Vehicle key positioning method and device, and storage medium

Abstract

This application provides a vehicle key positioning method, device, and storage medium. The method includes: determining the distance between each of the multiple positioning anchor points and the key based on ranging signals between the anchor points and the key; if a reference anchor point is determined from the multiple anchor points based on their respective distances, then the distances between the key and adjacent anchor points are corrected to obtain corrected distances; wherein the reference anchor point indicates that the ranging signal transmission mode between it and the key is line-of-sight (LOS); performing positioning calculations on the distance between the reference anchor point and the key and the corrected distances to obtain the final position information of the key relative to the vehicle; and executing a preset action corresponding to the final position information of the key relative to the vehicle and the control commands issued by the key. This method solves the problem of inaccurate positioning in existing key positioning methods.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a vehicle key positioning method, device and storage medium. Background Technology

[0002] Seamless control technologies such as Passive Entry Passive Start (PEPS) allow users to control the vehicle without any physical contact before even entering the vehicle.

[0003] The user-invisible control of the vehicle specifically involves the following: when the vehicle key carried by the user is within a preset distance range outside the vehicle body, the vehicle's body control module (BCM) establishes communication with the key. The BCM locates the key, obtaining its position information relative to the vehicle. Based on the key's position information relative to the vehicle and the key's control commands, the BCM executes preset actions corresponding to both the key's position information and the key's control commands. In existing technologies, the BCM's key location method mainly involves using the least squares method to calculate the position of the key relative to the vehicle by analyzing the distance information between the key and all positioning anchor points on the vehicle obtained by the BCM.

[0004] Existing key positioning methods suffer from inaccurate positioning, which in turn prevents preset actions from being executed. Summary of the Invention

[0005] This application provides a vehicle key positioning method, device, and storage medium to solve the problem of inaccurate positioning in existing key positioning methods.

[0006] Firstly, this application provides a method for locating a vehicle key, including:

[0007] After the vehicle and the vehicle key establish a communication connection, the distance between each of the multiple positioning anchor points and the key is determined based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key.

[0008] If a reference anchor point is determined from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key, then the distances between the positioning anchor points adjacent to the reference anchor point and the key are corrected to obtain the corrected distance; wherein, the reference anchor point indicates that the ranging signal transmission mode between it and the key is line-of-sight wireless transmission (LOS).

[0009] The distance between the reference anchor point and the key, and the correction distance are used to perform positioning calculations to obtain the final position information of the key relative to the vehicle;

[0010] The preset action is executed in conjunction with the final position information of the key relative to the vehicle and the control command issued by the key.

[0011] Optionally, a positioning anchor point adjacent to a reference anchor point is designated as the first adjacent anchor point.

[0012] The process of correcting the distance between the positioning anchor points adjacent to the reference anchor point and the key to obtain the corrected distance includes:

[0013] The distances between the key and each of the reference anchor point and the first adjacent anchor point, as well as the distance between the reference anchor point and the first adjacent anchor point, are calculated to obtain the first position information of the key relative to the vehicle.

[0014] The distance between the first adjacent anchor point and the key is corrected by using a preset correction value corresponding to the first location information, and the corrected distance of the first adjacent anchor point is obtained.

[0015] Optionally, the step of performing positioning calculations on the distance between the reference anchor point and the key, and the correction distance, to obtain the final position information of the key relative to the vehicle, includes:

[0016] If the first location information is located in a preset first region, then the distance between the reference anchor point and the key, the correction distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point are calculated to obtain the first positioning result of the key; the first region represents that the accuracy of the final position of the key is related to an adjacent positioning anchor point of the reference anchor point;

[0017] The first positioning result is determined to be the final position information of the key relative to the vehicle.

[0018] Optionally, the other positioning anchor point adjacent to the reference anchor point is the second adjacent anchor point;

[0019] The positioning calculation, which involves calculating the distance between the reference anchor point and the key, and the corrected distance, to obtain the final position information of the key relative to the vehicle, includes:

[0020] If the first location information is located in a preset second region, then the distances between the key and each of the reference anchor point and the second adjacent anchor point, as well as the distance between the reference anchor point and the second adjacent anchor point, are calculated to obtain the second location information of the key relative to the vehicle; the accuracy of the final location of the key in the second region is related to the two adjacent positioning anchor points of the reference anchor point.

[0021] The distance between the second adjacent anchor point and the key is corrected by using the preset correction value corresponding to the second location information to obtain the corrected distance of the second adjacent anchor point;

[0022] The distance between the reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point are calculated to obtain the second positioning result of the key;

[0023] The average value of the first positioning result and the second positioning result is determined as the final position information of the key relative to the vehicle.

[0024] Optionally, the step of calculating the distances between the key and each of the reference anchor point and the first adjacent anchor point, as well as the distance between the reference anchor point and the first adjacent anchor point, to obtain the first position information of the key relative to the vehicle, includes:

[0025] A first local coordinate system is determined with the line connecting the reference anchor point and the first adjacent anchor point as the X-axis and the reference anchor point or the first adjacent anchor point as the origin.

[0026] Based on the distances between the key and the reference anchor point and the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point, the first local coordinates of the key in the first local coordinate system are determined;

[0027] The first local coordinates are transformed to obtain the first coordinates of the key in the preset coordinate system of the vehicle. The first coordinates are the first position information of the key relative to the vehicle.

[0028] Optionally, the step of performing positioning calculations on the distance between the reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point to obtain the first positioning result of the key includes:

[0029] A first local coordinate system is determined with the line connecting the reference anchor point and the first adjacent anchor point as the X-axis and the reference anchor point or the first adjacent anchor point as the origin.

[0030] Based on the distance between the reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point, the first local corrected coordinates of the key in the first local coordinate system are determined;

[0031] The first local corrected coordinates are transformed to obtain the first corrected coordinates of the key in the preset coordinate system of the vehicle.

[0032] The positioning calculation is performed on the distance between the reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point to obtain the second positioning result of the key, including:

[0033] A second local coordinate system is determined by taking the line connecting the first reference anchor point and the second adjacent anchor point as the X-axis and the first reference anchor point or the second adjacent anchor point as the origin.

[0034] Based on the distance between the reference anchor point and the key, the corrected distance between the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point, the second local corrected coordinates of the key in the second local coordinate system are determined;

[0035] The second local corrected coordinates are subjected to coordinate system transformation to obtain the second corrected coordinates of the key in the preset coordinate system of the vehicle.

[0036] Optionally, determining the average of the first positioning result and the second positioning result as the final location information of the key relative to the vehicle includes:

[0037] The average of the first and second corrected coordinates is calculated to obtain the final coordinates of the key in the vehicle's preset coordinate system.

[0038] Secondly, this application provides a control device, the device comprising: a data acquisition module, a processing module, and an operation module;

[0039] The acquisition module is used to determine the distance between each of the multiple positioning anchor points and the key after the vehicle and the key have established a communication connection.

[0040] The processing module is configured to, if a reference anchor point is determined from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key, then correct the distances between the positioning anchor points adjacent to the reference anchor point and the key to obtain a corrected distance; wherein, the reference anchor point indicates that the ranging signal transmission mode between it and the key is line-of-sight wireless transmission (LOS).

[0041] The processing module is also used to perform positioning calculations on the distance between the reference anchor point and the key and the correction distance to obtain the final position information of the key relative to the vehicle.

[0042] The operation module is used to execute a preset action that corresponds to the final position information of the key relative to the vehicle and the control command issued by the key.

[0043] Thirdly, this application provides a control device, the device comprising:

[0044] Processor and memory;

[0045] The memory stores executable instructions that the processor can execute;

[0046] The processor executes the executable instructions stored in the memory, causing the processor to perform the method described above.

[0047] Fourthly, this application provides a storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described above.

[0048] The vehicle key positioning method, device, and storage medium provided in this application determine a reference anchor point for LOS transmission from multiple positioning anchor points. If there is only one reference anchor point, the distance between the reference anchor point for LOS transmission and the key, and the corrected distance between the key and adjacent positioning anchor points for NLOS transmission, are calculated to obtain the final position information of the key relative to the vehicle. This improves the positioning accuracy of the key, ensuring that the final position information of the key relative to the vehicle matches the actual position of the key relative to the vehicle. This application solves the problem of inaccurate positioning in existing key positioning methods. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] Figure 1a For existing key location scenario diagrams;

[0051] Figure 1b A diagram illustrating the range measurement signal transmission scenario between the existing key and the vehicle positioning anchor point;

[0052] Figure 2 Figure 1 shows a vehicle key positioning scenario provided in an embodiment of this application.

[0053] Figure 3 This is a schematic diagram of the positioning calculation process provided in the embodiments of this application;

[0054] Figure 4 Vehicle key positioning scenario provided in the embodiments of this application Figure 2 ;

[0055] Figure 5 This is a schematic diagram of a local coordinate system provided in an embodiment of this application;

[0056] Figure 6 Vehicle key positioning scenario provided in the embodiments of this application Figure 3 ;

[0057] Figure 7 A flowchart for locating vehicle keys provided in this application embodiment;

[0058] Figure 8 This is a schematic diagram illustrating the determination of preset correction values ​​provided in the embodiments of this application;

[0059] Figure 9 A schematic diagram showing the relationship between the first region and the second region and the preset region of the anchor point, provided for an embodiment of this application;

[0060] Figure 10 Vehicle key location process provided in the embodiments of this application Figure 2 ;

[0061] Figure 11 A structural diagram of the control device provided in the embodiments of this application is shown in Figure 1.

[0062] Figure 12 The control device structure provided in the embodiments of this application Figure 2 .

[0063] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0065] Seamless control technologies such as Passive Entry Passive Start (PEPS) allow users to control the vehicle without any physical contact before even entering the vehicle.

[0066] Figure 1a Provide a scene diagram for locating the existing key. For example... Figure 1a As shown, vehicles are typically equipped with positioning anchors, such as... Figure 1a The UWB anchor points shown are UWB1, UWB2, UWB3, UWB4, UWB5, UWB6, and UWB7. (For example...) Figure 1a As shown, UWB1, UWB2, UWB3, and UWB4 are all located outside the vehicle body. For example, UWB1 and UWB4 are located at both ends of the front bumper, and UWB2 and UWB3 are located at both ends of the rear bumper. UWB5, UWB6, and UWB7 are all located inside the vehicle body. The vehicle also has a Body Control Module (BCM) 12. The BCM 12 continuously broadcasts BLE broadcast signals via its Bluetooth Low Energy (BLE) module. The vehicle key 11 detects the vehicle's BLE broadcast signals in real time.

[0067] The user's seamless control of the vehicle proceeds as follows: If key 11 detects and identifies that the Received Signal Strength Indication (RSSI) of the BLE broadcast signal of the associated vehicle reaches a preset communication threshold, key 11 sends a communication connection request to the BCM 12 of the associated vehicle. BCM 12 responds to the communication connection request sent by key 11 and establishes communication with key 11 after successful authentication, thus completing the communication connection between the vehicle and the corresponding key 11. BCM 12 uses the BLE RSSI between BCM 12 and key 11 as a ranging signal to continuously measure the distance of key 11, obtaining the Bluetooth ranging distance of key 11 relative to the vehicle. If the Bluetooth ranging distance is less than or equal to a first distance threshold, BCM 12 controls the positioning devices at multiple positioning anchor points of the vehicle, activates the ranging function of each positioning device, and converts the Bluetooth ranging method to the ultra-wideband (UWB) time-of-flight (ToF) ranging method of the positioning device. The positioning device may be a UWB device that includes a UWB chip or UWB module. The positioning device and BCM12 can be connected via a bus.

[0068] The vehicle key 11 can be a physical key or a virtual key on the user terminal.

[0069] After converting the Bluetooth RSSI ranging method to the UWB ToF ranging method, the BCM 12 locates the key 11 as follows: Based on the ranging signals between each positioning device and the key 11, the BCM 12 determines the distance information between the key 11 and the corresponding positioning anchor point of each positioning device. The BCM 12 uses the least squares method to calculate the position of the key 11 relative to the vehicle, thus achieving the positioning of the key 11. The position information of the key 11 relative to the vehicle can be the coordinates of the key 11 in the vehicle's preset coordinate system. Based on the key's position information relative to the vehicle and the control commands issued by the key, the BCM 12 executes a preset action corresponding to both the key's position information and the key's control commands. The preset action is, for example, controlling the vehicle so that it automatically drives out of the garage and arrives at a predetermined location.

[0070] like Figure 1bAs shown, key 11 is located outside the vehicle body. The ranging signal transmission between key 11 and the positioning anchor point outside the vehicle body includes line-of-sight (LOS) and non-line-of-sight (NLOS) wireless transmission. The ranging signal between key 11 and the positioning anchor point inside the vehicle body lacks a direct path due to the vehicle body's obstruction, resulting in NLOS transmission. NLOS transmission of the ranging signal between key 11 and the positioning anchor point indicates that the ranging signal is affected by reflection and / or diffraction from reflectors during transmission between key 11 and the anchor point, lacking a direct path due to the absence of a line-of-sight condition. Reflectors include the ground, the vehicle's metal or non-metal body. The RSSI of the ranging signal is weakened by the reflection and / or diffraction of the reflectors, and is also affected by factors such as the surface conductivity, roughness, and reflectivity of the reflectors. During the transmission of the ranging signal, after reflection and / or diffraction by reflectors, the distance between the key 11 and the positioning anchor point determined based on the ranging signal is often larger than the actual distance between the key 11 and the positioning anchor point. Therefore, the distance information between the key 11 and all positioning anchor points of the vehicle contains inaccurate distance information.

[0071] In this embodiment of the application, NLOS is also referred to as NLOS transmission, and LOS is also referred to as LOS transmission. The actual distance between two points refers to the straight-line distance between the two points. For example, the actual distance between key 11 and positioning anchor point UWB1 is the straight-line distance between key 11 and UWB1.

[0072] Since the accuracy of the least squares solution is closely related to the amount and precision of the data used for calculation, existing key positioning methods use the distance information between key 11 and all positioning anchor points for key 11 position calculation to ensure sufficient data for the least squares solution. This results in a large deviation between the obtained key 11 position relative to the vehicle and the actual position of key 11 relative to the vehicle. The inaccurate positioning problem in existing key positioning methods leads to a discrepancy between the calculated key position and the actual key position. This results in situations where key 11 is located at the position corresponding to a preset action, but the preset action cannot be executed by the BCM 12 after issuing the corresponding control command, thus affecting the user's vehicle experience.

[0073] like Figure 1bIn the scenario shown, for the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the front and rear bumpers of the vehicle, when the key 11 is outside the vehicle body and located on one side of the door, the transmission of the ranging signal between the key 11 and at least two of the positioning anchor points is unaffected by reflection or diffraction from reflectors; or, the ranging signal transmission method between the key 11 and at least two of the positioning anchor points is LOS transmission. Similarly, as... Figure 1b In scenario two, for the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the vehicle's front and rear bumpers, when the key is outside the vehicle and located on one side of the front or rear of the vehicle, the distance measurement signal transmission method between the key 11 and at least two of the positioning anchor points is LOS transmission. Furthermore, as shown... Figure 1b In the scenarios shown in Scenario 1 and Scenario 2, the two positioning anchor points of LOS transmission are adjacent.

[0074] like Figure 1b As shown, for the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the front and rear bumpers of the vehicle, if two positioning anchor points on the same side of the front of the vehicle (such as UWB1 and UWB4) are not on a straight line with the vertex of the outer edge of the front of the vehicle (such as point K1), and if two positioning anchor points on the same side of the door (such as UWB3 and UWB4) are not on a straight line with the vertex of the outer edge of the vehicle body on that side (such as point K2), when the key 11 is located as shown in the figure... Figure 1b In Scenario 3, where the front of the car intersects with the outer side of the door, the ranging signal between key 11 and the nearest positioning anchor point is transmitted via LOS. However, the ranging signals between key 11 and the other three positioning anchor points (such as UWB1, UWB2, and UWB3) are reflected or diffracted by reflectors, meaning that the ranging signal transmission between key 11 and UWB1, UWB2, and UWB3 is transmitted via NLOS.

[0075] If the distance measurement signal transmission between the key and at least two positioning anchor points of the vehicle is in LOS transmission mode, accurate key positioning can be achieved by calculating the distance information between the two positioning anchor points in LOS transmission mode. If the distance measurement signal transmission between the key and one positioning anchor point of the vehicle is in LOS transmission mode, accurate key positioning can also be achieved by calculating the distance information between the corresponding positioning anchor point in LOS transmission and the corresponding positioning anchor point in corrected NLOS transmission mode.

[0076] In view of this, this application proposes a vehicle key positioning method, which improves the positioning accuracy of vehicle keys by performing positioning calculations on the distance information of the corresponding positioning anchor point transmitted by LOS and the corrected distance information of the corresponding positioning anchor point transmitted by NLOS.

[0077] The vehicle key positioning method proposed in this application will be described below with reference to some embodiments.

[0078] Figure 2 Figure 1 shows a vehicle key positioning scenario provided in an embodiment of this application. Figure 2 As shown, the vehicle is equipped with multiple positioning anchor points, as follows: Figure 2 UWB1, UWB2, UWB3, and UWB4 are shown. For example, UWB1 and UWB4 are located at both ends of the front bumper of the vehicle, and UWB2 and UWB3 are located at both ends of the rear bumper. Regarding the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the front and rear bumpers of the vehicle, the two positioning anchor points on the same side of the front of the vehicle (such as UWB1 and UWB4) are not aligned with the vertex of the outer edge of the front of the vehicle (such as point K1); the two positioning anchor points on the same side of the rear of the vehicle (such as UWB2 and UWB3) are not aligned with the vertex of the outer edge of the rear of the vehicle (such as point K3); and the two positioning anchor points on the same side of the door (such as UWB3 and UWB4) are not aligned with the vertex of the outer edge of the vehicle body on that side (such as point K2). Positioning devices are deployed on the positioning anchor points, which can determine the distance between the positioning anchor point and the key 11; or, the positioning anchor points are anchor points with positioning functions. The positioning device can be a UWB device containing a UWB chip or a UWB module. Alternatively, it can be a positioning device containing a BLE module or a BLE chip. A control device 21 is deployed on the vehicle, and this control device 21 includes a BLE module. The vehicle key 11 also includes a UWB chip or a UWB module. The vehicle key 11 also includes a BLE module or a BLE chip. The vehicle key 11 can be a physical key or a virtual key on a user terminal. The user terminal can be a mobile phone, tablet computer, or other similar device.

[0079] The control device 21 continuously broadcasts BLE broadcast signals via the BLE module. The vehicle key 11 detects the vehicle's BLE broadcast signals in real time. If the key 11 detects and identifies that the RSSI of the vehicle's BLE broadcast signals reaches a preset communication threshold, the key 11 sends a communication connection request to the vehicle's control device 21. The control device 21 responds to the communication connection request sent by the key 11 and establishes communication with the key 11 after successful authentication, thus completing the communication connection between the vehicle and the key 11. Based on the BLE ranging signal between the control device 21 and the key 11, the control device 21 continuously measures the distance of the key 11 relative to the vehicle via Bluetooth ranging. If the Bluetooth ranging distance is less than or equal to a first distance threshold, the control device 21 controls the positioning devices at multiple positioning anchor points of the vehicle to activate the ranging function of each positioning device. If the positioning device is a UWB device, the control device 21 converts the Bluetooth ranging method measured by the control device 21 to the UWB ranging method measured by the positioning device. The distance measurement signal between the positioning device and the key 11 is the distance measurement signal between the positioning device and the corresponding positioning anchor point and the key 11.

[0080] After the control device 21 switches from Bluetooth ranging to UWB ranging, the control device 21 locates the key 11 as follows:

[0081] The control device 21 determines the distance between each of the multiple positioning anchor points and the key 11 based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key 11.

[0082] When the key 11 is distributed with the vehicle as follows Figure 2 In scenarios similar to Scenario 1 or Scenario 2, the control device 21 can determine at least two reference anchor points from the multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key 11. The control device 21 can perform positioning calculations on the distances between the determined two adjacent reference anchor points and the key 11 to obtain the final position information of the key 11 relative to the vehicle.

[0083] The reference anchor point indicates that the ranging signal transmission method between it and the key 11 is line-of-sight wireless transmission (LOS).

[0084] When the key 11 is distributed with the vehicle as follows Figure 2In scenarios similar to Scenario 3, the ranging signal between key 11 and the nearest positioning anchor point (e.g., UWB1) is transmitted via LOS. However, the ranging signal between key 11 and the other three positioning anchor points (e.g., UWB2, UWB3, UWB4) is reflected or diffracted by reflectors; that is, the ranging signal transmission between key 11 and UWB2, UWB3, and UWB4 is transmitted via NLOS. The reflector can be the ground, or a metal or non-metal vehicle body. Based on the distances between the key 11 and each of the multiple positioning anchor points, control device 21 can determine a reference anchor point (e.g., UWB1) from the multiple positioning anchor points. Control device 21 can then correct the distances between key 11 and adjacent positioning anchor points (e.g., UWB2 and / or UWB4) to obtain the corrected distance. The control device 21 performs positioning calculations on the distance between the reference anchor point and the key 11 and the correction distance corresponding to the positioning anchor point adjacent to the reference anchor point, so as to obtain the final position information of the key 11 relative to the vehicle.

[0085] Based on the final position information of the key 11 relative to the vehicle and the control commands issued by the key, the control device 21 executes a preset action corresponding to both the final position information of the key 11 and the control commands issued by the key 11. The preset action may include controlling the vehicle to automatically drive it out of the garage and to a predetermined location.

[0086] For example, the control device 21 can determine a reference anchor point from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key 11 according to steps I-III as follows:

[0087] Step 1: Control device 21 obtains the received signal strength indication (RSSI) for each of the multiple positioning anchor points from key 11; and / or obtains the status identifier of the corresponding positioning anchor point from the positioning device of each of the multiple positioning anchor points. The status identifier is either a valid identifier indicating that the ranging signal used for distance measurement between the positioning anchor point and the key is valid, or an invalid identifier indicating that the ranging signal used for distance measurement between the positioning anchor point and the key is invalid. A valid identifier is such as 1 or valid. An invalid identifier is such as 0 or invalid. Control device 21 also obtains the signal time of flight (ToF) for each of the multiple positioning anchor points from key 11.

[0088] Step II: The control device 21 determines the effective distance between the positioning anchor point with an RSSI greater than the signal strength threshold and the key 11 from the distances between the multiple positioning anchor points and the key 11; and / or determines the effective distance between the positioning anchor point corresponding to the valid identifier and the key from the status identifiers of the multiple positioning anchor points.

[0089] Step III: The control device 21 determines the positioning anchor point corresponding to the effective distance as the reference anchor point; or, the control device 21 determines the positioning anchor point whose ToF meets the preset conditions as the reference anchor point. For example, the control device 21 determines the positioning anchor point with the smallest ToF from the ToF corresponding to each of the multiple positioning anchor points as the reference anchor point.

[0090] The control device 11 determines the effective distance from the distances between multiple positioning anchor points and the key 11 based on at least one of the following: ToF meets preset conditions, RSSI, and the status indicators of the positioning anchor points. Then, based on the effective distance, it determines the reference anchor point, improving the accuracy of the reference anchor point determination and ensuring its validity. The control device 11 determines the reference anchor point based on the ToF corresponding to each of the multiple positioning anchor points, further improving the accuracy of the reference anchor point determination and ensuring that the determined reference anchor point is valid.

[0091] Optionally, the positioning device can also be a Bluetooth positioning device. After the ranging function of the Bluetooth positioning device is activated, the control device 21 positions the key 11 as follows: The control device 21 determines the distance between each of the multiple positioning anchor points and the key 11 based on the ranging signals (such as Bluetooth ranging signals) between the Bluetooth positioning devices of each of the multiple positioning anchor points of the vehicle and the key 11. Based on the distances between the multiple positioning anchor points and the key 11, if at least two reference anchor points are determined from the multiple positioning anchor points, the control device 21 calculates the positioning distances between the two adjacent reference anchor points and the key 11 to obtain the final position information of the key 11 relative to the vehicle. Based on the distances between the multiple positioning anchor points and the key 11, if a reference anchor point is determined from the multiple positioning anchor points, the control device 21 corrects the distances between the positioning anchor points adjacent to that reference anchor point and the key 11 to obtain the corrected distance. The control device 21 performs positioning calculations on the distance between the reference anchor point and the key 11 and the correction distance corresponding to the positioning anchor point adjacent to the reference anchor point, so as to obtain the final position information of the key 11 relative to the vehicle.

[0092] Generally, UWB ranging accuracy is higher than Bluetooth ranging accuracy in short-range ranging. Therefore, the positioning device can preferably be a UWB device with UWB ranging method.

[0093] The vehicle key positioning method provided in this application determines a reference anchor point for LOS transmission from multiple positioning anchor points. If the number of reference anchor points is at least two, the distances between the key and each of the two adjacent reference anchor points are calculated to obtain the final position information of the key relative to the vehicle. If the number of reference anchor points is one, the distances between the key and the reference anchor point transmitted by LOS and the key, as well as the corrected distances between the key and the adjacent positioning anchor point transmitted by NLOS, are calculated to obtain the final position information of the key relative to the vehicle. This improves the positioning accuracy of the key, ensuring that the final position information of the key relative to the vehicle matches the actual position of the key relative to the vehicle. The vehicle key positioning method provided in this application reduces or even eliminates the inaccurate distance information determined by the NLOS transmission ranging signal, thus mitigating the adverse effects on the positioning accuracy of the key and solving the problem of inaccurate positioning in existing key positioning methods.

[0094] The following is combined Figures 3-10 This application provides a detailed description of the vehicle key location method. Figure 3 This is a schematic diagram of the positioning calculation process provided in the embodiments of this application. Figure 4 Vehicle key positioning scenario provided in the embodiments of this application Figure 2 . Figure 5 This is a schematic diagram of a local coordinate system provided for an embodiment of this application. Figure 6 Vehicle key positioning scenario provided in the embodiments of this application Figure 3 . Figure 7 A flowchart for locating vehicle keys provided in this application embodiment. Figure 8 This is a schematic diagram illustrating the determination of preset correction values ​​provided in the embodiments of this application. Figure 9 This is a schematic diagram showing the relationship between the first region and the second region and the preset region of the anchor point, provided for embodiments of this application. Figure 10 Vehicle key location process provided in the embodiments of this application Figure 2 The vehicle key location method provided in this application can be executed by an entity that can perform the following actions: Figure 2 The control device 21 in the illustrated embodiment is described below as an example, with the control device 21 as the executing entity.

[0095] After the vehicle and the key 11 establish a communication connection, and the positioning devices at multiple positioning anchor points on the vehicle initiate distance measurement operations, the control device 21 acquires the distance measurement signals between each of the multiple positioning anchor points and the key 11. Based on these distance measurement signals, the control device 21 determines the distance between each of the multiple positioning anchor points and the key 11. If the distribution scenario of the key 11 and the vehicle is as follows... Figure 2 Scenes similar to Scene 1 or Scene 2, or such Figure 4In the scenario shown, the control device 21 can determine at least two reference anchor points from the multiple positioning anchor points based on the distances between each anchor point and the key 11, in order to position the key 11. If the distribution scenario of the key 11 and the vehicle is as follows... Figure 2 Scenes similar to Scene 3, or such Figure 6 In the scenario shown, the control device 21 can determine a reference anchor point from the multiple positioning anchor points based on the distance between each of the multiple positioning anchor points and the key 11, so as to position the key 11.

[0096] The positioning methods for key 11 when the number of determined reference anchor points is at least two and when the number of determined reference anchor points is one are described below.

[0097] (a) When the number of identified reference anchor points is at least two, the positioning method for key 11 is explained as follows:

[0098] If the control device 21 determines at least two reference anchor points from the multiple positioning anchor points based on the distances between each positioning anchor point and the key 11, then according to Figure 3 The distance between the key 11 and the two adjacent reference anchor points determined in S101-S102 is calculated to obtain the final position information of the key 11 relative to the vehicle.

[0099] S101, the control device 21 determines the third local coordinates of the key 11 in the third local coordinate system corresponding to the two adjacent reference anchor points based on the distance between each of the two adjacent reference anchor points and the key 11.

[0100] For example, the control device 21 determines a third local coordinate system with the line connecting two adjacent reference anchor points as the X-axis and one of the reference anchor points on the X-axis as the origin. Optionally, if the key 11 is not collinear with the reference anchor points, and it is in the same vehicle, the local coordinate system determined by the control device 21 can be a local coordinate system in which the Y-axis coordinate of the key 11 is negative. Optionally, if the key 11 is not collinear with the reference anchor points, and it is in the same vehicle, the local coordinate system determined by the control device 21 can also be a local coordinate system in which the Y-axis coordinate of the key 11 is positive. Based on the distance between the key 11 and each of the two adjacent reference anchor points, the control device 21 determines the third local coordinates of the key 11 in the third local coordinate system corresponding to the two adjacent reference anchor points. The third local coordinates of the key 11 represent the position of the key 11 relative to the two adjacent reference anchor points.

[0101] The control device 21 accurately determines the position of the key 11 relative to the two adjacent reference anchor points with the ranging signal transmission mode LOS. This ensures the accuracy of the determined position of the key 11 and facilitates subsequent coordinate system transformation processing of the local coordinates of the key 11 as shown in S102 to obtain the coordinates of the key 11 in the vehicle's preset coordinate system.

[0102] S102, the control device 21 performs coordinate system transformation processing on the third local coordinates to obtain the final coordinates of the key 11 in the vehicle's preset coordinate system. The final position information of the key 11 relative to the vehicle includes the final coordinates of the key 11 in the vehicle's preset coordinate system.

[0103] For example, the control device 21 determines the third local coordinates (x l3 ,y l3 The coordinate transformation coefficient θ corresponding to the origin of the local coordinate system to which the coordinate system belongs.

[0104] Control device 21 employs a transformation matrix The third local coordinate (x) l3 ,y l3 Transformed into rotated coordinates (x) r3 ,y r3 The control device 21 uses the global coordinates (x, y) of the positioning anchor point corresponding to the origin of the third local coordinate system in the vehicle's preset coordinate system. 03 ,y 03 ), using formula x g3 =x r3 +x 03 and y g3 =y r3 +y 03 Determine the final coordinates (x, y) of key 11 in the vehicle's preset coordinate system. g3 ,y g3 ).

[0105] Step S102 converts the coordinates of key 11 in the local coordinate system to the coordinates of key 11 in the preset coordinate system, thereby obtaining the final position information of key 11 relative to the vehicle.

[0106] After obtaining the final position information of the key 11 relative to the vehicle according to steps S101-S102, the control device 21 executes the preset action corresponding to the final position information of the key 11 relative to the vehicle and the control command issued by the key 11.

[0107] The following example will further illustrate the positioning solution shown in steps S101-S102.

[0108] Assume the distribution of key A and vehicle A is as follows Figure 4 As shown, the preset coordinate system of vehicle A can be Figure 4 The coordinate system shown uses the forward direction of the vehicle's centerline as the positive Y-axis and the rightward direction of the driver as the positive X-axis. The intersection of the X-axis and Y-axis is located at the apex of the front edge of the vehicle along the centerline (e.g., ...). Figure 2 (At point K1 shown). The four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A are... Figure 2 The four positioning anchor points UWB1, UWB2, UWB3, and UWB4 shown are deployed in the same way. When the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A are used as the origin of the local coordinate system, their respective coordinate transformation coefficients are θ1, θ2, θ3, and θ4, respectively. The values ​​of θ1, θ2, θ3, and θ4 can be 270°, 0°, 90°, and 180°.

[0109] Control device 21 from Figure 4 From the distances of the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A to key A, two adjacent reference anchor points, UWB3 and UWB4, are determined. The coordinates of these two adjacent reference anchor points UWB3 and UWB4 in the preset coordinate system of vehicle A are (x...). 03A ,y 03A ) and (x 04A ,y 04A ).

[0110] Control device 21 uses the line connecting reference anchor points UWB3 and UWB4 as the X-axis, and UWB3 as the origin of the coordinate system to determine the coordinate system as follows: Figure 5 The third local coordinate system shown is as follows: Figure 5 The coordinate transformation coefficient θ3 corresponds to the origin of the third local coordinate system shown. This third local coordinate system is the local coordinate system corresponding to the reference anchor points UWB3 and UWB4. In this third local coordinate system, the Y-axis coordinate of key A is negative. Control device 21 is based on the distances d3 and d4 between reference anchor points UWB3 and UWB4 and key A, respectively, and the distance h between reference anchor points UWB3 and UWB4. 34 Determine if key 11 is in the following manner: Figure 5 The third local coordinate (x) in the third local coordinate system shown l3A y l3A ):

[0111] like Figure 5 As shown, the perpendicular distance from key A to the X-axis is dy, and the perpendicular distance from key A to the Y-axis is dx. Then, key A is located at... Figure 5 The third local coordinate (x) in the third local coordinate system shown L3A y l3A ) = (dx, -dy).

[0112] Wherein, dx and dy are determined as follows: Control device 21 according to the cosine theorem (d4) 2 =(d3) 2 +(h 34 ) 2 -2×d3×h 34 ×cos, determine Therefore, it is determined that: d x =d3×cosα; d y =d3×sinα.

[0113] Control device 21 employs a transformation matrix The third local coordinate (x) l3A , t l3A Transformed into rotated coordinates (x) r3A y r3A The control device 21 uses the global coordinates (x, y) of the positioning anchor point corresponding to the origin of the third local coordinate system in the preset coordinate system of vehicle A. 03A y 03A ), using formula x g3A =x r3A +x 03A and y g3A =y r3A +y 03A Determine the final coordinates (x, y) of key A in the preset coordinate system of vehicle A. g3A y g3A The final coordinates (x, y) of key A in the preset coordinate system of vehicle A. g3A y g3A This refers to the final position information of key A relative to vehicle A.

[0114] (ii) When the number of determined reference anchor points is one, the positioning method of key 11 is explained as follows:

[0115] If key 11 and the vehicle are distributed as follows Figure 2 As shown in Scenario 3, the ranging signal transmission method between key 11 and UWB1 is LOS. However, the ranging signal transmission method between key 11 and UWB2, UWB3, and UWB4 is NLOS. Based on the distances between key 11 and each of the four positioning anchor points (UWB1, UWB2, UWB3, and UWB4), control device 21 determines UWB1 as a reference anchor point.

[0116] Figure 2 The method for locating key 11 shown in Scene 3 is as follows: Figure 7 As shown:

[0117] S201 After the vehicle and the key 11 of the vehicle complete the communication connection, the control device 21 determines the distance between each of the multiple positioning anchor points and the key 11 based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key 11.

[0118] S202. If the control device 21 determines a reference anchor point from the multiple positioning anchor points based on the distance between each of the multiple positioning anchor points and the key 11, then it corrects the distance between the positioning anchor points adjacent to the reference anchor point and the key 11 to obtain the corrected distance.

[0119] If the control device 21 determines a reference anchor point from multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key 11, then the distance measurement signal transmission method between the positioning anchor points adjacent to the reference anchor point and the key 11 is NLOS. The NLOS transmission method indicates that the distance measurement signal between the positioning anchor point and the key 11 is reflected or diffracted by a reflector during transmission. The distance between the positioning anchor point and the key 11 determined based on the distance measurement signal reflected or diffracted by the reflector is larger than the actual distance between the positioning anchor point and the key 11. If the distance determined by the NLOS-transmitted distance measurement signal between the positioning anchor point and the key 11 is to be used for key 11 positioning, the distance determined by the NLOS-transmitted distance measurement signal needs to be corrected to obtain a precise distance between the positioning anchor point and the key 11, thereby improving the positioning accuracy of the key 11. Therefore, this application embodiment proposes to correct the distance determined by the NLOS-transmitted distance measurement signal using a preset correction value.

[0120] For example, Figure 8 This is a schematic diagram illustrating the determination of preset correction values ​​provided in an embodiment of this application. For example... Figure 8 As shown, four positioning anchor points (e.g., UWB1, UWB2, UWB3, UWB4) are pre-set, each with its corresponding pre-defined anchor point area (e.g., a 5m x 5m area). Within each pre-defined anchor point area, equidistant squares (e.g., 25cm x 25cm squares) are set. Each square is labeled (i,j), where i represents the square number along the X-axis in the vehicle's pre-defined coordinate system, and j represents the square number along the Y-axis. The coordinates of the points within square (i,j) are... i ,Y j Satisfying β i1 ≤X i ≤β i2 And, β j1 ≤Y j ≤β j2For each square in the preset area of ​​each anchor point, the key 11 is placed at the center of the square. The distances determined by the ranging signals transmitted by the key via NLOS are obtained from the adjacent positioning anchor points of the corresponding positioning anchor point in the preset area of ​​the anchor point; this is the acquisition distance. The distance between the center of the square and the adjacent positioning anchor points of the corresponding positioning anchor point in the preset area of ​​the anchor point is calculated; this is the theoretical distance. The difference between the acquisition distance and the theoretical distance is determined as the compensation value for the square. Optionally, the shape of the preset area of ​​the anchor point can be fan-shaped, circular, or other irregular shapes.

[0121] like Figure 8 As shown, the adjacent positioning anchor points of UWB1 include UWB2 and UWB4. Place key 11 (as shown) Figure 8 The key A is placed at the center of the square (i,j) in the preset area of ​​the anchor point corresponding to UWB1. The acquisition distance d21 between key A and UWB2 is obtained, and the theoretical distance d22 between key A and UWB2 is calculated. The compensation value Δd2(i,j) = d21 - d22 for the adjacent positioning anchor point UWB2 corresponding to square (i,j) is determined. Similarly, the acquisition distance d41 between key A and UWB4 is obtained, and the theoretical distance d42 between key A and UWB4 is calculated. The compensation value Δd4(i,j) = d41 - d42 for the adjacent positioning anchor point UWB4 corresponding to square (i,j) is determined.

[0122] The compensation value corresponding to square (i,j) is also the preset correction value corresponding to square (i,j). After the preset correction value is determined, the control device 21 can use the preset correction value to correct the distance determined by the ranging signal transmitted by NLOS in order to obtain an accurate distance.

[0123] For example, the positioning anchor point adjacent to the reference anchor point is the first adjacent anchor point. If the control device 21 determines the reference anchor point from the multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key 11, then the control device 21 uses a method similar to S101-S102 to perform positioning calculations on the distances between the reference anchor point and the first adjacent anchor point and the key 11, as well as the distance between the reference anchor point and the first adjacent anchor point, to obtain the first position information of the key 11 relative to the vehicle. The control device 21 uses the coordinate point (X) within the grid (i,j) as a reference anchor point. i ,Y j ) condition β i1 ≤X i ≤β i2 And, β j1 ≤Y j ≤β j2The control device 21 determines the identifier (i,j) of the square corresponding to the first location information. Based on the identifier (i,j), the control device 21 determines the compensation value of the first adjacent anchor point corresponding to square (i,j). The compensation value of the first adjacent anchor point corresponding to square (i,j) is the preset correction value corresponding to the first location information. The control device 21 uses the preset correction value corresponding to the first location information to correct the distance between the first adjacent anchor point and the key, obtaining the corrected distance of the first adjacent anchor point. For example, the control device 21 subtracts the compensation value of the first adjacent anchor point corresponding to square (i,j) from the distance between the first adjacent anchor point and the key to obtain the corrected distance of the first adjacent anchor point.

[0124] In this process, control device 21, using a method similar to S101-S102, calculates the distances between the reference anchor point and the first adjacent anchor point and the key 11, as well as the distance between the reference anchor point and the first adjacent anchor point, to obtain the first position information of the key 11 relative to the vehicle. For example, control device 21 uses the line connecting the reference anchor point and the first adjacent anchor point as the X-axis, and the reference anchor point or the first adjacent anchor point as the origin, to determine the first local coordinate system corresponding to the reference anchor point and the first adjacent anchor point. Based on the distances between the reference anchor point and the first adjacent anchor point and the key, and the distance between the reference anchor point and the first adjacent anchor point, control device 21 calculates the position information of the key 11 relative to the vehicle. Figure 5 The cosine theorem, similar to that used in the embodiment, determines the first local coordinates of the key 11 in the first local coordinate system. The control device 21 performs coordinate system transformation on the first local coordinates in a similar manner as shown in step S102 to obtain the first coordinates of the key 11 in the preset coordinate system of the vehicle. The first coordinates are the first position information of the key 11 relative to the vehicle.

[0125] After determining the corrected distance of the first adjacent anchor point in step S202, step S203 can be executed based on the corrected distance of the first adjacent anchor point to determine the final position information of the key 11 relative to the vehicle.

[0126] S203, the control device 21 performs positioning calculations on the distance between the reference anchor point and the key 11 and the correction distance of the first adjacent anchor point to obtain the final position information of the key 11 relative to the vehicle.

[0127] For example, the control device 21 uses a similar method as S101-S102 to perform positioning calculations on the distance between the reference anchor point and the key 11, the correction distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point, so as to obtain the final position information of the key 11 relative to the vehicle.

[0128] Figure 9This is a schematic diagram illustrating the relationship between the first and second regions and the preset region of the anchor point, as provided in an embodiment of this application. Figure 9 As shown, each anchor point preset area contains two first areas (such as first area 1 and first area 2) and one second area.

[0129] The first region represents the accuracy of the final position of key 11, and is related to an adjacent positioning anchor point of the reference anchor point corresponding to the anchor point preset region.

[0130] The second region characterizes the accuracy of the final position of key 11, and is related to the two adjacent positioning anchor points corresponding to the preset anchor point region. For example... Figure 9 As shown, the second region corresponding to UWB1 has a reference anchor point of UWB1, and its adjacent positioning anchor points are UWB2 and UWB4. For the same second region, as... Figure 9 In the second region corresponding to UWB1, if key 11 is located in this region, the position information obtained by calculating the location of key 11 based on UWB1 and UWB2 is located on both sides of the central axis of the second region, respectively, compared to the position information obtained by calculating the location of key 11 based on UWB1 and UWB4. Therefore, when key 11 is located in this second region, the position information obtained by calculating the location of key 11 based on a reference anchor point and an adjacent positioning anchor point will be reversed on both sides of the central axis of the second region. Therefore, the accuracy of the second region in representing the final position of key 11 is related to the two adjacent positioning anchor points of the reference anchor point corresponding to the preset anchor point region.

[0131] Optionally, the angle between the centerline of the second region and the Y-axis (or X-axis) of the vehicle's preset coordinate system can be 45°.

[0132] Optionally, the width of the second region can be determined based on theoretical calculations and the measurement results of the key within the preset area of ​​the anchor point. For example, the width of the second region W = 10σ. Here, σ is the variance of the ranging error of the positioning device at the positioning anchor point. If the positioning device is a UWB device, then the corresponding σ is 6-10 (cm), and the probability within 3σ is 0.9974 when the ranging is normally distributed.

[0133] If the first location information determined in step S202 is located in a preset first area, the control device 21 uses a similar method to S101-S102 to perform positioning calculations on the distance between the reference anchor point and the key 11, the correction distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point, to obtain the first positioning result of the key 11, and determines the first positioning result as the final position information of the key 11 relative to the vehicle.

[0134] For example, if the first location information is located in a preset first region, the control device 21 determines a first local coordinate system with the line connecting the reference anchor point and the first adjacent anchor point as the X-axis and the reference anchor point or the first adjacent anchor point as the origin. The control device 21, based on the distance between the reference anchor point and the key, the correction distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point, and... Figure 5 The cosine theorem calculation method, similar to that in the embodiment, determines the first local corrected coordinates of key 11 in the first local coordinate system. Control device 21, using a similar method as shown in step S102, performs coordinate system transformation on the first local corrected coordinates to obtain the first corrected coordinates of key 11 in the vehicle's preset coordinate system. Control device 21 determines the first corrected coordinates as the final position information of key 11 relative to the vehicle, thereby improving the positioning speed of key 11.

[0135] The second adjacent anchor point is the location anchor point adjacent to the reference anchor point.

[0136] If the first position information determined in step S202 is located in a preset second region, the control device 21, in a manner similar to S101-S102, performs positioning calculations on the distances between the key and each of the reference anchor point and the second adjacent anchor point, as well as the distance between the reference anchor point and the second adjacent anchor point, to obtain the second position information of the key 11 relative to the vehicle. The control device 21 uses a preset correction value corresponding to the second position information to correct the distance between the second adjacent anchor point and the key, obtaining the corrected distance of the second adjacent anchor point. The control device 21, in a manner similar to S101-S102, performs positioning calculations on the distance between the reference anchor point and the key 11, the corrected distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point, to obtain the second positioning result of the key 11. The control device 21 determines the average value of the first positioning result and the second positioning result as the final position information of the key 11 relative to the vehicle, thereby improving the positioning accuracy of the key 11 in the second region.

[0137] In this process, control device 21, using a method similar to S101-S102, performs positioning calculations on the distance between a reference anchor point and key 11, the correction distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point to obtain a second positioning result for key 11. For example, control device 21 uses the line connecting the reference anchor point and the second adjacent anchor point as the X-axis and the reference anchor point or the second adjacent anchor point as the origin to determine a second local coordinate system. Based on the distance between the reference anchor point and key 11, the correction distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point, control device 21 calculates the positioning result of key 11 according to the following parameters: Figure 5Using a cosine theorem-like calculation method, the second local corrected coordinates of the key 11 in the second local coordinate system are determined. The control device 21 performs coordinate system transformation on the second local corrected coordinates in a similar manner as shown in step S102 to obtain the second corrected coordinates of the key 11 in the vehicle's preset coordinate system.

[0138] For example, the first positioning result includes the first corrected coordinates of the key 11 in the vehicle's preset coordinate system. The second positioning result includes the second corrected coordinates of the key 11 in the vehicle's preset coordinate system. If the first position information is located in a preset second region, the control device 21 calculates the average of the first and second corrected coordinates to obtain the final coordinates of the key 11 in the vehicle's preset coordinate system. The final coordinates of the key 11 in the vehicle's preset coordinate system are the final position information of the key 11 relative to the vehicle.

[0139] Within the same preset anchor point area, if the first area and the adjacent positioning anchor point are located on the same side of the second area, it indicates that the first area corresponds to the adjacent positioning anchor point. The adjacent positioning anchor point is the adjacent positioning anchor point of the positioning anchor point corresponding to the preset anchor point area.

[0140] Optionally, if the control device 21 determines a reference anchor point from the multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key 11, then the control device 21 can obtain the first position information corresponding to the first adjacent anchor point of the reference anchor point and the second position information corresponding to the second adjacent anchor point of the reference anchor point. If the control device 21 determines that both the first position information and the second position information are located in the same first region, then the control device 21 positions the key 11 based on the adjacent positioning anchor points corresponding to the first region and the reference anchor point. For example, the control device 21 uses a method similar to S101-S102 to perform positioning calculations on the correction distances corresponding to the adjacent positioning anchor points of the first region, the distance between the reference anchor point and the key 11, and the distance between the reference anchor point and the adjacent positioning anchor points of the first region, to obtain the final position information of the key 11 relative to the vehicle.

[0141] After obtaining the final position information of the key 11 relative to the vehicle according to step S203, the control device 21 executes step S204.

[0142] S204, The control device 21 executes a preset action corresponding to the final position information of the key 11 relative to the vehicle and the control command issued by the key 11.

[0143] The following is based on Figure 6 For example, in the manner shown in steps (1)-(4), the following steps are performed: Figure 6 The location of the vehicle key shown is illustrated by way of example.

[0144] (1) As Figure 6 As shown, after the control device 21 of vehicle A establishes a communication connection with the key A of vehicle A, based on the distance measurement signals between the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A and the key A, the distances between each of UWB1, UWB2, UWB3, and UWB4 and the key A are determined to be d1a, d2a, d3a, and d4a, respectively. The distance measurement signal transmission method between the key A and UWB1 is LOS, indicating that the actual distance between the key A and UWB1 is the same as or equivalent to d1a. The distance measurement signal transmission method between the key A and UWB2, UWB3, and UWB4 is NLOS, indicating that the actual distance between the key A and UWB2 is less than d2a, the actual distance between the key A and UWB3 is less than d3a, and the actual distance between the key A and UWB4 is less than d4a.

[0145] In this embodiment of the application, the actual distance between two points refers to the straight-line distance between the two points. For example, the actual distance between key A and UWB4 is the straight-line distance between key A and UWB4.

[0146] (2) The control device 21 determines a reference anchor point UWB1 based on the distances between each of the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 and the key A. The positioning anchor points adjacent to UWB1 include UWB2 and UWB4. If UWB2 is the first adjacent anchor point, then UWB4 is the second adjacent anchor point.

[0147] (3) The control device 21 performs positioning calculations on the distances between UWB1 and key A, UWB2 and key A, and UWB1 and UWB2 in a manner similar to that shown in steps S101-S102, to obtain the first position information of key A. Furthermore, the control device 21 performs positioning calculations on the distances between UWB1 and key A, UWB4 and key A, and UWB1 and UWB4 in a manner similar to that shown in steps S101-S102, to obtain the second position information of key A.

[0148] (4) If the first location information and the second location information are both located in the same first region, then execute steps (4.1.1)-(4.1.4). If the first location information and the second location information are both located in the same second region, then execute steps (4.2.1)-(4.2.5).

[0149] (4.1.1) If both the first location information and the second location information are located in the same first region, the same first region is as follows: Figure 8The UWB1 shown corresponds to the first region 1 in the anchor point preset area, and the first region 1 corresponds to UWB4. Then the control device 21 determines the identifier (i1,j1) of the square corresponding to the second position information according to the second position information.

[0150] (4.1.2) The control device 21 uses the compensation value Δd4(i1,j1) of the positioning anchor point UWB4 corresponding to the grid (i1,j1), according to the formula:

[0151] d4ax = d4a - Δd4(i1,j1)

[0152] The distance d4a between UWB4 and key A is corrected to obtain the corrected distance d4ax for UWB4.

[0153] (4.1.3) The control device 21 uses a similar method as shown in steps S101-S102 to perform positioning calculations on d1a, d4ax, and the distance between UWB1 and UWB4, and obtain the second corrected coordinates (x). gA2 ,y gA2 Control device 21 determines (x) gA2 ,y gA2 () represents the final coordinates of key A relative to vehicle A.

[0154] (4.1.4) Control device 21 executes the final position information of key A relative to vehicle A (e.g., (x...) gA2 ,y gA2 The preset actions that correspond to the control commands issued by key A.

[0155] (4.2.1) If both the first location information and the second location information are located in the same second region, the same second region is as follows: Figure 8 The UWB1 shown corresponds to the second region in the preset area of ​​the anchor point. The control device 21 determines the identifier (i1, j1) of the square corresponding to the second position information according to the second position information, and determines the identifier (i2, j2) of the square corresponding to the first position information according to the first position information.

[0156] (4.2.2) The control device 21 uses the compensation value Δd4(i1,j1) of the positioning anchor point UWB4 corresponding to the grid (i1,j1), according to the formula:

[0157] d4ax = d4a - Δd4(i1,j1)

[0158] The distance d4a between UWB4 and key A is corrected to obtain the corrected distance d4ax corresponding to UWB4; and the control device 21 uses the compensation value Δd2(i2,j2) of the positioning anchor point UWB2 corresponding to the grid (i2,j2) according to the formula:

[0159] d2ax=d4a-Δd2(i2,j2)

[0160] The distance d2a between UWB2 and key A is corrected to obtain the corrected distance d2ax for UWB2.

[0161] (4.2.3) The control device 21 uses a similar method as shown in steps S101-S102 to perform positioning calculations on d1a, d4ax, and the distance between UWB1 and UWB4, and obtain the second corrected coordinates (x). gA2 ,y gA2 Furthermore, the control device 21, using a similar method as shown in steps S101-S102, performs positioning calculations on d1a, d2ax, and the distance between UWB1 and UWB2 to obtain the first corrected coordinates (x). gA1 ,y gA1 ).

[0162] (4.2.4) Control device 21 and For the second corrected coordinate (x) gA2 ,y gA2 ) and the first corrected coordinate (x) gA1 ,y gA1 The mean value is calculated to obtain the final coordinates (x, y) of key A in the preset coordinate system of vehicle A. gA ,y gA ).

[0163] (4.2.5) Control device 21 executes the final position information of key A relative to vehicle A (e.g., (x...) gA ,y gA The preset actions that correspond to the control commands issued by key A.

[0164] Next, let's combine... Figure 10 The positioning process shown is for... Figure 6 The location of key A shown is illustrated by way of example:

[0165] (a) After key A establishes a communication connection with vehicle A, key A begins external positioning and waits for vehicle A's control device 21 to start the positioning program.

[0166] (b) After the control device 21 starts the positioning procedure, the control device 21 of vehicle A obtains the following information about the four positioning anchor points of vehicle A: status identifier (such as valid identifier), ToF and RSSI.

[0167] (c) The control device 21 sorts the ToF of the four positioning anchor points in ascending order to obtain the anchor point sequence.

[0168] (d) The control device 21 uses the first and second positioning anchor points in the anchor point sequence to perform dual anchor point positioning on the key A in a similar positioning calculation method to steps S101-S102, so as to obtain the coordinates (x1, y1) of the key A in the preset coordinate system of the vehicle A.

[0169] (e) Control device 21 determines whether the coordinates (x1, y1) are located within the preset area of ​​the anchor point. If not, control device 21 executes step (e1):

[0170] (e1) Output the coordinates (x1, y1) as the final position information (x, y) of key A;

[0171] If so, the control device 21 performs the following steps (e2)-(e4):

[0172] (e2) The control device 21 corrects the distance between the second positioning anchor point in the anchor point sequence and the key A to obtain the corrected distance.

[0173] (e3) Based on the distance between the first positioning anchor point and the key A and the corresponding correction distance of the second positioning anchor point, the control device 21 performs dual anchor point positioning on the key A in a positioning calculation method similar to steps S101-S102, and obtains the coordinates (x2, y2) of the key A in the preset coordinate system of the vehicle A.

[0174] (e4) Control device 21 determines whether the coordinates (x1, y1) are located in the second region. If not, control device 21 executes step (e41):

[0175] (e41) The control device 21 outputs the coordinates (x2, y2) as the final position information (x, y) of the key A;

[0176] If so, then control device 21 executes steps (e42)-(e45):

[0177] (e42) The control device 21 corrects the distance between the third positioning anchor point in the anchor point sequence and the key A to obtain the corrected distance.

[0178] (e43) Based on the distance between the first positioning anchor point and the key A and the corresponding correction distance of the third positioning anchor point, the control device 21 performs dual anchor point positioning on the key A in a positioning calculation method similar to steps S101-S102 to obtain the coordinates (x3, y3) of the key A in the preset coordinate system of the vehicle A.

[0179] (e44) The control device 21 calculates the final position information (x, y) of key A relative to vehicle A according to x = (x2 + x3) / 2 and y = (y2 + y3) / 2.

[0180] (e45) The control device 21 outputs the final position information (x, y) of key A.

[0181] The vehicle key positioning method provided in this embodiment determines a reference anchor point for LOS transmission from multiple positioning anchor points. If there is only one reference anchor point, the distance between the reference anchor point and the key, and the corrected distance between the key and the adjacent positioning anchor point in NLOS transmission are calculated to obtain the precise final position information of the key relative to the vehicle, thus improving the positioning accuracy of the key. Furthermore, if the key is located in the first region of the anchor point preset area, positioning is performed using the reference anchor point and an adjacent positioning anchor point, improving the key positioning speed. If the key is located in the second region of the anchor point preset area, the average of the corrected coordinates corresponding to the two adjacent positioning anchor points is calculated to obtain the precise final position information of the key relative to the vehicle, improving the positioning accuracy of the key in the second region. The vehicle key positioning method provided in this embodiment reduces or even eliminates the adverse effects of inaccurate distance information determined by the NLOS transmission ranging signal on the key positioning accuracy, improving the key positioning accuracy and solving the problem of inaccurate positioning in existing key positioning methods. The vehicle key positioning method provided in this application embodiment only requires the deployment of four positioning anchor points to achieve accurate positioning of the key in different locations on the vehicle, saving positioning device resources at the positioning anchor points.

[0182] This application also provides a control device. Figure 11 A structural diagram of the control device provided in an embodiment of this application is shown in Figure 1. Figure 11 As shown, the control device includes: a data acquisition module 41, a processing module 42, and an operation module 43.

[0183] The acquisition module 41 is used to determine the distance between each of the multiple positioning anchor points and the key after the communication connection between the vehicle and the key is completed. This is based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key.

[0184] The processing module 42 is used to correct the distances between the key and adjacent positioning anchors if a reference anchor is determined from the multiple positioning anchors based on the distances between each of the multiple positioning anchors and the key, thereby obtaining the corrected distance. Here, the reference anchor indicates that the ranging signal transmission method between it and the key is line-of-sight (LOS) wireless transmission.

[0185] The processing module 42 is also used to perform positioning calculations on the distance and correction distance between a reference anchor point and the key, so as to obtain the final position information of the key relative to the vehicle.

[0186] The operation module 43 is used to execute preset actions corresponding to the final position information of the key relative to the vehicle and the control commands issued by the key.

[0187] Optionally, the acquisition module 41 also includes a Bluetooth (BLE) module 411. The Bluetooth module 411 is used to broadcast BLE broadcast signals and also for Bluetooth ranging of the key.

[0188] The specific implementation principle and technical effects of the control device provided in the embodiments of this application are similar to those of the control device provided in the embodiments of this application. Figure 7 The specific implementation principles and technical effects of the embodiments shown are similar, and will not be repeated here.

[0189] This application also provides a control device. Figure 12 The control device structure provided in the embodiments of this application Figure 2 .like Figure 12 As shown, the control device includes a processor 51 and a memory 52. ​​The memory 52 stores executable instructions for the processor 51, enabling the processor 51 to execute the technical solutions of the above-described method embodiments. The implementation principle and technical effects are similar, and will not be repeated here. It should be understood that the processor 51 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The memory 52 may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, or a USB flash drive, external hard drive, read-only memory, disk, or optical disk, etc.

[0190] This application embodiment also provides a storage medium storing computer-executable instructions. When these computer-executable instructions are executed by a processor, they implement the aforementioned vehicle key positioning method. The storage medium can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0191] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0192] This application also provides a program product, such as a computer program, which, when executed by a processor, implements the vehicle key location method covered by this application.

[0193] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0194] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for locating a vehicle key, characterized in that, include: After the vehicle and the vehicle key establish a communication connection, the distance between each of the multiple positioning anchor points and the key is determined based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key. If a reference anchor point is determined from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key, then the distances between the positioning anchor points adjacent to the reference anchor point and the key are corrected to obtain the corrected distance; wherein, the reference anchor point indicates that the ranging signal transmission mode between it and the key is line-of-sight wireless transmission (LOS). The distance between the reference anchor point and the key, and the correction distance are used to perform positioning calculations to obtain the final position information of the key relative to the vehicle; The preset action is executed in conjunction with the final position information of the key relative to the vehicle and the control command issued by the key.

2. The method according to claim 1, characterized in that, The first adjacent anchor point is the positioning anchor point adjacent to the reference anchor point. The process of correcting the distance between the positioning anchor points adjacent to the reference anchor point and the key to obtain the corrected distance includes: The distances between the key and each of the reference anchor point and the first adjacent anchor point, as well as the distance between the reference anchor point and the first adjacent anchor point, are calculated to obtain the first position information of the key relative to the vehicle. The distance between the first adjacent anchor point and the key is corrected by using a preset correction value corresponding to the first location information, and the corrected distance of the first adjacent anchor point is obtained.

3. The method according to claim 2, characterized in that, The positioning calculation, which involves calculating the distance between the reference anchor point and the key, and the corrected distance, to obtain the final position information of the key relative to the vehicle, includes: If the first location information is located in a preset first region, then the distance between the reference anchor point and the key, the correction distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point are calculated to obtain the first positioning result of the key; the first region represents that the accuracy of the final position of the key is related to an adjacent positioning anchor point of the reference anchor point; The first positioning result is determined to be the final position information of the key relative to the vehicle.

4. The method according to claim 3, characterized in that, The second adjacent anchor point is the positioning anchor point adjacent to the reference anchor point. The positioning calculation, which involves calculating the distance between the reference anchor point and the key, and the corrected distance, to obtain the final position information of the key relative to the vehicle, includes: If the first location information is located in a preset second region, then the distances between the key and each of the reference anchor point and the second adjacent anchor point, as well as the distance between the reference anchor point and the second adjacent anchor point, are calculated to obtain the second location information of the key relative to the vehicle; the accuracy of the final location of the key in the second region is related to the two adjacent positioning anchor points of the reference anchor point. The distance between the second adjacent anchor point and the key is corrected by using the preset correction value corresponding to the second location information to obtain the corrected distance of the second adjacent anchor point; The distance between the reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point are calculated to obtain the second positioning result of the key; The average value of the first positioning result and the second positioning result is determined as the final position information of the key relative to the vehicle.

5. The method according to any one of claims 2-4, characterized in that, The positioning calculation is performed on the distances between the key and each of the reference anchor point and the first adjacent anchor point, as well as the distance between the reference anchor point and the first adjacent anchor point, to obtain the first position information of the key relative to the vehicle, including: A first local coordinate system is determined with the line connecting the reference anchor point and the first adjacent anchor point as the X-axis and the reference anchor point or the first adjacent anchor point as the origin. Based on the distances between the key and the reference anchor point and the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point, the first local coordinates of the key in the first local coordinate system are determined; The first local coordinates are transformed to obtain the first coordinates of the key in the preset coordinate system of the vehicle. The first coordinates are the first position information of the key relative to the vehicle.

6. The method according to claim 4, characterized in that, The positioning calculation is performed on the distance between the reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point to obtain the first positioning result of the key, including: A first local coordinate system is determined with the line connecting the reference anchor point and the first adjacent anchor point as the X-axis and the reference anchor point or the first adjacent anchor point as the origin. Based on the distance between the reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point, the first local corrected coordinates of the key in the first local coordinate system are determined; The first local corrected coordinates are transformed to obtain the first corrected coordinates of the key in the preset coordinate system of the vehicle. The positioning calculation is performed on the distance between the reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point to obtain the second positioning result of the key, including: A second local coordinate system is determined by taking the line connecting the first reference anchor point and the second adjacent anchor point as the X-axis and the first reference anchor point or the second adjacent anchor point as the origin. Based on the distance between the reference anchor point and the key, the corrected distance between the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point, the second local corrected coordinates of the key in the second local coordinate system are determined; The second local corrected coordinates are subjected to coordinate system transformation to obtain the second corrected coordinates of the key in the preset coordinate system of the vehicle.

7. The method according to claim 6, characterized in that, Determining the average value of the first positioning result and the second positioning result as the final position information of the key relative to the vehicle includes: The average of the first and second corrected coordinates is calculated to obtain the final coordinates of the key in the vehicle's preset coordinate system.

8. A control device, characterized in that, The device includes: a data acquisition module, a processing module, and an operation module; The acquisition module is used to determine the distance between each of the multiple positioning anchor points and the key after the vehicle and the key have established a communication connection. The processing module is configured to, if a reference anchor point is determined from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key, then correct the distances between the positioning anchor points adjacent to the reference anchor point and the key to obtain a corrected distance; wherein, the reference anchor point indicates that the ranging signal transmission mode between it and the key is line-of-sight wireless transmission (LOS). The processing module is also used to perform positioning calculations on the distance between the reference anchor point and the key and the correction distance to obtain the final position information of the key relative to the vehicle. The operation module is used to execute a preset action that corresponds to the final position information of the key relative to the vehicle and the control command issued by the key.

9. A control device, characterized in that, The device includes: Processor and memory; The memory stores executable instructions that the processor can execute; The processor executes the executable instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7.

10. A storage medium, characterized in that, The storage medium stores computer execution instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7.

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