heron's formula; determine the first height according to the first area and the first anchor point distance; the determination module 1402 is specifically configured as follows: according to the second anchor point distance, the third test distance, and the fourth test distance, determine the second area of ​​the triangle formed by the third anchor point, the fourth anchor point, and the digital key by Heron's formula; determine the second height according to the second area and the distance from the second anchor point.

[0168] In some embodiments, the acquisition module 1401 is further configured to obtain a first adjustment number when the first distance, the second distance, and the anchor point distance cannot form a triangle; wherein, when the first distance is the first test distance, the second distance is the second test distance, and the anchor point distance is the first anchor point distance; when the first distance is the third test distance, the second distance is the fourth test distance, and the anchor point distance is the second anchor point distance; the processing module 1403 is further configured to crop the anchor point distance according to a preset step size when the first adjustment number is less than or equal to the first threshold; the processing module 1403 is further configured to return invalid when the first adjustment number is greater than the first threshold.

[0169] In some embodiments, the processing module 1403 is specifically configured as follows: determining the intersection distance between the intersection point and the first target anchor point based on the target anchor point distance, the first projection distance, and the second projection distance; the target anchor point distance is the anchor point distance between the first target anchor point and the second target anchor point; the first projection distance is the projection distance between the first target anchor point and the digital key projection; the second projection distance is the projection distance between the second target anchor point and the digital key projection; the first target anchor point and the second target anchor point are both anchor points among the four anchor points on the vehicle, and the first target anchor point and the second target anchor point are adjacent; the digital key projection is the projection of the digital key on the anchor point plane; the intersection is the intersection of the straight line where the digital key projection and the first target anchor point are located, and the straight line where the inner and outer boundaries of the vehicle body are located; when the intersection distance is less than or equal to the first projection distance, it is determined that the digital key is outside the vehicle; when the intersection distance is greater than the first projection distance, it is determined that the digital key is inside the vehicle.

[0170] In some embodiments, the processing module 1403 is specifically configured as follows: according to the target anchor point distance, the first projection distance, and the second projection distance, the third area of ​​the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection is determined by Heron's formula; the first projection distance is greater than the second projection distance; according to the third area, the target anchor point distance, and the first projection distance, the sine value of the target angle is determined; the target angle is the angle corresponding to the second projection distance in the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection; according to the sine value, the target anchor point distance, and the first boundary distance, the intersection distance between the intersection point and the first target anchor point is determined; the first boundary distance is the boundary distance between the second target anchor point and the inner and outer boundaries of the vehicle body.

[0171] In some embodiments, the acquisition module 1401 is further configured to acquire a second adjustment number when the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle; the processing module 1403 is further configured to adjust the first projection distance or the second projection distance according to a preset rule when the second adjustment number is less than or equal to a second threshold; wherein the preset rule is: when the first projection distance is greater than the second projection distance, the first projection distance is cropped according to a preset step size, or the second projection distance is increased according to a preset step size; when the first projection distance is equal to the second projection distance, the first projection distance and the second projection distance are increased simultaneously according to a preset step size; the processing module 1403 is further configured to return invalid when the second adjustment number is greater than the second threshold.

[0172] In some embodiments, the determination module 1402 is further configured to: determine the anchor point corresponding to the minimum test distance as the first preset anchor point; determine the preliminary position of the digital key based on the preset test distance, the first preset anchor point distance, and the second preset anchor point distance; the preset test distance is the test distance between the first preset anchor point and the digital key, the first preset anchor point distance is the anchor point distance between the first preset anchor point and the second preset anchor point, the second preset anchor point distance is the anchor point distance between the first preset anchor point and the third preset anchor point, and the first preset anchor point is adjacent to the first preset anchor point, the first preset anchor point is adjacent to the third preset anchor point, and the second preset anchor point is not adjacent to the third preset anchor point.

[0173] In some embodiments, the determination module 1402 is specifically configured as follows: determining a preset area according to the first preset anchor point and the preset test distance, and determining a first intersection and a second intersection on the preset area; the first intersection is an extension of a line segment where the first preset anchor point and the third preset anchor point are located, and the intersection of the preset area; the second intersection is an extension of a line segment where the first preset anchor point and the second preset anchor point are located, and the intersection of the preset area; determining the first area distance between the first intersection and the second preset anchor point according to the first preset anchor point distance and the preset test distance; determining the second area distance between the first intersection and the second preset anchor point according to the second preset anchor point distance and the preset test distance. The second area distance between the two intersection points and the third preset anchor point; when the first area distance is greater than the first preset test distance and the second area distance is greater than or equal to the second preset test distance, the preliminary position of the digital key is determined to be within the anchor area; the first preset test distance is the test distance between the digital key and the second preset anchor point, and the second preset test distance is the test distance between the digital key and the third preset anchor point; when the first area distance is less than or equal to the first preset test distance, or the second area distance is less than the second preset test distance, the preliminary position of the digital key is determined to be outside the anchor area.

[0174] In some embodiments, the acquisition module 1401 is specifically configured to acquire the anchor point coordinates of four anchor points on the vehicle, and determine the anchor point distance between every two adjacent anchor points according to the anchor point coordinates.

[0175] The digital key position identification device provided in this embodiment can execute the digital key position identification method provided in the above method embodiment. Its implementation principle and technical effects are similar to those of the above method and will not be repeated here.

[0176] FIG15 shows an electronic device according to an exemplary embodiment. The electronic device may include a processor 1502 configured to execute application code to implement the digital key position identification method of the present application.

[0177] The processor 1502 may be a central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0178] As shown in FIG15 , the electronic device may further include a memory 1503 , wherein the memory 1503 is used to store application program codes for executing the solution of the present application, and the execution is controlled by the processor 1502 .

[0179] The memory 1503 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1503 may exist independently and be connected to the processor 1502 via the bus 1504. The memory 1503 may also be integrated with the processor 1502.

[0180] As shown in FIG15 , the electronic device may further include a communication interface 1501, wherein the communication interface 1501, the processor 1502, and the memory 1503 may be coupled to each other, for example, via a bus 1504. The communication interface 1501 is used to exchange information with other devices, for example, to support information exchange between the electronic device and other devices.

[0181] It should be noted that the device structure shown in Figure 15 does not limit the electronic device. In addition to the components shown in Figure 15, the electronic device may include more or fewer components than shown, or combine certain components, or arrange the components differently. Furthermore, the electronic device provided in this embodiment can execute the digital key location identification method provided in the above-mentioned method embodiment. Its implementation principles and technical effects are similar to those of the above-mentioned method and will not be further described here.

[0182] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the various processes of the digital key position identification method in the above method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0183] The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0184] An embodiment of the present application provides a computer program product, which stores a computer program. When the computer program is executed by a processor, it implements the various processes of the digital key position identification method in the above method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0185] An embodiment of the present application provides a vehicle, which can be configured with any of the above-mentioned digital key position identification devices provided in the embodiments of the present application, or the vehicle can be configured with the above-mentioned electronic device provided in the embodiments of the present application.

[0186] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0187] In this application, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0188] In this application, memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0189] In this application, computer-readable media includes permanent and non-permanent, removable and non-removable storage media. Storage media can be implemented by any method or technology to store information, and the information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data and carrier waves.

[0190] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0191] The foregoing description is intended only to provide specific embodiments of the present application, which will enable those skilled in the art to understand and implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, but is intended to be construed in the broadest manner consistent with the principles and novel features disclosed herein. Industrial Applicability

[0192] This application first obtains the anchor point distance between every two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body, and determines the projection distance of the test distance on the anchor point plane based on the test distance and the anchor point distance. Afterwards, the final position of the digital key is determined based on the projection distance, the anchor point distance, and the boundary distance. In this way, the final position of the digital key can be determined based on the anchor point distance, the projection distance, and the boundary distance, that is, when determining the position of the digital key, the boundary distance between the anchor point and the inner and outer boundaries of the vehicle body is taken into account, and the influence on the final position of the digital key is avoided, thereby avoiding the problem of inaccurate recognition results caused by blind spots or excessive overflow outside the vehicle when directly determining the position of the digital key based on the projection distance and the anchor point distance, thereby improving the accuracy of the determined digital key position.

Claims

1. A method for identifying a digital key position, comprising: Obtain the anchor point distance between every two adjacent anchor points of the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein the anchor point is used to determine the test distance according to the ranging signal between the anchor point and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; Determine, according to the test distance and the anchor point distance, a projection distance of the test distance on the anchor point plane; The final position of the digital key is determined according to the projection distance, the anchor point distance, and the boundary distance; the final position is inside or outside the vehicle.

2. The method for identifying the position of a digital key according to claim 1, wherein: The determining, according to the test distance and the anchor point distance, a projection distance of the test distance on the anchor point plane comprises: Determine the height distance between the digital key and the digital key projection according to the anchor point distance and the test distance; the digital key projection is the projection of the digital key on the anchor point plane; The projection distance of the test distance on the anchor point plane is determined according to the height distance and the test distance.

3. The method for identifying the position of a digital key according to claim 2, wherein: The determining the height distance between the digital key and the digital key projection according to the anchor point distance and the test distance includes: Determine a first height according to a first anchor point distance, a first test distance, and a second test distance; the first anchor point distance is the anchor point distance between the first anchor point and the second anchor point; the first test distance is the test distance between the first anchor point and the digital key; the second test distance is the test distance between the second anchor point and the digital key; the first anchor point and the second anchor point are both anchor points among the four anchor points on the vehicle, and the first anchor point and the second anchor point are adjacent; the first height is the height of a triangle formed by the first anchor point, the second anchor point, and the digital key; The second height is determined according to the second anchor point distance, the third test distance, and the fourth test distance; the second anchor point distance is the anchor point distance between the third anchor point and the fourth anchor point; the third test distance is the test distance between the third anchor point and the digital key; the fourth test distance is the test distance between the fourth anchor point and the digital key; the third anchor point and the fourth anchor point are anchor points different from the first anchor point and the second anchor point among the four anchor points on the vehicle, and the third anchor point and the fourth anchor point are adjacent; the second height is the height of a triangle formed by the third anchor point, the fourth anchor point, and the digital key; The height distance between the digital key and the digital key projection is determined according to the first height, the second height, and the third anchor point distance; the third anchor point distance is the distance between the first anchor point and the third anchor point, or the distance between the second anchor point and the fourth anchor point.

4. The method for identifying the position of a digital key according to claim 3, wherein: The determining the first height according to the first anchor point distance, the first test distance, and the second test distance includes: According to the first anchor point distance, the first test distance, and the second test distance, the first anchor point, the first test distance, and the second test distance are determined by Heron's formula. A first area of ​​a triangle formed by two anchor points and the digital key; Determine a first height according to the first area and the distance between the first anchor point; The determining the second height according to the second anchor point distance, the third test distance, and the fourth test distance includes: Determine the second area of ​​the triangle formed by the third anchor point, the fourth anchor point and the digital key by using Heron's formula according to the second anchor point distance, the third test distance and the fourth test distance; A second height is determined according to the second area and the second anchor point distance.

5. The method for identifying the position of a digital key according to claim 3 or 4, wherein: Before determining the first area of ​​a triangle formed by the first anchor point, the second anchor point, and the digital key by using Heron's formula according to the first anchor point distance, the first test distance, and the second test distance, the method further includes: When the first distance, the second distance, and the anchor point distance cannot form a triangle, obtaining a first adjustment number; wherein, when the first distance is the first test distance, the second distance is the second test distance, and the anchor point distance is the first anchor point distance; when the first distance is the third test distance, the second distance is the fourth test distance, and the anchor point distance is the second anchor point distance; When the first adjustment number is less than or equal to a first threshold, clipping the anchor point distance according to a preset step size; When the first adjustment times is greater than a first threshold, the function returns invalid.

6. The method for identifying the position of a digital key according to claim 1, wherein: The determining the final position of the digital key according to the projection distance, the anchor point distance, and the boundary distance includes: According to the target anchor point distance, the first projection distance and the second projection distance, determine the intersection distance between the intersection point and the first target anchor point; the target anchor point distance is the anchor point distance between the first target anchor point and the second target anchor point; the first projection distance is the projection distance between the first target anchor point and the projection of the digital key; the second projection distance is the projection distance between the second target anchor point and the projection of the digital key; the first target anchor point and the second target anchor point are both anchor points among the four anchor points on the vehicle, and the first target anchor point and the second target anchor point are adjacent; the projection of the digital key is the projection of the digital key on the anchor point plane; the intersection is the intersection of the straight line where the projection of the digital key and the first target anchor point are located, and the straight line where the inner and outer boundaries of the body are located; When the intersection distance is less than or equal to the first projection distance, determining that the digital key is outside the vehicle; When the intersection distance is greater than the first projection distance, it is determined that the digital key is in the vehicle compartment.

7. The method for identifying the position of a digital key according to claim 6, wherein: The step of determining the intersection distance between the intersection point and the first target anchor point according to the target anchor point distance, the first projection distance, and the second projection distance includes: According to the target anchor point distance, the first projection distance, and the second projection distance, the third area of ​​the triangle formed by the first target anchor point, the second target anchor point, and the projection of the digital key is determined by Heron's formula; the first projection distance is greater than the second projection distance; Determine the sine value of the target angle according to the third area, the target anchor point distance, and the first projection distance; the target angle is the angle corresponding to the second projection distance in the triangle formed by the first target anchor point, the second target anchor point, and the projection of the digital key; The intersection distance between the intersection point and the first target anchor point is determined according to the sine value, the target anchor point distance, and the first boundary distance; the first boundary distance is the boundary distance between the second target anchor point and the inner and outer boundaries of the vehicle body.

8. The method for identifying the position of a digital key according to claim 7, wherein: Before determining the third area of ​​a triangle formed by the first target anchor point, the second target anchor point, and the projection of the digital key by using Heron's formula according to the target anchor point distance, the first projection distance, and the second projection distance, the method further includes: When the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle, obtaining a second adjustment number; When the second adjustment number is less than or equal to a second threshold, adjusting the first projection distance or the second projection distance according to a preset rule; wherein the preset rule is: when the first projection distance is greater than the second projection distance, clipping the first projection distance according to a preset step length, or increasing the second projection distance according to a preset step length; when the first projection distance is equal to the second projection distance, increasing both the first projection distance and the second projection distance according to a preset step length; When the second adjustment number is greater than a second threshold, the function returns invalid.

9. The method for identifying the position of a digital key according to claim 1, wherein: Before determining the projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance, the method further includes: Determine the anchor point corresponding to the minimum test distance as the first preset anchor point; The preliminary position of the digital key is determined according to a preset test distance, a first preset anchor point distance, and a second preset anchor point distance; the preset test distance is the test distance between the first preset anchor point and the digital key, the first preset anchor point distance is the anchor point distance between the first preset anchor point and the second preset anchor point, the second preset anchor point distance is the anchor point distance between the first preset anchor point and the third preset anchor point, and the first preset anchor point is adjacent to the first preset anchor point, the first preset anchor point is adjacent to the third preset anchor point, and the second preset anchor point is not adjacent to the third preset anchor point.

10. The method for identifying the position of a digital key according to claim 9, wherein: The determining the preliminary position of the digital key according to the preset test distance, the first preset anchor point distance, and the second preset anchor point distance includes: Determine a preset area according to the first preset anchor point and the preset test distance, and determine a first intersection point and a second intersection point on the preset area; the first intersection point is an intersection point of an extension line of a line segment where the first preset anchor point and the third preset anchor point are located, and an edge of the preset area; the second intersection point is an intersection point of an extension line of a line segment where the first preset anchor point and the second preset anchor point are located, and an edge of the preset area; Determining a first area distance between the first intersection point and the second preset anchor point according to the first preset anchor point distance and the preset test distance; Determining a second area distance between the second intersection point and the third preset anchor point according to the second preset anchor point distance and the preset test distance; When the first area distance is greater than the first preset test distance, and the second area distance is greater than or equal to the second preset test distance, determining that the preliminary position of the digital key is within the anchor point area; the first preset test distance is the test distance between the digital key and the second preset anchor point, and the second preset test distance is the test distance between the digital key and the third preset anchor point; The first area distance is less than or equal to the first preset test distance, or the second area distance is When the distance is less than the second preset test distance, the initial position of the digital key is determined to be outside the anchor point area.

11. The method for identifying the position of a digital key according to claim 1, wherein: The obtaining of the anchor point distance between every two adjacent anchor points among the four anchor points on the vehicle comprises: The anchor point coordinates of the four anchor points on the vehicle are obtained, and the anchor point distance between every two adjacent anchor points is determined according to the anchor point coordinates.

12. A digital key position identification device, comprising: An acquisition module is used to acquire the anchor point distance between every two adjacent anchor points among the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein the anchor point is used to determine the test distance according to the ranging signal between the anchor point and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; A determination module, used to determine the projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance; A processing module is used to determine the final position of the digital key according to the projection distance, the anchor point distance, and the boundary distance; the final position is inside or outside the vehicle.

13. An electronic device, comprising: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements a digital key position identification method as claimed in any one of claims 1 to 11.

14. A computer-readable storage medium, comprising: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the digital key position identification method according to any one of claims 1 to 11 is implemented.

15. A vehicle, comprising: A digital key position identification device as claimed in claim 12, or an electronic device as claimed in claim 13.

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