Ranging model training method, positioning method, device, equipment, medium and product

Abstract

The present disclosure relates to a distance measurement model training method, positioning method, device, electronic device, storage medium and product, and relates to the field of vehicle networking technology. The method includes: obtaining a first signal strength, which is the signal strength of a radio frequency signal sent by a second radio frequency transceiver device collected by a first radio frequency transceiver device; obtaining a first actual distance between a vehicle-mounted positioning anchor point and a vehicle-mounted digital key; constructing first sample data based on the first signal strength and the first actual distance, and training a first distance measurement model based on multiple first sample data, and the first distance measurement model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key. This method can replace the manual calibration of the vehicle-mounted digital key and improve the efficiency and accuracy of the calibration of the vehicle-mounted digital key.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle networking technology, and in particular to a ranging model training method, a positioning method, a device, a equipment, a medium and a product. Background Art

[0002] With the development of vehicle network technology, in-vehicle digital keys are gradually replacing conventional keys. In the in-vehicle digital key positioning system, the position judgment of the in-vehicle digital key is crucial and determines the functions that the vehicle can currently perform. Therefore, before using the in-vehicle digital key, it is necessary to calibrate the radio frequency signal strength and the distance between the in-vehicle positioning anchor point.

[0003] In the related art, the calibration of the vehicle-mounted digital key requires manual sampling and recording of the calibration at different locations, which is a huge workload and is time-consuming and labor-intensive. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a ranging model training method, a vehicle-mounted digital key positioning method, a device, an electronic device, a storage medium and a program product. By training a ranging model for determining the distance between a vehicle-mounted positioning anchor point and a vehicle-mounted digital key, the manual calibration of the vehicle-mounted digital key is replaced to improve the efficiency and accuracy of the vehicle-mounted digital key calibration.

[0005] According to a first aspect of an embodiment of the present disclosure, a distance measurement model training method is provided, the method comprising:

[0006] Obtaining a first signal strength, where the first signal strength is a signal strength of a radio frequency signal sent by a second radio frequency transceiver device and collected by a first radio frequency transceiver device, where the first radio frequency transceiver device is any one of a vehicle-mounted digital key and a vehicle-mounted positioning anchor point, and the second radio frequency transceiver device is another device of the vehicle-mounted digital key and the vehicle-mounted positioning anchor point that is different from the first radio frequency transceiver device;

[0007] Acquire a first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key;

[0008] First sample data is constructed based on the first signal strength and the first actual distance, and a first ranging model is trained based on multiple first sample data, where the first ranging model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key.

[0009] According to a second aspect of an embodiment of the present disclosure, a method for locating a vehicle-mounted digital key is provided, the method comprising:

[0010] Acquire multiple third signal strengths, each of which is a signal strength of a radio frequency signal sent by a vehicle digital key collected by a vehicle positioning anchor point in the target vehicle;

[0011] Inputting the plurality of third signal strengths into the trained distance measurement model respectively to obtain the distance between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key;

[0012] Positioning the vehicle digital key based on the distances between each of the vehicle positioning anchor points and the vehicle digital key;

[0013] The trained distance measurement model is obtained by training using the method described in the first aspect.

[0014] According to a third aspect of an embodiment of the present disclosure, a distance measurement model training device is provided, including:

[0015] A first acquisition module is configured to acquire a first signal strength, where the first signal strength is a signal strength of a radio frequency signal sent by a second radio frequency transceiver device and collected by a first radio frequency transceiver device, where the first radio frequency transceiver device is any one of a vehicle-mounted digital key and a vehicle-mounted positioning anchor point, and the second radio frequency transceiver device is another device of the vehicle-mounted digital key and the vehicle-mounted positioning anchor point that is different from the first radio frequency transceiver device;

[0016] A second acquisition module is configured to acquire a first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key;

[0017] The first training module is configured to construct first sample data based on the first signal strength and the first actual distance, and to train a first ranging model based on multiple first sample data, wherein the first ranging model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key.

[0018] According to a fourth aspect of an embodiment of the present disclosure, there is provided a vehicle-mounted digital key positioning device, comprising:

[0019] A fifth acquisition module is configured to acquire a plurality of third signal strengths, each of which is a signal strength of a radio frequency signal sent by a vehicle digital key collected by a vehicle positioning anchor point in the target vehicle;

[0020] A prediction module is configured to input the plurality of third signal strengths into a trained distance measurement model to obtain the distance between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key, wherein the trained distance measurement model is obtained by training according to a distance measurement model training method;

[0021] The positioning module is configured to locate the vehicle-mounted digital key based on the distance between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key.

[0022] According to a fifth aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0023] processor;

[0024] a memory for storing processor-executable instructions;

[0025] The processor is configured to implement the steps of the method provided in the first aspect or the second aspect of the present disclosure when executing.

[0026] According to a sixth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method provided in the first aspect or the second aspect of the present disclosure are implemented.

[0027] According to a seventh aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of the method provided in the first aspect or the second aspect of the present disclosure.

[0028] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0029] The first sample data is constructed by acquiring the first signal strength and the first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key, and the ranging model is trained through multiple first sample data, so that the trained ranging model can determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key according to the signal strength of the radio frequency signal, which is equivalent to completing the calibration of the vehicle-mounted digital key. Compared with the manual calibration process of the vehicle-mounted digital key, the efficiency and accuracy of the calibration can be greatly improved.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0032] Figure 1 It is a schematic diagram of an application scenario according to an exemplary embodiment.

[0033] Figure 2 The figure is a flow chart of a distance measurement model training method according to an exemplary embodiment.

[0034] Figure 3 The figure is a flow chart of a method for locating a vehicle digital key according to an exemplary embodiment.

[0035] Figure 4 It is a block diagram of a distance measurement model training device according to an exemplary embodiment.

[0036] Figure 5 The figure is a block diagram of a vehicle-mounted digital key positioning device according to an exemplary embodiment.

[0037] Figure 6 is a block diagram of a vehicle according to an exemplary embodiment.

[0038] Figure 7 It is a block diagram of a mobile terminal according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0040] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0041] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0042] In the related technology, the calibration of vehicle-mounted digital keys is a huge workload, requiring a lot of manpower, material resources and testing time. In addition, due to the variability of the actual vehicle use environment, the calibration work is complicated and cannot cover all scenarios.

[0043] In response to the above technical problems, the embodiments of the present disclosure provide a ranging model training method, a vehicle-mounted digital key positioning method, a device, an electronic device, a storage medium and a program product. By training a ranging model for determining the distance between a vehicle-mounted positioning anchor point and a vehicle-mounted digital key, manual calibration of the vehicle-mounted digital key is replaced to improve the efficiency and accuracy of the vehicle-mounted digital key calibration.

[0044] Figure 1is a schematic diagram of an application scenario of a distance measurement model training method and a vehicle digital key positioning method according to an exemplary embodiment. Figure 1 As shown, it includes a vehicle 101 and a mobile terminal 102, wherein the mobile terminal 102 can be a mobile communication device such as a mobile phone, a tablet device, a smart wearable device, and the mobile terminal 102 can be configured as a vehicle-mounted digital key. The vehicle 101 may include a vehicle-mounted smart terminal, a vehicle-mounted positioning anchor point, and a surround view camera. The vehicle-mounted digital key can send and receive radio frequency signals, the vehicle-mounted positioning anchor point can send and receive radio frequency signals, the surround view camera is used to collect surround view image data around the vehicle body, and the vehicle-mounted smart terminal is used to determine the distance between the vehicle-mounted digital key and the vehicle-mounted positioning anchor point around the vehicle body according to the surround view image data.

[0045] Figure 2 is a flow chart of a distance measurement model training method according to an exemplary embodiment. Figure 2 As shown, the method can be used for an electronic device, which can be a mobile terminal, a vehicle-mounted terminal or a server, wherein the mobile terminal can be a mobile phone, a tablet device, a smart wearable device, etc. The method includes the following steps:

[0046] In step S201, a first signal strength is obtained, where the first signal strength is the signal strength of a radio frequency signal sent by a second radio frequency transceiver device and collected by the first radio frequency transceiver device. The first radio frequency transceiver device is any one of the vehicle-mounted digital key and the vehicle-mounted positioning anchor point, and the second radio frequency transceiver device is another device of the vehicle-mounted digital key and the vehicle-mounted positioning anchor point that is different from the first radio frequency transceiver device.

[0047] In some implementations, the first radio frequency transceiver device may be a vehicle-mounted digital key, in which case the second radio frequency transceiver device is a vehicle-mounted positioning anchor point. Optionally, there may be multiple vehicle-mounted positioning anchor points.

[0048] In some implementations, the first radio frequency transceiver device may be a vehicle-mounted positioning anchor point, in which case the second radio frequency transceiver device is a vehicle-mounted digital key.

[0049] In this implementation, the second RF transceiver device may send out RF signals at a certain distance from the first RF transceiver device, so that the first RF transceiver device may receive the RF signals sent by the second RF transceiver device.

[0050] In some embodiments, the radio frequency signal is at least one of a Bluetooth signal, an Ultra Wide Band (UWB) signal, and a Near Field Communication (NFC) signal.

[0051] Exemplarily, when the radio frequency signal is a Bluetooth signal, the Bluetooth module in the second radio frequency transceiver device may transmit the Bluetooth signal externally, and the Bluetooth module in the first radio frequency transceiver device may receive the external Bluetooth signal.

[0052] In combination with the foregoing, it can be known that the electronic device can be any one of a mobile terminal, a vehicle-mounted terminal, and a server. Then, the electronic device and the first RF transceiver device that collects RF signals may be the same device, or they may not be the same device. When the electronic device and the first RF transceiver device that collects RF signals are the same device, the first signal strength collected by the first RF transceiver device can be obtained based on the internal communication of the device. When the electronic device and the first RF transceiver device that collects RF signals are not the same device, the first signal strength collected by the first RF transceiver device can be obtained based on the data communication between devices.

[0053] In step S202, a first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key is obtained.

[0054] In this embodiment, the calibration of the vehicle-mounted digital key can be understood as the model parameters of the calibration ranging model. Through the ranging model, the numerical correlation between the calibrated distance and signal strength in the traditional calibration can be replaced, thereby realizing the function of determining the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key based on the signal strength.

[0055] In some possible implementations, the first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key may be obtained by manual measurement.

[0056] In some other possible real number methods, obtaining the first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key may include the following steps:

[0057] Acquire surround view image data collected by the surround view camera of the calibrated vehicle; determine the position information of the vehicle digital key based on the surround view image data; determine the first actual distance according to the position information of the vehicle digital key and the position information of the vehicle positioning anchor point.

[0058] In this embodiment, the calibration vehicle is a vehicle installed with an on-board positioning anchor point, and the calibration vehicle may also include a surround-view camera, so that the surround-view image data around the body of the calibration vehicle can be collected through the surround-view camera in the vehicle, and then, the electronic device can perform modeling based on the surround-view image data, and calculate the position information of the on-board digital key relative to the calibration vehicle. Since the position of the on-board positioning anchor point in the calibration vehicle is fixed, the first actual distance between the on-board positioning anchor point in the calibration vehicle and the on-board digital key can be further determined based on the position information.

[0059] By collecting surround image data through the surround camera and determining the first actual distance based on the surround image data, manual distance measurement can be avoided, thereby reducing the workload of manual calibration of the vehicle digital key.

[0060] In other implementations, the first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key may also be obtained by processing the image data collected by the mobile terminal.

[0061] In step S203, first sample data is constructed based on the first signal strength and the first actual distance, and a first distance measurement model is trained based on multiple first sample data. The first distance measurement model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key.

[0062] In this embodiment, the ranging model can adopt a supervised learning model, so that each sample data of the ranging model can include a sample parameter and a corresponding label, wherein the sample parameter can be the first signal strength, and the label corresponding to the sample parameter can be the first actual distance corresponding to the first signal strength.

[0063] In some possible implementations, training the first distance measurement model based on the plurality of first sample data may include the following steps:

[0064] The first distance measurement model is trained using a plurality of first sample data under different environments.

[0065] In this embodiment, the different environments may be, for example, environments with different climates, or environments with different degrees of shielding between the vehicle and the on-board digital key.

[0066] By training the first ranging model with multiple first sample data in different environments, the adaptability of the ranging model to the environment can be improved, and the rapid convergence of the ranging model can be achieved. At the same time, it also enables the subsequent positioning of the vehicle digital key to adapt well to the positioning requirements in different environments.

[0067] In the above technical solution, the first signal strength and the first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key are obtained to construct the first sample data, and the ranging model is trained through multiple first sample data, so that the trained ranging model can determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key according to the signal strength of the radio frequency signal, which is equivalent to completing the calibration of the vehicle-mounted digital key. Compared with the manual calibration process of the vehicle-mounted digital key, the efficiency and accuracy of the calibration can be greatly improved.

[0068] In addition, since the training process of the ranging model can be executed by electronic devices, after the product is sold, it can be easily decided according to actual needs whether to continuously execute the ranging model training process as the user's car usage environment changes, so as to further improve environmental adaptability, thereby continuously improving the calibration accuracy of the vehicle-mounted digital key and improving the user experience.

[0069] In some possible implementations, in order to improve the accuracy of subsequent vehicle-mounted digital key positioning, there are multiple vehicle-mounted positioning anchor points installed on the vehicle. In this case, constructing first sample data based on the first signal strength and the first actual distance, and training the first distance measurement model based on the first sample data may include the following steps:

[0070] For any vehicle-mounted positioning anchor point, based on the first signal strength corresponding to the vehicle-mounted positioning anchor point and the first actual distance corresponding to the vehicle-mounted positioning anchor point, determine the first sample data corresponding to the vehicle-mounted positioning anchor point; based on multiple first sample data corresponding to each vehicle-mounted positioning anchor point, train the first ranging model.

[0071] In this implementation, when the on-board digital key or the calibrated vehicle is at a certain position, each on-board positioning anchor point in the calibrated vehicle can correspond to a first signal strength and a first actual distance respectively. At this time, for each of the on-board positioning anchor points, the first signal strength corresponding to the on-board positioning anchor point and the first actual distance corresponding to the on-board positioning anchor point can be used as a first sample data corresponding to the on-board positioning anchor point, so that a first sample data corresponding to each on-board positioning anchor point can be obtained. Subsequently, by changing the position of the on-board digital key or the calibrated vehicle, multiple first sample data corresponding to each on-board positioning anchor point can be obtained, and then, the first ranging model can be trained based on the multiple first sample data corresponding to each on-board positioning anchor point.

[0072] By adopting the above method, the first signal strength corresponding to each vehicle-mounted positioning anchor point and the corresponding first actual distance are used as the first sample data for training the first ranging model, so that multiple training samples of the first ranging model can be obtained at one location, which can reduce the calibration workload. In addition, by training the same first ranging model to determine the distances between multiple vehicle-mounted positioning anchor points and the vehicle-mounted digital key, the ranging standards of each vehicle-mounted positioning anchor point can be unified when positioning the vehicle-mounted digital key later, thereby improving the positioning accuracy of the vehicle-mounted digital key.

[0073] In some implementations, the distance measurement model training method of the embodiment of the present disclosure may further include the following steps:

[0074] Obtain a second signal strength, where the second signal strength is the signal strength of the radio frequency signal sent by the first radio frequency transceiver device and collected by the second radio frequency transceiver device; obtain a second actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; construct second sample data based on the second signal strength and the second actual distance, and train a second ranging model through multiple second sample data, where the second ranging model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; align the parameters of the first ranging model and the second ranging model to obtain a target ranging model.

[0075] In some possible implementations, the second actual distance may be obtained in the same manner as the first actual distance. For example, the first distance and the second distance are both obtained by processing surround image data collected by a surround view camera.

[0076] In some other possible implementations, the second actual distance may be obtained in a different manner from the first actual distance. For example, the first distance is obtained by processing the surround image data collected by the surround camera, and the second distance is obtained by processing the image data collected by the mobile terminal. Alternatively, the second distance is obtained by processing the surround image data collected by the surround camera, and the first distance is obtained by processing the image data collected by the mobile terminal.

[0077] In this embodiment, in addition to using the first signal strength and the first actual distance collected by the first RF transceiver device to train the first ranging model, the second ranging model can also be trained using the second signal strength and the second actual distance collected by the second RF transceiver device. Since the first ranging model and the second ranging model are both used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key, in order to integrate the ranging capabilities of the two ranging models to improve the ranging capabilities of the final target ranging model, the first ranging model and the second ranging model can be further aligned to obtain a target ranging model.

[0078] In some possible implementations, the parameters of the first ranging model and the second ranging model are aligned by weighting the same model parameters in the first ranging model and the second ranging model, and then using the weighted model parameters as the final parameters of the same model parameters.

[0079] In some possible implementations, the weight of the model parameters in the first ranging model and the weight of the model parameters in the second ranging model may be 1:1.

[0080] In some possible implementations, the weights of the model parameters in the first ranging model and the weights of the model parameters in the second ranging model may be determined according to positioning requirements. For example, when the later positioning requirement is to locate the vehicle digital key and the first RF transceiver device is the vehicle positioning anchor point during training, the weights of the model parameters in the first ranging model may be set to be greater than the weights of the model parameters in the second ranging model. For another example, when the later positioning requirement is to locate the vehicle digital key and the second RF transceiver device is the vehicle positioning anchor point during training, the weights of the model parameters in the second ranging model may be set to be greater than the weights of the model parameters in the first ranging model.

[0081] This setting allows the model parameters of the target ranging model to refer to more models with the same positioning requirements, further improving the ranging accuracy of the target ranging model.

[0082] Figure 3 is a flow chart of a method for locating a vehicle digital key according to an exemplary embodiment. Figure 3 As shown, the method can be used for electronic devices, which can be mobile terminals, vehicle-mounted terminals and servers, wherein the mobile terminal can be a mobile phone, a smart wearable device, etc. The method includes the following steps:

[0083] In step S301, a plurality of third signal strengths are obtained, each of which is the signal strength of a radio frequency signal sent by a vehicle digital key collected by a vehicle positioning anchor point in the target vehicle.

[0084] In step S302, multiple third signal strengths are respectively input into the trained distance measurement model to obtain the distance between each vehicle-mounted positioning anchor point and the vehicle-mounted digital key.

[0085] In step S303, the vehicle digital key is positioned based on the distances between each vehicle positioning anchor point and the vehicle digital key.

[0086] The trained distance measurement model is obtained by training according to the distance measurement model training method in the aforementioned embodiment.

[0087] In this embodiment, after obtaining the trained ranging model, the trained ranging model can be used to locate the vehicle digital key. In the process of locating the vehicle digital key, the vehicle digital key can send a radio frequency signal, and each vehicle positioning anchor point in the target vehicle can collect the signal strength of the radio frequency signal sent by the vehicle digital key, that is, the third signal strength. Further, the electronic device can input multiple third signal strengths into the trained ranging model respectively, so as to obtain the distance between each vehicle positioning anchor point and the vehicle digital key respectively. Then, the electronic device can further use the multi-point positioning algorithm to locate the vehicle digital key based on the distance between each vehicle positioning anchor point and the vehicle digital key respectively, so as to realize the positioning function of the vehicle digital key.

[0088] Below, a complete embodiment is used to describe in detail the ranging model training method and the vehicle-mounted digital key positioning method in the embodiment of the present application.

[0089] When calibrating the vehicle digital key, that is, training the distance measurement model, the calibrator can hold a mobile phone equipped with the vehicle digital key and move around the calibrated vehicle. The calibrated vehicle is deployed with the first distance measurement model, and the mobile phone is deployed with the second distance measurement model. In this process:

[0090] The on-board digital key and the on-board positioning anchor points in the calibrated vehicle continuously send and receive radio frequency signals. At the same time, the calibrated vehicle continuously captures the surround images around the vehicle body through the surround-view camera, and calculates the first actual distance between the mobile phone and each on-board positioning anchor point based on the surround images. The calibrated vehicle can send the first actual distance to the mobile phone.

[0091] The calibrated vehicle uses the signal strength of the radio frequency information sent by the mobile phone collected by each vehicle-mounted positioning anchor point at a certain moment and the first actual distance corresponding to the moment as the first sample data of the first ranging model to train the first ranging model. In addition, the mobile phone can use the signal strength of the radio frequency information sent by each vehicle-mounted positioning anchor point collected at a certain moment and the first actual distance corresponding to the moment as the second sample data of the second ranging model to train the second ranging model.

[0092] As the calibration personnel move, the first ranging model and the second ranging model can be continuously iterated and trained. In addition, the calibration personnel can also perform the above training process in different environments to further iterate the first ranging model and the second ranging model.

[0093] After the iterative training is completed, the trained first ranging model and the trained second ranging model can be sent to the cloud server, and the cloud server aligns the trained first ranging model and the trained second ranging model to obtain the target ranging model.

[0094] Subsequently, the cloud server can send the target ranging model to the mobile phone and the vehicle to deploy the target ranging model in the on-board digital key and the vehicle.

[0095] After the target ranging model is deployed, the vehicle-mounted digital key can send out radio frequency signals. Therefore, when each vehicle-mounted positioning anchor point in the vehicle collects the signal strength of the radio frequency signal sent by the vehicle-mounted digital key (i.e., the third signal strength), each third signal strength can be input into the deployed target ranging model to obtain the distance between the vehicle-mounted digital key and each vehicle-mounted positioning anchor point, so that the vehicle can further locate the vehicle-mounted digital key according to the distance between the vehicle-mounted digital key and each vehicle-mounted positioning anchor point, so as to determine whether to exercise the function of the vehicle-mounted digital key.

[0096] In addition, after the target ranging model is deployed, the above-mentioned ranging model training process can also be continued. Specifically, since vehicle users often move when using the in-vehicle digital key and the usage environment is rich and diverse, vehicle users can naturally serve as calibration users. During the process of vehicle users using the in-vehicle digital key, the iterative training of the ranging model can be continued to continuously improve the positioning capability of the in-vehicle digital key.

[0097] Figure 4 is a block diagram of a distance measurement model training device according to an exemplary embodiment. Figure 4 , the distance measurement model training device 400 includes:

[0098] The first acquisition module 401 is configured to acquire a first signal strength, where the first signal strength is a signal strength of a radio frequency signal sent by a second radio frequency transceiver device and collected by a first radio frequency transceiver device, where the first radio frequency transceiver device is any one of a vehicle-mounted digital key and a vehicle-mounted positioning anchor point, and the second radio frequency transceiver device is another device of the vehicle-mounted digital key and the vehicle-mounted positioning anchor point that is different from the first radio frequency transceiver device;

[0099] A second acquisition module 402 is configured to acquire a first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key;

[0100] The first training module 403 is configured to construct first sample data based on the first signal strength and the first actual distance, and to train a first ranging model based on multiple first sample data, wherein the first ranging model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key.

[0101] Optionally, the second acquisition module 402 includes:

[0102] A first acquisition submodule is configured to acquire surround image data collected by a surround camera of a calibration vehicle, wherein the calibration vehicle is a vehicle on which the vehicle-mounted positioning anchor point is installed;

[0103] A first determination submodule is configured to determine the position information of the vehicle-mounted digital key based on the surround image data;

[0104] The second determination submodule is configured to determine the first actual distance according to the position information of the vehicle-mounted digital key and the position information of the vehicle-mounted positioning anchor point.

[0105] Optionally, the ranging model training device 400 further includes:

[0106] A third acquisition module is configured to acquire a second signal strength, where the second signal strength is a signal strength of a radio frequency signal sent by the first radio frequency transceiver device and collected by the second radio frequency transceiver device;

[0107] a fourth acquisition module, configured to acquire a second actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key;

[0108] A second training module is configured to construct second sample data based on the second signal strength and the second actual distance, and train a second distance measurement model through a plurality of the second sample data, wherein the second distance measurement model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key;

[0109] The alignment module is configured to perform parameter alignment on the first ranging model and the second ranging model to obtain a target ranging model.

[0110] Optionally, there are multiple vehicle-mounted positioning anchor points, and the first training module 403 includes:

[0111] The sample data determination submodule is configured to determine, for any vehicle-mounted positioning anchor point, first sample data corresponding to the vehicle-mounted positioning anchor point based on the first signal strength corresponding to the vehicle-mounted positioning anchor point and the first actual distance corresponding to the vehicle-mounted positioning anchor point;

[0112] The first training submodule is configured to train the first ranging model based on a plurality of the first sample data corresponding to each vehicle-mounted positioning anchor point.

[0113] Optionally, the first training module 403 includes:

[0114] The second training submodule is configured to train the first ranging model using a plurality of the first sample data under different environments.

[0115] Optionally, the radio frequency signal is at least one of a Bluetooth signal, an ultra-wideband signal, and a near field communication signal.

[0116] Figure 5 FIG. 1 is a block diagram of another vehicle-mounted digital key positioning device according to an exemplary embodiment. Figure 5 , the vehicle-mounted digital key positioning device 500 includes:

[0117] A fifth acquisition module 501 is configured to acquire a plurality of third signal strengths, each of which is a signal strength of a radio frequency signal sent by a vehicle digital key collected by a vehicle positioning anchor point in the target vehicle;

[0118] The prediction module 502 is configured to input the plurality of third signal strengths into a trained distance measurement model to obtain the distance between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key, wherein the trained distance measurement model is obtained by training according to a distance measurement model training method;

[0119] The positioning module 503 is configured to locate the vehicle-mounted digital key based on the distances between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key.

[0120] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0121] The present disclosure also provides a computer-readable storage medium on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the ranging model training method provided by the present disclosure are implemented, or the steps of the positioning method provided by the present disclosure are implemented.

[0122] Figure 6 600 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0123] Reference Figure 6 , the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0124] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0125] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0126] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0127] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0128] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one first processor 651 and a first memory 652, and the first processor 651 may execute instructions 653 stored in the first memory 652.

[0129] The first processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0130] The first memory 652 can be implemented by any type of volatile or non-volatile memory 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 memory, flash memory, magnetic disk or optical disk.

[0131] In addition to the instructions 653 , the first memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the first memory 652 may be used by the computing platform 650 .

[0132] In an embodiment of the present disclosure, the first processor 651 may execute instruction 653 to complete all or part of the steps of the above-mentioned ranging model training method, or complete all or part of the steps of the above-mentioned vehicle-mounted digital key positioning method.

[0133] Figure 7 700 is a block diagram of a mobile terminal according to an exemplary embodiment. For example, the mobile terminal 700 may be a mobile phone, a tablet device, a smart wearable device, etc.

[0134] Reference Figure 7 The mobile terminal 700 may include one or more of the following components: a processing component 702 , a second memory 704 , a power component 706 , a multimedia component 708 , an audio component 710 , an input / output interface 712 , a sensor component 714 , and a communication component 716 .

[0135] The processing component 702 generally controls the overall operation of the mobile terminal 700, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 702 may include one or more second processors 720 to execute instructions to complete all or part of the steps of the above-mentioned rescue request method. In addition, the processing component 702 may include one or more modules to facilitate the interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate the interaction between the multimedia component 708 and the processing component 702.

[0136] The second memory 704 is configured to store various types of data to support operations on the mobile terminal 700. Examples of such data include instructions for any application or method operating on the mobile terminal 700, contact data, phone book data, messages, pictures, radio frequency, etc. The second memory 704 can be implemented by 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 memory, flash memory, magnetic disk or optical disk.

[0137] The power component 706 provides power to various components of the mobile terminal 700. The power component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the mobile terminal 700.

[0138] The multimedia component 708 includes a screen that provides an output interface between the mobile terminal 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 708 includes a front camera and / or a rear camera. When the mobile terminal 700 is in an operating mode, such as a shooting mode or a radio frequency mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0139] The audio component 710 is configured to output and / or input audio signals. For example, the audio component 710 includes a microphone (MIC), and when the mobile terminal 700 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the second memory 704 or sent via the communication component 716. In some embodiments, the audio component 710 also includes a speaker for outputting audio signals.

[0140] The input / output interface 712 provides an interface between the processing component 702 and the peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0141] The sensor assembly 714 includes one or more sensors for providing various aspects of status assessment for the mobile terminal 700. For example, the sensor assembly 714 can detect the open / closed state of the mobile terminal 700, the relative positioning of components, such as the display and keypad of the mobile terminal 700, and the sensor assembly 714 can also detect the position change of the mobile terminal 700 or a component of the mobile terminal 700, the presence or absence of user contact with the mobile terminal 700, the orientation or acceleration / deceleration of the mobile terminal 700, and the temperature change of the mobile terminal 700. The sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0142] The communication component 716 is configured to facilitate wired or wireless communication between the mobile terminal 700 and other devices. The mobile terminal 700 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0143] In an exemplary embodiment, the mobile terminal 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to complete all or part of the steps of the above-mentioned ranging model training method, or complete all or part of the steps of the above-mentioned vehicle-mounted digital key positioning method.

[0144] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a second memory 704 including instructions, and the instructions can be executed by the second processor 720 of the mobile terminal 700 to complete the above-mentioned distance measurement model training method or vehicle digital key positioning method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0145] In another exemplary embodiment, a computer program product is also provided, which includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-mentioned ranging model training method or vehicle digital key positioning method when executed by the programmable device.

[0146] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0147] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0148] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0149] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0150] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A distance measurement model training method, characterized in that: include: Obtaining a first signal strength and a second signal strength, wherein the first signal strength is a signal strength of a radio frequency signal sent by a second radio frequency transceiver device and collected by a first radio frequency transceiver device, and the second signal strength is a signal strength of a radio frequency signal sent by the first radio frequency transceiver device and collected by the second radio frequency transceiver device, wherein the first radio frequency transceiver device is any one of a vehicle-mounted digital key and a vehicle-mounted positioning anchor point, and the second radio frequency transceiver device is another device of the vehicle-mounted digital key and the vehicle-mounted positioning anchor point that is different from the first radio frequency transceiver device; Acquire a first actual distance and a second actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; Constructing first sample data based on the first signal strength and the first actual distance, and training a first distance measurement model based on a plurality of the first sample data, and constructing second sample data based on the second signal strength and the second actual distance, and training a second distance measurement model through a plurality of the second sample data, wherein the first distance measurement model and the second distance measurement model are used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; Aligning parameters of the first ranging model and the second ranging model to obtain a target ranging model; Aligning parameters of the first ranging model and the second ranging model to obtain a target ranging model includes: Performing weighted processing on the same model parameters in the first ranging model and the second ranging model, and using the weighted model parameters as final parameters of the same model parameters in the target ranging model; Among them, when the positioning requirement is to locate the vehicle-mounted digital key and the first RF transceiver device is the vehicle-mounted positioning anchor point during training, the weight of the model parameters in the first ranging model is greater than the weight of the model parameters in the second ranging model. When the positioning requirement is to locate the vehicle-mounted digital key and the second RF transceiver device is the vehicle-mounted positioning anchor point during training, the weight of the model parameters in the second ranging model is greater than the weight of the model parameters in the first ranging model.

2. The method according to claim 1, characterized in that The obtaining of a first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key includes: Acquire surround view image data collected by a surround view camera of a calibration vehicle, wherein the calibration vehicle is a vehicle on which the vehicle-mounted positioning anchor point is installed; Determining the location information of the vehicle-mounted digital key based on the surround image data; The first actual distance is determined according to the position information of the vehicle-mounted digital key and the position information of the vehicle-mounted positioning anchor point.

3. The method according to claim 1, characterized in that: There are multiple vehicle-mounted positioning anchor points, and constructing first sample data based on the first signal strength and the first actual distance, and training a first distance measurement model based on the first sample data, including: For any vehicle-mounted positioning anchor point, based on the first signal strength corresponding to the vehicle-mounted positioning anchor point and the first actual distance corresponding to the vehicle-mounted positioning anchor point, determine the first sample data corresponding to the vehicle-mounted positioning anchor point; The first ranging model is trained based on the plurality of first sample data corresponding to each vehicle-mounted positioning anchor point.

4. The method according to claim 1, characterized in that The training of the first distance measurement model based on the plurality of the first sample data includes: The first ranging model is trained using a plurality of the first sample data under different environments.

5. The method according to claim 1, characterized in that The radio frequency signal is at least one of a Bluetooth signal, an ultra-wideband signal, and a near field communication signal.

6. A vehicle-mounted digital key positioning method, characterized in that: include: Acquire multiple third signal strengths, each of which is a signal strength of a radio frequency signal sent by a vehicle digital key collected by a vehicle positioning anchor point in the target vehicle; Inputting the plurality of third signal strengths into the trained distance measurement model respectively to obtain the distance between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key; Positioning the vehicle digital key based on the distances between each of the vehicle positioning anchor points and the vehicle digital key; The trained ranging model is obtained by training according to the method described in any one of claims 1 to 5.

7. A distance measurement model training device, characterized in that: include: A first acquisition module is configured to acquire a first signal strength, where the first signal strength is a signal strength of a radio frequency signal sent by a second radio frequency transceiver device and collected by a first radio frequency transceiver device, where the first radio frequency transceiver device is any one of a vehicle-mounted digital key and a vehicle-mounted positioning anchor point, and the second radio frequency transceiver device is another device of the vehicle-mounted digital key and the vehicle-mounted positioning anchor point that is different from the first radio frequency transceiver device; A second acquisition module is configured to acquire a first actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; a first training module, configured to construct first sample data based on the first signal strength and the first actual distance, and to train a first distance measurement model based on a plurality of the first sample data, wherein the first distance measurement model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; A third acquisition module is configured to acquire a second signal strength, where the second signal strength is a signal strength of the radio frequency signal sent by the first radio frequency transceiver device and collected by the second radio frequency transceiver device; a fourth acquisition module, configured to acquire a second actual distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; A second training module is configured to construct second sample data based on the second signal strength and the second actual distance, and train a second distance measurement model through a plurality of the second sample data, wherein the second distance measurement model is used to determine the distance between the vehicle-mounted positioning anchor point and the vehicle-mounted digital key; an alignment module, configured to perform parameter alignment on the first ranging model and the second ranging model to obtain a target ranging model; The alignment module is further configured to perform weighted processing on the same model parameters in the first ranging model and the second ranging model, and use the weighted model parameters as final parameters of the same model parameters in the target ranging model; Among them, when the positioning requirement is to locate the vehicle-mounted digital key and the first RF transceiver device is the vehicle-mounted positioning anchor point during training, the weight of the model parameters in the first ranging model is greater than the weight of the model parameters in the second ranging model. When the positioning requirement is to locate the vehicle-mounted digital key and the second RF transceiver device is the vehicle-mounted positioning anchor point during training, the weight of the model parameters in the second ranging model is greater than the weight of the model parameters in the first ranging model.

8. A vehicle-mounted digital key positioning device, characterized in that: include: A fifth acquisition module is configured to acquire a plurality of third signal strengths, each of which is a signal strength of a radio frequency signal sent by a vehicle digital key collected by a vehicle positioning anchor point in the target vehicle; A prediction module is configured to input the plurality of third signal strengths into a trained distance measurement model to obtain the distance between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key, wherein the trained distance measurement model is obtained by training according to a distance measurement model training method; a positioning module, configured to locate the vehicle-mounted digital key based on the distances between each of the vehicle-mounted positioning anchor points and the vehicle-mounted digital key; The trained ranging model is obtained by training according to the method described in any one of claims 1 to 5.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of any one of the methods of claims 1 to 6 when executed.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

11. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

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