A vehicle anchor point self-positioning method based on UWB technology

Abstract

The present disclosure relates to a method for self-positioning an anchor point of an automobile based on UWB technology. The anchor point positioning method comprises: in the case where anchor points are arranged at a plurality of preset arrangement positions, determining an anchor point identifier corresponding to each of the plurality of arranged anchor points, wherein the anchor point identifier is configured to uniquely indicate the corresponding anchor point; at each of the plurality of key positions where the key is placed, determining a test distance between the anchor point and the key according to a ranging signal transmitted between each anchor point and the key; and determining the preset arrangement position where the anchor point indicated by each anchor point identifier is located according to the test distances between the plurality of anchor points and the key at the plurality of key positions and at least part of the position information of the key.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle electronic technology, and in particular to a vehicle anchor point self-positioning method based on UWB technology. Background Art

[0002] As the automotive industry becomes increasingly intelligent, the key of a vehicle can be positioned by setting multiple anchor points at different locations of the vehicle. In order to distinguish the anchor points arranged at different locations of the vehicle, the anchor points at different locations are usually set to be different. However, this setting method will lead to the need to produce anchor points of different specifications for each arrangement position, and in the process of installing the anchor points, the anchor points need to be pre-screened according to the arrangement position, which will increase the difficulty of manufacturing and assembling the anchor points, and then lead to a significant increase in costs. Therefore, there is a need to improve the anchor point positioning method. Summary of the invention

[0003] One of the objectives of the present disclosure is to provide an anchor point positioning method, an anchor point positioning device and a vehicle for a vehicle.

[0004] According to a first aspect of the present disclosure, there is provided an anchor point positioning method for a vehicle, the vehicle comprising a plurality of preset arrangement positions, each of the plurality of preset arrangement positions being used to arrange an anchor point, the anchor point positioning method comprising:

[0005] In a case where anchor points are respectively arranged at the plurality of preset arrangement positions, determining an anchor point identifier corresponding to each of the plurality of arranged anchor points, wherein the anchor point identifier is configured to uniquely indicate the corresponding anchor point;

[0006] At each key position among a plurality of key positions where the key is placed, determining a test distance between the anchor point and the key according to a distance measurement signal transmitted between each anchor point and the key; and

[0007] The preset arrangement position of the anchor point indicated by each anchor point identifier is determined according to the test distances between the multiple anchor points and the key at the multiple key positions and at least part of the position information of the key.

[0008] In some embodiments, the plurality of anchor points are identical to one another.

[0009] In some embodiments, determining an anchor point identifier corresponding to each of the arranged plurality of anchor points comprises:

[0010] Obtaining a random number message from each of the plurality of anchor points, wherein the random number message is configured to indicate a random number generated in the corresponding anchor point;

[0011] Determining whether there are at least two anchor points that generate the same random number according to the multiple random number messages from the multiple anchor points;

[0012] If yes, transmitting a reset message to at least one of the multiple anchor points that has generated the same random number, so as to at least instruct the anchor point that has generated the same random number to regenerate the random number, and obtaining an updated random number message, until it is determined that there is no anchor point that has generated the same random number;

[0013] If not, the anchor point identifier of each anchor point is determined respectively according to multiple random number messages from the multiple anchor points.

[0014] In some embodiments, the message is configured to be transmitted based on CAN communication.

[0015] In some embodiments, transmitting a reset message to at least one of the multiple anchor points that generates the same random number to at least instruct the anchor point that generates the same random number to regenerate the random number includes:

[0016] A reset message is transmitted to all anchor points among the multiple anchor points to instruct all anchor points to regenerate random numbers.

[0017] In some embodiments, the ranging signal is an ultra-wideband UWB signal.

[0018] In some embodiments, according to the test distances between the plurality of anchor points and the key at the plurality of key positions and at least part of the position information of the key, determining the preset arrangement position of the anchor points indicated by the respective anchor point identifiers comprises:

[0019] Assuming that a first anchor point among the plurality of anchor points is at a first preset arrangement position among the plurality of preset arrangement positions, calculating the coordinates of the key according to a first test distance between the first anchor point and the key, at least part of the position information of the key, and the coordinates of the first preset arrangement position;

[0020] Calculating the coordinates of each other anchor point according to the coordinates of the key and the test distances between each other anchor point in the plurality of anchor points and the key;

[0021] comparing the coordinates of each of the other anchor points with the coordinates of each of the other preset arrangement positions in the plurality of preset arrangement positions to see whether they are consistent;

[0022] If so, determining a correspondence between the plurality of anchor points and the plurality of preset arrangement positions;

[0023] If not, another preset arrangement position among the multiple preset arrangement positions is used as the first preset arrangement position, and the step of assuming that the first anchor point among the multiple anchor points is at the first preset arrangement position among the multiple preset arrangement positions is returned, and the coordinates of the key are calculated according to a first test distance between the first anchor point and the key, at least part of the position information of the key and the coordinates of the first preset arrangement position.

[0024] In some embodiments, the plane where the plurality of preset arrangement positions are located is taken as a base plane, and at least part of the position information of the key includes height information of the key relative to the base plane.

[0025] Determining the preset arrangement position of the anchor point indicated by each anchor point identifier according to the test distances between the plurality of anchor points and the key at the plurality of key positions and at least part of the position information of the key comprises:

[0026] At each key position, determining a projection distance between each anchor point on the base surface and the key according to a test distance between each anchor point in the plurality of anchor points and the key and height information of the key relative to the base surface;

[0027] Assuming that the first anchor point is at the first preset arrangement position, calculating the projection coordinates of the key on the base surface according to a first projection distance between the first anchor point and the key and the coordinates of the first preset arrangement position;

[0028] Calculating the coordinates of each other anchor point according to the projection coordinates of the key and the projection distances between each other anchor point and the key;

[0029] comparing the coordinates of each of the other anchor points with the coordinates of each of the other preset arrangement positions in the plurality of preset arrangement positions to see whether they are consistent;

[0030] If so, determining a correspondence between the plurality of anchor points and the plurality of preset arrangement positions;

[0031] If not, another preset arrangement position among the multiple preset arrangement positions is used as the first preset arrangement position, and the step of assuming that the first anchor point is in the first preset arrangement position and calculating the projection coordinates of the key on the base surface according to the first projection distance between the first anchor point and the key and the coordinates of the first preset arrangement position is returned.

[0032] In some embodiments, the multiple key positions include a first key position, a second key position, and a third key position, wherein the second key position is generated by moving the first key position by a first preset distance along a first coordinate axis on the base surface, and the third preset position is generated by moving the second key position by a second preset distance along a second coordinate axis on the base surface that is perpendicular to the first coordinate axis.

[0033] In some embodiments, the first preset distance is equal to the second preset distance.

[0034] In some embodiments, the vehicle includes five preset layout positions, four of which are located at two corners of the front bumper and two corners of the rear bumper of the vehicle, and another preset layout position is located at the center axis of the vehicle.

[0035] According to a second aspect of the present disclosure, an anchor point positioning device for a vehicle is provided, the anchor point positioning device comprising a memory and a processor, the memory storing instructions, and when the instructions are executed by the processor, the steps of the anchor point positioning method described above are implemented.

[0036] According to a third aspect of the present disclosure, a vehicle is provided, comprising the anchor point positioning device as described above.

[0037] In some embodiments, the vehicle further comprises at least one of the following:

[0038] Multiple anchor points; and

[0039] key.

[0040] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which instructions are stored. When the instructions are executed by a processor, the steps of the anchor point positioning method described above are implemented.

[0041] According to a fifth aspect of the present disclosure, a computer program product is provided, the computer program product comprising instructions, and when the instructions are executed by a processor, the steps of the anchor point positioning method as described above are implemented.

[0042] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0045] Figure 1 A block diagram of a vehicle according to an exemplary embodiment of the present disclosure is shown;

[0046] Figure 2 A schematic diagram of a flow chart of an anchor point positioning method according to an exemplary embodiment of the present disclosure is shown;

[0047] Figure 3 A schematic diagram showing a preset arrangement position and a key of a vehicle in a specific example of the present disclosure is shown;

[0048] Figure 4 A schematic diagram of a coordinate system at a base surface of a vehicle in a specific example of the present disclosure is shown.

[0049] Note that in the embodiments described below, the same reference numerals are sometimes used in common between different drawings to represent the same parts or parts with the same functions, and their repeated descriptions are omitted. In this specification, similar reference numerals and letters are used to represent similar items, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0050] For ease of understanding, the positions, sizes, and ranges of various structures shown in the drawings and the like sometimes do not represent actual positions, sizes, and ranges, etc. Therefore, the disclosed invention is not limited to the positions, sizes, and ranges, etc. disclosed in the drawings and the like. In addition, the drawings are not necessarily drawn to scale, and some features may be exaggerated to show details of specific components. DETAILED DESCRIPTION

[0051] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0052] The following description of at least one exemplary embodiment is merely illustrative and is not intended to limit the present disclosure, its application, or use. That is, the various techniques, methods, and devices herein are shown in an exemplary manner to illustrate different embodiments of the present disclosure, and are not intended to be limiting. Those skilled in the art will appreciate that they merely illustrate exemplary ways that can be used to implement the present invention, rather than an exhaustive way.

[0053] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0054] With the development of vehicle digital key technology, the positioning of the vehicle key can be achieved by arranging multiple anchor points in the vehicle. In the process of locating the key, it is necessary to predetermine the coordinates of each anchor point itself, and calculate the coordinates of the key by combining the measured distances between each anchor point and the key. It can be seen that it is necessary to distinguish between the multiple anchor points installed in the vehicle. However, if different anchor points are installed at corresponding positions in the vehicle to make a distinction, it is necessary to produce anchor points of multiple different specifications, and when installing the anchor points, it is necessary to pre-screen the anchor points that meet the specification requirements for each layout position, which will increase the difficulty of manufacturing and assembly, and then lead to an increase in cost.

[0055] In order to solve the above problems, the present disclosure proposes an anchor point positioning method, an anchor point positioning device and a corresponding vehicle for a vehicle. By enabling anchor points arranged at different positions to perform self-positioning or self-identification, anchor points of the same specification can be installed in different arrangement positions. There is no need to produce and install anchor points of different specifications for each arrangement position, thereby reducing the difficulty of manufacturing and assembling the anchor points and reducing costs.

[0056] In an exemplary embodiment of the present disclosure, Figure 1 As shown, the vehicle may include an anchor point positioning device 920, and the anchor point positioning device 920 may be used to implement the anchor point positioning method disclosed in the present invention.

[0057] Specifically, in some embodiments, Figure 1 As shown, the anchor point positioning device 920 may include a memory 921 and a processor 922, wherein the memory 921 may store instructions, and when the instructions are executed by the processor 922, the steps of the anchor point positioning method disclosed in the present invention may be implemented.

[0058] Among them, the processor 922 can perform various actions and processes according to the instructions stored in the memory 921. Specifically, the processor 922 can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 922 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can be an X86 architecture or an ARM architecture, etc.

[0059] The memory 921 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronously connected dynamic random access memory (SLDRAM), and direct memory bus random access memory (DR RAM). It should be noted that the memory of the method described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0060] In addition, the vehicle may include a plurality of preset locations, each of which may be used to place an anchor point (signal interaction chip) 910, which may be used to locate the key. The anchor point 910 may be considered as a device independent of the vehicle, or after the anchor point 910 is installed at a preset location in the vehicle, it may be considered as a part of the vehicle (e.g., Figure 1 ). Similarly, a key for the vehicle may be considered a device independent of the vehicle, or may also be considered a part of the vehicle.

[0061] In order to measure the distance between the anchor point 910 and the key, the anchor point 910 can communicate with the key, such as sending a signal to the key or receiving a signal from the key. In some embodiments, the ranging signal between the anchor point 910 and the key can be an ultra-wideband (Ultra Wide Band, UWB) signal. Among them, UWB technology is a wireless carrier communication technology, which can use nanosecond non-sinusoidal narrow pulses to transmit data, so the spectrum range it occupies is very wide. Compared with technologies such as Bluetooth ranging, UWB technology has the advantages of high positioning accuracy, high signal strength, strong anti-interference ability, and low system complexity, which helps to achieve accurate anchor point positioning. However, it is understandable that in some other embodiments, the anchor point 910 and the key can also interact based on other types of signals that can achieve accurate ranging, which is not limited here.

[0062] In a specific example, if Figure 1 , Figure 3 and Figure 4As shown, the vehicle may include five preset layout positions for installing anchor points 910, that is, a total of five anchor points 910 may be installed in the vehicle. Among them, the four preset layout positions may be located at the two corners of the front bumper of the vehicle (the front left corner and the front right corner) and the two corners of the rear bumper (the rear left corner and the rear right corner), respectively, and the remaining preset layout position may be located at the center axis position (or middle position) of the vehicle, that is, basically located at the center of the vehicle. In this specific example, the plane where the five preset layout positions are located can be determined as the base plane for coordinate calculation. However, it can be understood that in other examples, if multiple preset layout positions are not distributed on the same plane, then the plane containing the largest number of preset layout positions can be used as the base plane to simplify the calculation of coordinates. In addition, in this specific example, as Figure 4 As shown, a plane coordinate system can be established on the base plane with the center of the rectangle formed by the four preset arrangement positions at the corners as the origin, wherein the x-axis of the coordinate system can be parallel to the line between the two preset arrangement positions at the front left corner and the front right corner, and the y-axis can be parallel to the line between the two preset arrangement positions at the front left corner and the rear left corner. Correspondingly, the z-axis can be a coordinate axis perpendicular to the base plane, which is used to represent the height information. It should be noted that Figure 3 and Figure 4 It is only an exemplary way to show a specific setting method of preset arrangement position, base surface and coordinate system. It is understandable that in some other embodiments, more or fewer preset arrangement positions can be set in the vehicle to install anchor points as needed, and the specific location of the preset arrangement position can also be changed as needed. Correspondingly, the determined base surface and coordinate system can also be changed as needed. In addition, in the technical solution of the present disclosure, locating the anchor point can specifically refer to associating the anchor point identifier of the anchor point with the preset arrangement position where it is located, so as to subsequently locate the key, wherein the anchor point identifier can be configured to uniquely indicate the corresponding anchor point.

[0063] In an exemplary embodiment of the present disclosure, Figure 2 As shown, the anchor point positioning method may include:

[0064] Step S100: when anchor points are arranged at a plurality of preset arrangement positions respectively, an anchor point identifier corresponding to each of the plurality of arranged anchor points is determined.

[0065] Specifically, once an anchor point 910 has been installed at each preset layout position in the vehicle, an anchor point identifier corresponding to each anchor point can be generated, so that the anchor point identifier can be used to distinguish multiple anchor points. Anchor point identifiers can be generated in a variety of ways, as long as the anchor point identifiers of multiple anchor points in the same vehicle are different from each other. For example, after multiple anchor points are installed, corresponding anchor point identifiers can be generated for multiple anchor points in sequence based on clock information. In this way, due to different generation times, the anchor point identifiers generated based on the clock information can also be different from each other. However, this method often requires each anchor point to generate or determine the anchor point identifier at different times, which may lead to a reduction in the efficiency of anchor point positioning. In another way, a random number generation program can be pre-set in the anchor point to generate random numbers. In some embodiments, the generated random numbers can be limited to a certain range as needed. In particular, after the anchor points are installed at each preset layout position, these anchor points can generate random numbers simultaneously based on instructions from the anchor point positioning device, and these random numbers can be different from each other, and the anchor point identifiers determined based on the random numbers can also be different from each other. In this way, compared with the other method above, it helps to improve the efficiency of anchor point positioning and helps to simplify the process of determining the anchor point identifier. Since a corresponding anchor point identifier that uniquely indicates each anchor point is determined for each anchor point, multiple anchor points installed at different positions in the vehicle can be identical to each other. For example, the hardware structures of the multiple anchor points installed at different positions in the vehicle can be identical to each other, and the software such as the application program burned in the anchor point can also be identical to each other, thereby effectively simplifying the manufacturing and assembly process of the anchor point and helping to reduce costs. However, it can be understood that in some other embodiments, even if there are differences between the anchor points installed in the same vehicle, self-positioning or self-identification of the anchor point can be achieved based on the technical solution of the present disclosure, which is not limited here.

[0066] Further, in some embodiments, determining the anchor point identifier corresponding to each of the multiple anchor points arranged may include: obtaining a random number message from each of the multiple anchor points, wherein the random number message may be configured to indicate the random number generated in the corresponding anchor point; determining whether there are at least two anchor points that have generated the same random number based on the multiple random number messages from the multiple anchor points; if so, transmitting a reset message to at least one of the multiple anchor points that has generated the same random number to at least instruct the anchor point that has generated the same random number to regenerate the random number, and obtaining an updated random number message until it is determined that there is no anchor point that has generated the same random number; if not, determining the anchor point identifier of each anchor point based on the multiple random number messages from the multiple anchor points.

[0067] Here, the anchor point positioning device 920 can be used as a host end, and the anchor point 910 can be used as a slave end. The anchor point positioning device or the host end can obtain a random number message from each anchor point or a slave end, and then obtain the random number generated in each slave end. In order to uniquely indicate each anchor point for distinction, the random numbers generated in all anchor points should be different from each other, which can be determined by the host end based on the random number message it obtains. If it is determined that there are at least two anchor points that generate the same random number, the host end can only transmit a reset message to these anchor points that generate the same random number to instruct these anchor points to regenerate random numbers, or the host end can transmit a reset message to all anchor points to instruct all anchor points to regenerate random numbers. Then, the host end can determine whether there are still anchor points that generate the same random number based on the updated random number message obtained. Until there is no anchor point that generates the same random number, the anchor point identifier of each anchor point can be determined according to multiple random number messages from multiple anchor points. Here, the host end can send a flag message to all anchor points to confirm the anchor point identifier, so that each anchor point can obtain an independent and reasonable anchor point identifier, and realize the self-sequencing of the anchor point for subsequent calculations. In some embodiments, the anchor point positioning device as the host end and the anchor point as the slave end can interact or transmit messages based on CAN (Controller Area Network) communication.

[0068] After the corresponding anchor point identifier is determined for each anchor point, Figure 2 As shown, the anchor point positioning method of the present disclosure may also include:

[0069] Step S200: at each key position among the multiple key positions where the key is placed, determine the test distance between the anchor point and the key according to the distance measurement signal transmitted between each anchor point and the key.

[0070] Specifically, the key can be placed at multiple key positions, and the test distance between each of the multiple anchor points and the key is measured at each key position, so as to collect sufficient data for self-positioning or self-identification of the anchor point. Here, the number of selected key positions can be determined according to the number of anchor points to be located or identified, the way the coordinate system is established, known key position information, etc., as long as the data collected in step S200 is sufficient to achieve self-positioning or self-identification of the anchor point. In addition, as described above, in some embodiments, the ranging signal can be an ultra-wideband UWB signal or other types of signals. According to the determined anchor point identifier, the test distance between the anchor point and the key at each key position can be correspondingly recorded or stored in the anchor point positioning device 920 for subsequent calculation.

[0071] return Figure 2, the anchor point positioning method of the present disclosure may further include:

[0072] Step S300, determining a preset arrangement position of an anchor point indicated by each anchor point identifier according to test distances between multiple anchor points and the key at multiple key positions and at least part of the position information of the key.

[0073] Here, the required key position information may be related to the way the coordinate system is established, etc. In the most complex case, the coordinates of all three dimensions of the key may be required, while in some simple cases, only the height information of the key may be required, as will be described in detail later. Specifically, determining the preset arrangement position of the anchor point indicated by each anchor point identifier according to the test distances between multiple anchor points and the key and at least part of the position information of the key at multiple key positions may include: assuming that a first anchor point among the multiple anchor points is at a first preset arrangement position among the multiple preset arrangement positions, calculating the coordinates of the key according to the first test distance between the first anchor point and the key, at least part of the position information of the key and the coordinates of the first preset arrangement position; calculating the coordinates of each other anchor point according to the coordinates of the key and the test distances between each other anchor point among the multiple anchor points and the key; comparing whether the coordinates of each other anchor point are consistent with the coordinates of each other preset arrangement position among the multiple preset arrangement positions; if so, determining the corresponding relationship between the multiple anchor points and the multiple preset arrangement positions; if not, taking another preset arrangement position among the multiple preset arrangement positions as the first preset arrangement position, and returning to the step of assuming that the first anchor point among the multiple anchor points is at the first preset arrangement position among the multiple preset arrangement positions, and calculating the coordinates of the key according to the first test distance between the first anchor point and the key, at least part of the position information of the key and the coordinates of the first preset arrangement position.

[0074] That is to say, when identifying the preset arrangement position of the anchor point, it can be assumed that one of the anchor points is in a preset arrangement position, and based on the assumption, the coordinates of the key are obtained by combining the obtained test distance between the anchor point and the key, at least part of the position information of the key and the coordinates of the preset arrangement position. Then, based on the coordinates of the key and the test distance between the other anchor points and the key, it can be verified whether the coordinates of the other anchor points are consistent with the coordinates of the other preset arrangement positions. If they are consistent, it means that the above assumption is correct, and the preset arrangement position of each anchor point can be determined; otherwise, it can be re-assumed that the above anchor point is in another preset arrangement position, and the above calculation is repeated until the corresponding relationship between the correct anchor point and the preset arrangement position is verified.

[0075] In some embodiments, in order to simplify the verification process, the verification process may be performed as described above. Figure 3 and Figure 4The described method can determine the base surface and establish the coordinate system, that is, the plane where multiple preset arrangement positions are located can be used as the base surface, and at least part of the position information of the key can include height information of the key relative to the base surface. Based on this, according to the test distances between multiple anchor points and the key at multiple key positions and at least part of the position information of the key, determining the preset arrangement position of the anchor points indicated by each anchor point identifier may include: at each key position, determining the projection distance between each anchor point and the key on the base surface according to the test distance between each anchor point in the multiple anchor points and the key and the height information of the key relative to the base surface; assuming that the first anchor point is in the first preset arrangement position, calculating the projection coordinates of the key on the base surface according to the first projection distance between the first anchor point and the key and the coordinates of the first preset arrangement position; calculating the coordinates of the other anchor points according to the projection coordinates of the key and the projection distances between the other anchor points and the key; comparing whether the coordinates of the other anchor points are consistent with the coordinates of the other preset arrangement positions in the multiple preset arrangement positions; if so, determining the corresponding relationship between the multiple anchor points and the multiple preset arrangement positions; if not, taking another preset arrangement position in the multiple preset arrangement positions as the first preset arrangement position, and returning to the step of assuming that the first anchor point is in the first preset arrangement position, calculating the projection coordinates of the key on the base surface according to the first projection distance between the first anchor point and the key and the coordinates of the first preset arrangement position. Here, the projection distance can be calculated according to It is obtained that, where R is the test distance between the anchor point and the key, r is the projection distance between the anchor point and the key, and H is the height of the key relative to the base surface. By converting the test distance into the projection distance, it helps to simplify the calculation and improve the efficiency of the self-positioning or self-identification of the anchor point.

[0076] In addition, in some embodiments, the plurality of key positions may include a first key position, a second key position, and a third key position, wherein the second key position may be generated by moving a first preset distance from the first key position along a first coordinate axis on the base surface, and the third preset position may be generated by moving a second preset distance from the second key position along a second coordinate axis on the base surface that is perpendicular to the first coordinate axis. Further, in order to simplify calculation, the first preset distance may also be equal to the second preset distance.

[0077] In a specific example, assuming that the vehicle has five preset layout positions for installing five anchor points, let the coordinates of the first key position be (x k ,y k ), the coordinates of the second key position are (x k +a,y k ), the coordinates of the third key position are (x k +a,y k +a), the coordinates of anchor point A, anchor point B, anchor point C, anchor point D and anchor point E are (xA ,y A )、(x B ,y B )、(x C ,y C )、(x D ,y D ) and (x E ,y E ), the coordinates of the first preset layout position (front left corner), the second preset layout position (front right corner), the third preset layout position (rear left corner), the fourth preset layout position (rear right corner) and the fifth preset layout position (central axis position) are (x1, y1), (x2, y2), (x3, y3), (x4, y4) and (x5, y5) respectively. Then, for each anchor point, the distance equation corresponding to each key position can be expressed as follows:

[0078]

[0079] Wherein, a represents a first preset distance and a second preset distance which are equal to each other, and r A1 、r A2 and r A3 denote the projection distances between the anchor point A and the keys at the first key position, the second key position, and the third key position on the base surface, respectively, r B1 、r B2 and r B3 denote the projection distances between the anchor point B and the keys at the first key position, the second key position, and the third key position on the base surface, respectively, r C1 、r C2 and r C3 denote the projection distances between the anchor point C and the keys at the first key position, the second key position, and the third key position on the base surface, respectively, r D1 、r D2 and r D3 denote the projection distances between the anchor point D and the keys at the first key position, the second key position, and the third key position on the base surface, and r E1 、r E2 and r E3 They respectively represent the projection distances between the anchor point E and the keys at the first key position, the second key position and the third key position on the base surface.

[0080] Solving the above system of equations yields:

[0081]

[0082] Assume that the anchor point A is in the first preset arrangement position, that is, x A = x1, we can find x kThen, x can be k Substitute x into the above B ,,x C ,,x D and x E expression and compare x B ,,x C ,,x D and x E Is it consistent with x2, x3, x4 and x5. If it is consistent, the correspondence between the five anchor points and the five preset layout positions can be determined; otherwise, it is assumed that anchor point A is in another preset layout position, and the above substitution calculation and comparison process is repeated until the correct correspondence between the five anchor points and the five preset layout positions is determined.

[0083] In the anchor point positioning method disclosed in the present invention, based on a wireless communication method capable of realizing precise ranging, combined with an anchor point identifier generated in the anchor point and configured to uniquely indicate the anchor point and a known preset layout position in the vehicle, the self-positioning or self-identification of the anchor point can be realized through the calculation method described in the present invention, thereby eliminating the need to produce anchor points of different specifications for different layout positions, and eliminating the need to distinguish or select anchor points at corresponding positions when installing the anchor points. This can effectively reduce the difficulty of production and assembly, thereby reducing costs, and providing a good foundation for the further development of vehicle functions.

[0084] In addition, the present disclosure also provides a computer-readable storage medium, which may store instructions. When the instructions are executed by a processor, the steps of the anchor point positioning method described above may be implemented.

[0085] The computer-readable storage medium in the embodiments of the present disclosure may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. It should be noted that the computer-readable storage medium described herein is intended to include but is not limited to these and any other suitable types of memory.

[0086] According to another aspect of the present disclosure, a computer program product is further provided. The computer program product may include instructions. When the instructions are executed by a processor, the steps of the anchor point positioning method described above may be implemented.

[0087] Instructions may be any set of instructions to be executed directly by one or more processors, such as machine code, or any set of instructions to be executed indirectly, such as a script. The terms "instructions," "application," "process," "step," and "program" herein may be used interchangeably herein. Instructions may be stored in an object code format for direct processing by one or more processors, or as a script or collection of independent source code modules in any other computer language, including those interpreted on demand or compiled in advance. Instructions may include instructions that cause one or more processors, such as to act as the various neural networks herein. The functions, methods, and routines of the instructions are explained in more detail elsewhere herein.

[0088] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0089] The words "front", "rear", "top", "bottom", "above", "below", etc., if present, in the specification and claims are used for descriptive purposes and are not necessarily used to describe invariant relative positions. It should be understood that the words so used are interchangeable under appropriate circumstances, such that the embodiments of the disclosure described herein, for example, are capable of operation in other orientations than those illustrated or otherwise described herein.

[0090] As used herein, the word "exemplary" means "serving as an example, instance, or illustration," rather than as a "model" to be exactly copied. Any implementation described as an example herein is not necessarily to be construed as preferred or advantageous over other implementations. Furthermore, the present disclosure is not limited by any expressed or implied theory given in the above technical field, background technology, summary of the invention, or detailed description.

[0091] As used herein, the term "substantially" is intended to include any minor variations due to design or manufacturing imperfections, device or component tolerances, environmental influences, and / or other factors. The term "substantially" also allows for deviations from a perfect or ideal condition due to parasitic effects, noise, and other practical considerations that may exist in actual implementations.

[0092] The above description may indicate an element or node or feature that is "connected" or "coupled" together. As used herein, unless otherwise expressly stated, "connection" means that one element / node / feature is directly connected (or directly communicates) to another element / node / feature electrically, mechanically, logically or otherwise. Similarly, unless otherwise expressly stated, "coupling" means that one element / node / feature can be mechanically, electrically, logically or otherwise connected to another element / node / feature in a direct or indirect manner to allow interaction, even if the two features may not be directly connected. In other words, "coupling" is intended to include direct and indirect connections of elements or other features, including connections using one or more intermediate elements.

[0093] It should also be understood that when the term “include / comprises” is used in this document, it indicates the presence of the specified features, integers, steps, operations, units and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, units and / or components and / or their combinations.

[0094] Those skilled in the art will appreciate that the boundaries between the above operations are merely illustrative. Multiple operations can be combined into a single operation, a single operation can be distributed in additional operations, and operations can be performed at least partially overlapping in time. Moreover, alternative embodiments may include multiple instances of specific operations, and the order of operations may be changed in other various embodiments. However, other modifications, variations, and replacements are equally possible. Therefore, this specification and accompanying drawings should be considered illustrative, not restrictive.

[0095] Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. The various embodiments disclosed herein may be combined in any manner without departing from the spirit and scope of the present disclosure. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for locating an anchor point of a vehicle, characterized in that: The vehicle includes a plurality of preset layout positions, each of the plurality of preset layout positions is used to arrange an anchor point, and the anchor point positioning method includes: In a case where anchor points are respectively arranged at the plurality of preset arrangement positions, determining an anchor point identifier corresponding to each of the plurality of arranged anchor points, wherein the anchor point identifier is configured to uniquely indicate the corresponding anchor point; At each key position among a plurality of key positions where the key is placed, determining a test distance between the anchor point and the key according to a distance measurement signal transmitted between each anchor point and the key; and Determining a preset arrangement position of an anchor point indicated by each anchor point identifier according to test distances between the plurality of anchor points and the key at the plurality of key positions and at least part of the position information of the key, comprising: Assuming that a first anchor point among the plurality of anchor points is at a first preset arrangement position among the plurality of preset arrangement positions, the coordinates of the key are calculated according to a first test distance between the first anchor point and the key, at least part of the position information of the key, and the coordinates of the first preset arrangement position, Calculate the coordinates of each other anchor point according to the coordinates of the key and the test distance between each other anchor point in the plurality of anchor points and the key, comparing the coordinates of each of the other anchor points with the coordinates of each of the other preset arrangement positions in the plurality of preset arrangement positions to see whether they are consistent, If yes, determine the correspondence between the plurality of anchor points and the plurality of preset arrangement positions, If not, another preset arrangement position among the multiple preset arrangement positions is used as the first preset arrangement position, and the step of assuming that the first anchor point among the multiple anchor points is at the first preset arrangement position among the multiple preset arrangement positions is returned, and the coordinates of the key are calculated according to a first test distance between the first anchor point and the key, at least part of the position information of the key and the coordinates of the first preset arrangement position.

2. The anchor point positioning method according to claim 1, characterized in that: The plurality of anchor points are identical to each other.

3. The anchor point positioning method according to claim 1, characterized in that: Determining an anchor point identifier corresponding to each of the arranged multiple anchor points includes: Obtaining a random number message from each of the plurality of anchor points, wherein the random number message is configured to indicate a random number generated in the corresponding anchor point; Determining whether there are at least two anchor points that generate the same random number based on the multiple random number messages from the multiple anchor points; If yes, transmitting a reset message to at least one of the multiple anchor points that has generated the same random number, so as to at least instruct the anchor point that has generated the same random number to regenerate the random number, and obtaining an updated random number message, until it is determined that there is no anchor point that has generated the same random number; If not, the anchor point identifier of each anchor point is determined respectively according to multiple random number messages from the multiple anchor points.

4. The anchor point positioning method according to claim 3, characterized in that: The messages are configured to be transmitted based on CAN communication.

5. The anchor point positioning method according to claim 3, characterized in that: Transmitting a reset message to at least one of the multiple anchor points that generates the same random number, so as to at least instruct the anchor point that generates the same random number to regenerate the random number includes: A reset message is transmitted to all anchor points among the multiple anchor points to instruct all anchor points to regenerate random numbers.

6. The anchor point positioning method according to claim 1, characterized in that: The ranging signal is an ultra-wideband UWB signal.

7. The anchor point positioning method according to claim 1, characterized in that: The plane where the plurality of preset arrangement positions are located is taken as a base plane, and at least part of the position information of the key includes height information of the key relative to the base plane. Determining the preset arrangement position of the anchor point indicated by each anchor point identifier according to the test distances between the plurality of anchor points and the key at the plurality of key positions and at least part of the position information of the key comprises: At each key position, determining a projection distance between each anchor point on the base surface and the key according to a test distance between each anchor point in the plurality of anchor points and the key and height information of the key relative to the base surface; Assuming that the first anchor point is at the first preset arrangement position, calculating the projection coordinates of the key on the base surface according to a first projection distance between the first anchor point and the key and the coordinates of the first preset arrangement position; Calculating the coordinates of each other anchor point according to the projection coordinates of the key and the projection distances between each other anchor point and the key; comparing the coordinates of each of the other anchor points with the coordinates of each of the other preset arrangement positions in the plurality of preset arrangement positions to see whether they match; If so, determining a correspondence between the plurality of anchor points and the plurality of preset arrangement positions; If not, another preset arrangement position among the multiple preset arrangement positions is used as the first preset arrangement position, and the step of assuming that the first anchor point is in the first preset arrangement position and calculating the projection coordinates of the key on the base surface according to the first projection distance between the first anchor point and the key and the coordinates of the first preset arrangement position is returned.

8. The anchor point positioning method according to claim 1, characterized in that: The multiple key positions include a first key position, a second key position and a third key position, wherein the second key position is generated by moving the first key position by a first preset distance along a first coordinate axis on a base surface, and the third key position is generated by moving the second key position by a second preset distance along a second coordinate axis on the base surface that is perpendicular to the first coordinate axis.

9. The anchor point positioning method according to claim 8, characterized in that: The first preset distance is equal to the second preset distance.

10. The anchor point positioning method according to claim 1, characterized in that: The vehicle comprises five preset arrangement positions, wherein four preset arrangement positions are respectively located at two corners of the front bumper and two corners of the rear bumper of the vehicle, and another preset arrangement position is located at the center axis position of the vehicle.

11. An anchor point positioning device for a vehicle, characterized in that: The anchor point positioning device comprises a memory and a processor, wherein instructions are stored in the memory, and when the instructions are executed by the processor, the steps of the anchor point positioning method according to any one of claims 1 to 10 are implemented.

12. A vehicle, characterized in that: The vehicle comprises an anchor point positioning device according to claim 11.

13. The vehicle according to claim 12, characterized in that The vehicle further comprises at least one of the following: Multiple anchor points; and key.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed by the processor, the steps of the anchor point positioning method according to any one of claims 1 to 10 are implemented.

15. A computer program product, characterized in that The computer program product comprises instructions, and when the instructions are executed by a processor, the steps of the anchor point positioning method according to any one of claims 1 to 10 are implemented.

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