UWB digital key vehicle inside and outside judgment method and device, positioning equipment and storage medium

Abstract

The embodiment of the present invention relates to the field of digital key positioning technology, and discloses a UWB digital key inside and outside vehicle judgment method and device, positioning equipment and storage medium. The method includes: obtaining positioning information received by N UWB anchor points on the vehicle; the positioning information includes: ranging information of each UWB anchor point and the receiving power of each UWB anchor point; according to the ranging information of each UWB anchor point, the number n of valid ranging values ​​is obtained, and according to the number n of valid ranging values, corresponding judgment conditions are used to judge the inside and outside of the vehicle; the judgment conditions at least include judging according to the following parameters: the sum of the valid ranging values, the position of the anchor point corresponding to the valid ranging value, and the receiving power corresponding to the valid ranging value. Through the combination of multi-dimensional judgment conditions, the accuracy requirements of the corresponding parameters of a single judgment condition are reduced, which meets the universality and accuracy requirements of the UWB digital key inside and outside vehicle judgment method, and is also conducive to reducing the calibration workload.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of digital key positioning, and in particular to a UWB digital key vehicle interior and exterior determination method and device, a positioning device, and a storage medium. Background Art

[0002] Digital keys are an emerging technology that allows car owners to use smart devices such as smartphones, smart watches or bracelets to control their vehicles, which brings great convenience to car owners. Therefore, digital keys replacing traditional car keys will become a development trend. Common digital keys are mainly Bluetooth digital keys. The position of the Bluetooth digital key relative to the car is determined by the strength of the Bluetooth signal sent by the Bluetooth digital key received by the Bluetooth anchor point on the car. However, the Bluetooth signal is easily affected by the environment, resulting in unstable Bluetooth signals received by the car end, making the Bluetooth digital key unable to meet the needs in complex environments (such as underground or open-air parking lots).

[0003] The frequency range of Ultra Wide Band (UWB) is 3.1GHz~10.6GHz. UWB ranging technology calculates the distance between the transmitter and receiver based on the flight time of the signal. UWB technology has the characteristics of high positioning accuracy, high security, strong anti-interference ability, and strong penetration. Compared with Bluetooth digital keys, UWB digital keys have higher positioning accuracy and stronger anti-interference ability.

[0004] When the owner uses the digital key to start the vehicle with one click, the vehicle needs to detect the location of the digital key. Only when it is confirmed that the digital key is in the car can the vehicle be started with one click. Therefore, it is very meaningful to study the inside and outside judgment of the UWB digital key.

[0005] The existing UWB digital key inside and outside judgment method is based on a fixed vehicle model and a fixed anchor point mounting method to formulate the inside and outside judgment parameters of the digital key. This method cannot be universally applied to different vehicle models and different anchor point mounting methods, and there is a certain misjudgment rate. Therefore, it is hoped to provide a method that can better be compatible with various vehicle models and different anchor point layouts and can improve the accuracy of UWB digital key inside and outside judgment. Summary of the invention

[0006] The embodiments of the present invention provide a method and apparatus for determining whether a UWB digital key is inside or outside a vehicle, a positioning device, and a storage medium, which are intended to be compatible with more vehicle models and UWB anchor point layouts while making the determination of whether a UWB digital key is inside or outside a vehicle more accurate and helping to reduce the calibration workload.

[0007] In a first aspect, an embodiment of the present invention provides a method for determining whether a UWB digital key is inside or outside a vehicle, comprising: obtaining positioning information received by N UWB anchor points on a vehicle; the positioning information comprises: ranging information of each UWB anchor point and receiving power of each UWB anchor point; N is a natural number greater than 1; the N UWB anchor points are arranged on the vehicle according to a preset layout;

[0008] The number n of valid ranging values ​​is obtained according to the ranging information of each UWB anchor point, and the corresponding judgment conditions are respectively used to judge whether inside or outside the vehicle according to the number n of valid ranging values; the judgment conditions at least include judging according to the following parameters: the sum of the valid ranging values, the position of the anchor point corresponding to the valid ranging value, and the receiving power corresponding to the valid ranging value.

[0009] As an embodiment, the N UWB anchor points include: an in-vehicle anchor point located at a preset position in the vehicle and a plurality of out-vehicle anchor points.

[0010] As an embodiment, the plurality of anchor points outside the vehicle include: head anchor points that are symmetrically arranged and located on both sides of the front of the vehicle outside the vehicle, and tail anchor points that are symmetrically arranged and located on both sides of the rear of the vehicle outside the vehicle.

[0011] As an embodiment, when n=1, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes:

[0012] Step S1: Determine whether the anchor point corresponding to the valid ranging value is located inside the vehicle. If not, determine that the UWB digital key is outside the vehicle. If yes, execute step S2.

[0013] Step S2: determining whether the effective distance measurement value is less than a first threshold value, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0014] Among them, when the number of valid ranging values ​​in the calibration data is 1, the value of the first threshold is determined according to the maximum value of the valid ranging value when the digital key is located inside the vehicle and the minimum value of the valid ranging value when the digital key is located outside the vehicle.

[0015] As an embodiment, when n=2, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes:

[0016] Step S1: Determine whether the sum of the valid ranging values ​​is less than a second threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2.

[0017] Step S2: Determine whether the sum of the valid ranging values ​​is greater than a third threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0018] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0019] Step S4: determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S5. If not, determine that the UWB digital key is outside the vehicle.

[0020] Step S5: determining whether the first power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0021] Among them, the first power judgment condition is whether the difference between the receiving power of the anchor point inside the vehicle and the receiving power of the anchor point corresponding to the minimum valid ranging value is greater than the first power difference threshold; when the number of valid ranging values ​​in the calibration data is 2, the second threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, and the third threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle.

[0022] As an embodiment, when n=3, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes:

[0023] Step S1: Determine whether the sum of the valid ranging values ​​is less than a fourth threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2.

[0024] Step S2: Determine whether the sum of the valid ranging values ​​is greater than a fifth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0025] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0026] Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle. If so, execute step S7; if not, execute step S5;

[0027] Step S5: Determine whether the anchor point corresponding to the maximum effective distance measurement value is an anchor point inside the vehicle. If so, execute step S6; if not, execute step S10;

[0028] Step S6: determining whether the anchor point corresponding to the minimum effective ranging value is a preset anchor point, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0029] Step S7: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the maximum effective distance measurement value satisfy the preset position relationship, if so, execute S8, if not, execute S9;

[0030] Step S8: determining whether the difference between the maximum effective ranging value and the minimum effective ranging value is less than a sixth threshold value, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0031] Step S9: determining whether the second power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0032] Step S10: determining whether the third power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0033] The second power judgment condition is: when the second smallest effective ranging value is the anchor point in the vehicle, whether the difference between the minimum ranging value receiving power and the second smallest ranging value receiving power is greater than the second power difference threshold;

[0034] The third power judgment condition is: when the maximum effective ranging is the anchor point inside the vehicle, whether the difference between the minimum ranging value received power and the maximum ranging value received power is greater than the third power difference threshold;

[0035] When the number of valid ranging values ​​in the calibration data is 3, the fourth threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, the fifth threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle, and the sixth threshold is determined according to the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is inside the vehicle, and the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is outside the vehicle.

[0036] As an embodiment, when n=4, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes:

[0037] Step S1: Determine whether the sum of the valid ranging values ​​is less than the seventh threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2.

[0038] Step S2: Determine whether the sum of the valid ranging values ​​is greater than an eighth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0039] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0040] Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle, if so, execute step S8, if not, execute step S5;

[0041] Step S5: Determine whether the anchor point corresponding to the third minimum effective distance measurement value is an anchor point inside the vehicle, if so, execute step S10, if not, execute step S6;

[0042] Step S6: Determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S7. If not, determine that the UWB digital key is outside the vehicle.

[0043] Step S7: determining whether the fourth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0044] Step S8: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the third minimum effective distance measurement value satisfy a preset position relationship, if so, execute S9, if not, execute S11;

[0045] Step S9: determining whether the difference between the third minimum effective ranging value and the minimum effective ranging value is less than a ninth threshold value, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0046] Step S10: determining whether the fifth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0047] Step S11: determining whether the sixth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0048] The fourth power judgment condition is: when the maximum effective ranging value is the anchor point in the vehicle, whether the difference between the minimum ranging value received power and the maximum ranging value received power is greater than the fourth power difference threshold;

[0049] The fifth power judgment condition is: when the third smallest effective ranging value is the anchor point in the vehicle, whether the difference between the minimum ranging value received power and the third smallest ranging value received power is greater than the fifth power difference threshold;

[0050] The sixth power judgment condition is: when the second smallest effective ranging value is the anchor point in the vehicle, whether the difference between the minimum ranging value receiving power and the second smallest ranging value receiving power is greater than the sixth power difference threshold;

[0051] When the number of valid ranging values ​​in the calibration data is 4, the seventh threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, the eighth threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle, and the ninth threshold is determined according to the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is inside the vehicle, and the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is outside the vehicle.

[0052] In a second aspect, an embodiment of the present invention provides a UWB digital key vehicle exterior and interior judgment device, comprising:

[0053] An acquisition module is used to acquire positioning information received by N UWB anchor points on the vehicle; the positioning information includes: ranging information of each UWB anchor point and receiving power of each UWB anchor point; N is a natural number greater than 1; the N UWB anchor points are arranged on the vehicle according to a preset layout;

[0054] The judgment execution module is used to obtain the number n of valid ranging values ​​according to the ranging information of each UWB anchor point, and use corresponding judgment conditions to judge whether it is inside or outside the vehicle according to the number n of valid ranging values; the judgment conditions at least include judging according to the following parameters: the sum of the valid ranging values, the position of the anchor point corresponding to the valid ranging value, and the receiving power corresponding to the valid ranging value.

[0055] In a third aspect, an embodiment of the present invention provides a positioning device, including a memory and a processor;

[0056] The memory is used to store computer programs; the processor is used to read the computer programs in the memory and implement the UWB digital key vehicle exterior and interior judgment method as described above when executing the program.

[0057] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the UWB digital key vehicle exterior and interior judgment method as described in the first aspect.

[0058] Compared with the prior art, the technical solution provided by the embodiment of the present invention has at least the following positive effects:

[0059] In the technical solution of the embodiment of the present invention, corresponding judgment conditions are respectively constructed according to the number of UWB anchor points that receive valid ranging values ​​to perform inside-outside vehicle judgment, and multiple judgment conditions such as the number of anchor points with valid ranging values, the sum of valid ranging values, the anchor point positions corresponding to multiple valid ranging values, and the receiving power corresponding to the valid ranging values ​​are effectively integrated to perform inside-outside vehicle judgment, so that the accuracy requirements of the valid ranging value and the receiving power for a single judgment condition are reduced, and at the same time, it can be compatible with different vehicle models and anchor point layouts, which is conducive to reducing the calibration workload, thereby better meeting application requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 An example diagram of the layout of the vehicle body UWB anchor points provided in an embodiment of the present invention;

[0062] Figure 2 A schematic diagram of the flow chart of the method for determining whether a UWB digital key is inside or outside a vehicle provided in the first embodiment of the present invention;

[0063] Figure 3 A schematic diagram of an example flow chart of a method for determining whether a digital key is inside or outside a vehicle when the effective distance measurement value provided in the first embodiment of the present invention is 1;

[0064] Figure 4 A schematic diagram of an example flow chart of a method for determining whether a digital key is inside or outside a vehicle when the valid distance measurement value provided in the first embodiment of the present invention is 2;

[0065] FIG5 is a schematic diagram of an example flow chart of a method for determining whether a digital key is inside or outside a vehicle when the effective distance measurement value is 3 provided in the first embodiment of the present invention;

[0066] FIG6 is a schematic diagram of an example flow chart of a method for determining whether a digital key is inside or outside a vehicle when the effective distance measurement value is 4 provided in the first embodiment of the present invention;

[0067] Figure 7 A schematic diagram of the structure of a UWB digital key vehicle interior and exterior determination device provided in Embodiment 2 of the present invention;

[0068] Figure 8 This is a schematic diagram of the structure of a positioning device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0069] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0070] The following describes the UWB digital key vehicle inside and outside judgment method and device, positioning equipment and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problems of poor universality and high misjudgment rate caused by the vehicle inside and outside judgment parameters formulated based on fixed vehicle models and anchor point arrangements mentioned in the background technology, the present application provides a UWB digital key vehicle inside and outside judgment method. In this method, the positioning information received by N UWB anchor points on the vehicle is obtained, and the positioning information includes: the ranging information of each UWB anchor point and the receiving power of each UWB anchor point. According to the ranging information of each UWB anchor point, the number n of valid ranging values ​​is obtained, and then the corresponding judgment conditions are used to judge the inside and outside of the vehicle according to the number n of valid ranging values. Moreover, when the number n of valid ranging values ​​is greater than 1, the corresponding judgment conditions at least include the following in sequence: The judgment is made according to the following parameters: the sum of the effective ranging values, the positions of the anchor points corresponding to multiple effective ranging values, the receiving power corresponding to the effective ranging values, and the difference in the effective ranging values ​​of the preset anchor points when n is greater than 2. Thus, multiple judgment conditions such as the number of anchor points with effective ranging values, the sum of the effective ranging values, the positions of the anchor points corresponding to multiple effective ranging values, the receiving power corresponding to the effective ranging values, and the difference in the effective ranging values ​​of the preset anchor points when the effective ranging value is greater than 2 are effectively integrated to make judgments inside and outside the vehicle, so that the accuracy requirements of the effective ranging values ​​and the receiving power for a single judgment condition are reduced. At the same time, it can also be compatible with different vehicle models and anchor point layouts, which is conducive to reducing the calibration workload and thus better meeting application requirements.

[0071] Figure 1 This is a schematic diagram of the layout of the UWB anchor points on the vehicle in the UWB digital key vehicle interior and exterior judgment method provided in the embodiment of the present application. Figure 1 As shown, in order to make the UWB anchor point cover the largest possible visible area, 5 UWB anchor points A1~A5 are arranged on the vehicle, which are the interior anchor point A1 located at a preset position inside the vehicle, the tail anchor points A2~A3 arranged symmetrically and located on both sides of the rear of the vehicle outside the vehicle, and the head anchor points A4~A5 arranged symmetrically and located on both sides of the front of the vehicle outside the vehicle. The A1 anchor point is usually installed below the interior rearview mirror or on the interior ceiling of the vehicle, and A2, A3, A4, and A5 are installed at the four corners of the vehicle body. The indexes corresponding to the A1, A2, A3, A4, and A5 anchor points are 1, 2, 3, 4, and 5, respectively. It can be understood that the number and layout of UWBs on vehicles of different manufacturers and models are not the same. This embodiment does not impose excessive restrictions on the number and layout of UWB anchor points.

[0072] Figure 2The flowchart of the UWB digital key vehicle interior and exterior judgment method provided by the embodiment of the present invention is used for vehicle interior and exterior position judgment of the UWB digital key, and can be applied to PEPS (Passive Entry Passive Start). The method can be executed by a UWB digital key vehicle interior and exterior judgment device provided by the embodiment of the present invention, which can be implemented in software and / or hardware and configured in the vehicle-side positioning device. Figure 2 As shown, the UWB digital key vehicle exterior and interior judgment method of the present application includes the following steps:

[0073] Step 201: Acquire positioning information received by N UWB anchor points on the vehicle.

[0074] The positioning information includes: the ranging information of each UWB anchor point and the receiving power of each UWB anchor point. N is a natural number greater than 1. N UWB anchor points can be located as follows: Figure 1 The preset layout shown is arranged on the vehicle.

[0075] When a user carries a UWB digital key, such as a mobile phone, in or near a vehicle, N UWB anchor points respectively receive the signal of the UWB digital key and obtain their respective positioning information. The positioning information of the N UWB anchor points is sent to the positioning device, which can be a digital key module on the vehicle.

[0076] After obtaining the positioning information of each anchor point, preprocessing can be performed. Specifically, the ranging values ​​of each anchor point are sorted in ascending order. The ranging values ​​after ascending sorting can be recorded as sort_value[1], sort_value[2], sort_value[3], sort_value[4], sort_value[5]. The serial numbers of the anchor points corresponding to each ranging value after ascending sorting can be recorded as sort_index[1], sort_index[2], sort_index[3], sort_index[4], sort_index[5]. The received power corresponding to each ranging value after ascending sorting can be recorded as sort_RxPower[1], sort_RxPower[2], sort_RxPower[3], sort_RxPower[4], sort_RxPower[5].

[0077] Step 202: Obtain the number n of valid ranging values ​​according to the ranging information of each UWB anchor point, and use corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values.

[0078] Among them, when the number of valid ranging values ​​n is greater than 1, the corresponding judgment conditions at least include judging according to the following parameters in sequence: the sum of the valid ranging values, the positions of the anchor points corresponding to the multiple valid ranging values, the receiving power corresponding to the valid ranging values, and the difference in the valid ranging values ​​of the preset anchor points when n is greater than 2. It can be understood that the judgment conditions corresponding to different numbers of valid ranging values ​​can be increased according to the differences in vehicle models and anchor point layouts, and no specific restrictions are made here.

[0079] Get the number n of valid distance measurement values ​​in the distance measurement values ​​after ascending order (when the distance measurement value is 65535, it is considered an invalid distance measurement value), and calculate the sum of all valid distance measurement values ​​value_add. For example, when n=2, calculate the sum of 2 valid distance measurement values, and the sum of valid distance measurement values ​​can be recorded as value_add. When n=2, value_add=sort_value[1]+sort_value[2].

[0080] When n is greater than 1, the sum of the effective distance measurement values ​​of multiple anchor points, the position relationship of the anchor points, and the receiving power are integrated to locate the digital key from multiple dimensions, which can improve the judgment accuracy, effectively reduce misjudgments, and be compatible with different vehicle models and anchor point layouts. When n is greater than 2, the difference in effective distance measurement values ​​is further introduced to ensure the accuracy of the judgment inside and outside the vehicle when the digital key is on or near the vehicle.

[0081] The following examples illustrate the in-vehicle and out-of-vehicle judgment process corresponding to different numbers of valid ranging values.

[0082] like Figure 3 As shown, when n=1, the corresponding judgment conditions are used to judge whether inside or outside the vehicle according to the number of valid ranging values ​​n, including:

[0083] Step S1: Determine whether the anchor point corresponding to the valid ranging value is located inside the vehicle. If not, determine that the UWB digital key is outside the vehicle. If so, execute step S2.

[0084] The judgment condition that the UWB anchor point inside the vehicle does not obtain a valid ranging value and only one UWB anchor point outside the vehicle obtains a valid ranging value is applicable to the situation where the digital key is far away from the vehicle, so it is judged that the digital key is outside the vehicle.

[0085] Step S2: Determine whether the effective ranging value is less than a first threshold value. If so, determine that the UWB digital key is located inside the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0086] When only the anchor point inside the car obtains a valid ranging value, the inside and outside of the car are further judged according to the size of the valid ranging value. The value of the first threshold is obtained by pre-calibration. When the number of valid ranging values ​​in the calibration data is 1, the first threshold is determined according to the maximum value of the valid ranging value when the digital key is inside the car and the minimum value of the valid ranging value when the digital key is outside the car. Specifically, during calibration, the ranging values ​​and received powers of all anchor points of the digital key at different positions inside and outside the car, in static and moving states, are collected, and the ranging values ​​of each round collected when the digital key is inside and outside the car are arranged in ascending order, and the number of valid ranging values ​​of all rounds is obtained. The collected data is grouped according to the number of valid ranging values, and the sampling data with 1 valid ranging value is selected to obtain the value range [a1b1] of the valid ranging value when the digital key is inside the car and the value range [a2 b2] of the valid ranging value when the digital key is outside the car, and the first threshold value_Th1=(b1+a2) / 2. It is understandable that this embodiment does not impose excessive restrictions on the calculation method of the first threshold value, as long as the accuracy requirement for judging inside and outside the vehicle is met.

[0087] like Figure 4 As shown, when n=2, the corresponding judgment conditions are used to judge whether inside or outside the vehicle according to the number of valid ranging values ​​n, including:

[0088] Step S1: Determine whether the sum of the valid ranging values ​​is less than a second threshold value. If so, determine that the UWB digital key is located in the vehicle. If not, execute step S2.

[0089] When the number of valid ranging values in the calibration data is 2, the second threshold is determined according to the minimum value of the sum of the valid ranging values when the digital key is outside the vehicle, and the third threshold is determined according to the maximum value of the sum of the valid ranging values when the digital key is inside the vehicle. The calibration data acquisition method is as described above and will not be elaborated here. Select the sampling data with the number of valid ranging values being 2, calculate the value range [c1 d1] of the sum value_add_in of the two valid ranging values when the digital key is inside the vehicle and the range [c2 d2] of the sum value_add_out of the two valid ranging values when the digital key is outside the vehicle. They satisfy c1 < c2 < d1 < d2. Let the second threshold Value_Th2 = c2 and the third threshold Value_Th3 = d1. Similarly, determine the values of the fourth threshold Value_Th4, the fifth threshold Value_Th5, the seventh threshold Value_Th7, and the eighth threshold Value_Th8 in this way. Select the sampling data with the number of valid ranging values being 3, calculate the difference range [m1 n1] between the third smallest valid ranging value and the smallest valid ranging value when the digital key is inside the vehicle, calculate the difference range [m2 n2] between the third smallest valid ranging value and the smallest valid ranging value when the digital key is outside the vehicle, and let the sixth threshold Value_Th6 = (n1 + m2) / 2. Similarly, determine the ninth threshold Value_Th9 in this way. The acquisition method of the above thresholds will not be elaborated below. During actual calibration, select models with large differences in vehicle models and anchor point layouts for sampling, and the values of the first to ninth thresholds can be effectively obtained, which is beneficial to greatly reducing the calibration workload.

[0090] It can be quickly and accurately judged that the digital key is inside the vehicle by the sum of two valid ranging values being less than the second threshold.

[0091] Step S2: Judge whether the sum of the valid ranging values is greater than the third threshold. If so, it is determined that the UWB digital key is outside the vehicle. If not, execute Step S3.

[0092] It can be quickly and accurately judged that the digital key is outside the vehicle by the sum of two valid ranging values being greater than the third threshold.

[0093] Step S3: Judge whether the anchor point corresponding to the smallest valid ranging value is an in-vehicle anchor point. If so, it is determined that the UWB digital key is inside the vehicle. If not, execute Step S4.

[0094] By combining that the anchor point corresponding to the smallest valid ranging value is an in-vehicle anchor point with Steps S1 and S2 when n = 2, it can be quickly and accurately judged that the digital key is inside the vehicle.

[0095] Step S4: Judge whether the anchor point corresponding to the largest valid ranging value is an in-vehicle anchor point. If so, execute Step S5. If not, it is determined that the UWB digital key is outside the vehicle.

[0096] By combining the anchor point corresponding to the maximum effective ranging value as the anchor point outside the vehicle with steps S1 to S3 when n is 2, it can be quickly and accurately determined that the digital key is outside the vehicle.

[0097] Step S5: Determine whether the first power judgment condition is met. If so, determine that the UWB digital key is located in the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0098] Among them, the first power judgment condition is whether the difference between the receiving power of the anchor point in the car and the receiving power of the anchor point corresponding to the minimum effective ranging value is greater than the first power difference threshold. Specifically, the first power judgment condition means: when the effective ranging value of the anchor point in the car is not the minimum effective ranging value of this round, but the difference between the receiving power of the anchor point in the car and the receiving power corresponding to the minimum effective ranging value is greater than the first power difference threshold Value_Power1, that is: RxPower[2]-RxPower[1]>Value_Power1. The first power judgment condition means that the owner and the UWB digital key are both in the car, but there is an obstacle (the owner's body or metal objects in the car interior) blocking the propagation path of the UWB signal between the UWB digital key and the anchor point in the car. The UWB signal bypasses the obstacle, resulting in a larger ranging value. Because the distance between the UWB digital key and the anchor point in the car is close, the attenuation of the receiving power is small. Value_Power1 is determined based on the minimum value of the difference between the receiving power of the maximum effective ranging value and the receiving power of the minimum effective ranging value when the digital key is in the car, there are two valid ranging values ​​and the maximum effective ranging value corresponds to the anchor point in the car.

[0099] By combining the first power judgment condition with steps S1 to S4 when n is 2, the vehicle interior and exterior judgment method of the digital key can be expanded.

[0100] As shown in FIG5 , when n=3, the corresponding judgment conditions are used to judge whether inside or outside the vehicle according to the number of valid ranging values ​​n, including:

[0101] Step S1: Determine whether the sum of the valid ranging values ​​is less than a fourth threshold value. If so, determine that the UWB digital key is located in the vehicle. If not, execute step S2.

[0102] The fourth threshold is determined based on the minimum value of the sum of the valid distance measurement values ​​when the digital key is outside the vehicle. The fourth threshold calibration method is described above and will not be repeated here.

[0103] Step S2: Determine whether the sum of the valid ranging values ​​is greater than the fifth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0104] The fifth threshold is determined based on the maximum value of the sum of the valid distance measurement values ​​when the digital key is in the vehicle. The calibration method of the fifth threshold is described above and will not be repeated here.

[0105] It can be seen that in some cases, the location of the digital key inside or outside the vehicle can be quickly and accurately determined based on the sum of the three valid distance measurement values, the fourth threshold, and the fifth threshold.

[0106] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0107] By combining the anchor point corresponding to the smallest effective distance measurement value among the three effective distance measurement values ​​as the in-vehicle anchor point with steps S1 and S2 when n is 3, it is possible to quickly and accurately determine that the digital key is in the vehicle.

[0108] Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle. If so, execute step S7; if not, execute step S5.

[0109] Further, the inside and outside of the vehicle are judged based on whether the anchor point corresponding to the middle value of the three valid distance measurement values ​​is an inside anchor point.

[0110] Step S5: Determine whether the anchor point corresponding to the maximum effective distance measurement value is an anchor point inside the vehicle. If so, execute step S6; if not, execute step S10.

[0111] Step S6: Determine whether the anchor point corresponding to the minimum effective ranging value is a preset anchor point. If so, determine that the UWB digital key is located inside the vehicle; if not, determine that the UWB digital key is located outside the vehicle.

[0112] Specifically, determine whether the anchor point sequence number sort_index[1] corresponding to the minimum valid ranging value is greater than or equal to 4. If sort_index[1]≥4, it means that the anchor point corresponding to the maximum ranging value is one of the anchor points installed at the rear of the vehicle. This means that the key is in the trunk. At this time, it is determined that the UWB digital key is in the vehicle. If not, it is determined that the UWB digital key is outside the vehicle.

[0113] Step S7: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the maximum effective distance measurement value satisfy a preset position relationship. If so, execute S8; if not, execute S9.

[0114] Specifically, determining whether the anchor points corresponding to the minimum valid ranging value and the maximum valid ranging value satisfy the preset position relationship includes determining whether the difference between the anchor point serial numbers corresponding to the minimum and the third smallest (i.e., largest) valid ranging values, sort_index[1]-sort_index[3], is equal to ±1. This determination condition applies to the following situations: the minimum ranging value and the maximum ranging value are adjacent anchor points, and the second smallest ranging value is an anchor point inside the vehicle, indicating that the UWB digital key is located near the vehicle door. It is necessary to further confirm whether it is located near the outside door or the inside door. If so, execute S8; if not, execute S9.

[0115] Step S8: Determine whether the difference between the maximum effective ranging value and the minimum effective ranging value is less than a sixth threshold value. If so, determine that the UWB digital key is located inside the vehicle; if not, determine that the UWB digital key is located outside the vehicle.

[0116] The sixth threshold is determined based on the difference between the maximum effective ranging value and the minimum effective ranging value when the digital key is located inside the vehicle, and the difference between the maximum effective ranging value and the minimum effective ranging value when the digital key is located outside the vehicle. The specific calibration method is described above and will not be repeated here.

[0117] Step S9: Determine whether the second power judgment condition is met. If so, determine that the UWB digital key is located in the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0118] Step S10: Determine whether the third power judgment condition is met. If so, determine that the UWB digital key is located in the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0119] Among them, the second power judgment condition is: when the second smallest effective ranging value is the anchor point inside the car, whether the difference between the receiving power of the minimum ranging value and the receiving power of the second smallest ranging value is greater than the second power difference threshold; the third power judgment condition is: when the maximum effective ranging is the anchor point inside the car, whether the difference between the receiving power of the minimum ranging value and the receiving power of the maximum ranging value is greater than the third power difference threshold. The second power difference threshold is determined based on the minimum value of the difference between the receiving power of the minimum effective ranging value and the receiving power of the second smallest effective ranging value when the digital key is inside the car, there are three valid ranging values ​​and the second smallest effective ranging value corresponds to the anchor point inside the car. The third power difference threshold is determined based on the minimum value of the difference between the receiving power of the minimum effective ranging value and the receiving power of the maximum effective ranging value when the digital key is inside the car, there are three valid ranging values ​​and the maximum effective ranging value corresponds to the anchor point inside the car.

[0120] As shown in FIG6 , when n=4, the corresponding judgment conditions are used to judge whether the vehicle is inside or outside according to the number of valid ranging values ​​n, including:

[0121] Step S1: Determine whether the sum of the valid ranging values ​​is less than the seventh threshold value. If so, determine that the UWB digital key is located in the vehicle. If not, execute step S2.

[0122] Step S2: Determine whether the sum of the valid ranging values ​​is greater than the eighth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0123] The calibration method of the seventh threshold value and the eighth threshold value is as described above and will not be repeated here.

[0124] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0125] Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle. If so, execute step S8; if not, execute step S5.

[0126] Step S5: Determine whether the anchor point corresponding to the third minimum effective distance measurement value is an anchor point inside the vehicle. If so, execute step S10; if not, execute step S6.

[0127] Step S6: Determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S7; if not, determine that the UWB digital key is outside the vehicle.

[0128] Step S7: Determine whether the fourth power judgment condition is met. If so, determine that the UWB digital key is located in the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0129] Step S8: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the third minimum effective distance measurement value satisfy a preset position relationship. If so, execute S9; if not, execute S11.

[0130] Whether the anchor points corresponding to the minimum valid ranging value and the third smallest valid ranging value satisfy the preset position relationship may specifically include: determining whether the anchor point serial numbers sort_index[1]-sort_index[3] corresponding to the minimum and third smallest valid ranging values ​​are equal to ±1. This judgment condition applies to the minimum ranging value and the maximum ranging value being adjacent anchor points, and the second smallest ranging value being an anchor point inside the vehicle, indicating that the UWB digital key is located near the vehicle door. It is necessary to further confirm whether it is located near the outside door or the inside door. If so, execute S9, if not, execute S11.

[0131] Step S9: Determine whether the difference between the third minimum effective ranging value and the minimum effective ranging value is less than a ninth threshold value. If so, determine that the UWB digital key is located inside the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0132] Step S10: Determine whether the fifth power judgment condition is met. If so, determine that the UWB digital key is located in the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0133] Step S11: Determine whether the sixth power judgment condition is met. If so, determine that the UWB digital key is located in the vehicle. If not, determine that the UWB digital key is located outside the vehicle.

[0134] Among them, the fourth power judgment condition is: when the maximum effective ranging value is the anchor point inside the car, whether the difference between the minimum ranging value receiving power and the maximum ranging value receiving power is greater than the fourth power difference threshold; the fifth power judgment condition is: when the third smallest effective ranging value is the anchor point inside the car, whether the difference between the minimum ranging value receiving power and the third smallest ranging value receiving power is greater than the fifth power difference threshold; the sixth power judgment condition is: when the second smallest effective ranging value is the anchor point inside the car, whether the difference between the minimum ranging value receiving power and the second smallest ranging value receiving power is greater than the sixth power difference threshold. The third power difference threshold is determined based on the minimum value of the difference between the receiving power of the minimum effective ranging value and the receiving power of the maximum effective ranging value when the digital key is located in the car, there are four valid ranging values ​​and the maximum valid ranging value corresponds to the anchor point inside the car. The third, fourth, and sixth power difference thresholds are obtained in a similar manner and will not be repeated here.

[0135] It should be noted that when the number of valid ranging values ​​is 5, the judgment can be made based on 4 smaller ranging values. Of course, multiple judgment conditions can also be set based on 5 valid ranging values ​​for judgment, which is not specifically limited here.

[0136] It is worth mentioning that in actual application, the above judgment method can be executed multiple times to obtain multiple judgment results. The final inside-outside judgment result of the vehicle is determined based on the multiple judgment results, which can further reduce the misjudgment rate.

[0137] The UWB digital key vehicle interior and exterior judgment method of the embodiment of the present application selects different multiple vehicle interior and exterior judgment conditions according to the number of valid ranging values. Through the combination of multi-dimensional judgment conditions, the accuracy requirements of the single judgment condition on the ranging value and the received power are significantly reduced, and the algorithm is improved for different vehicle models and anchor point layouts. The universality of the judgment accuracy can meet the actual application requirements. It can be understood that the judgment conditions corresponding to different numbers of valid ranging values ​​are not limited to the types described in the text, and can be expanded according to the mounting method of the anchor points on the vehicle, but the range of the sum of the valid ranging values ​​and the range of the in-vehicle anchor point ranging values ​​are applicable to all vehicle models and all anchor point mounting methods, and can identify more in-vehicle and out-vehicle areas, because the sum of the valid ranging values ​​in most areas of the vehicle and the in-vehicle anchor point ranging values ​​are usually small, while the sum of the valid ranging values ​​in most areas outside the vehicle and the in-vehicle anchor point ranging values ​​are often larger than when the digital key is in the vehicle.

[0138] Compared with the prior art, the UWB digital key inside-outside vehicle judgment method of the embodiment of the present invention constructs corresponding judgment conditions for inside-outside vehicle judgment according to the number of UWB anchor points that receive valid ranging values, and effectively integrates multiple judgment conditions such as the number of anchor points with valid ranging values, the sum of valid ranging values, the anchor point positions corresponding to multiple valid ranging values, the receiving power corresponding to the valid ranging values, and the difference in valid ranging values ​​of preset anchor points when the valid ranging value is greater than 2 to perform inside-outside vehicle judgment, so that the accuracy requirements of the valid ranging value and the receiving power for a single judgment condition are reduced, and at the same time, it can be compatible with different vehicle models and anchor point layouts, which is conducive to reducing the calibration workload, thereby better meeting application requirements.

[0139] Embodiment 2 of the present invention provides a UWB digital key vehicle interior and exterior judgment device, which is configured in a digital key positioning device at the vehicle terminal. Figure 7 As shown, the judgment device 700 includes: an acquisition module 702 and a judgment execution module 704.

[0140] The acquisition module 702 is used to acquire the positioning information received by N UWB anchor points on the vehicle. The positioning information includes: the ranging information of each UWB anchor point and the receiving power of each UWB anchor point. N is a natural number greater than 1, and the N UWB anchor points are arranged on the vehicle according to a preset layout.

[0141] The judgment execution module 704 is used to obtain the number n of valid ranging values ​​according to the ranging information of each UWB anchor point, and use corresponding judgment conditions to judge whether it is inside or outside the vehicle according to the number n of valid ranging values. The judgment conditions at least include judging according to the following parameters: the sum of the valid ranging values, the position of the anchor point corresponding to the valid ranging value, and the receiving power corresponding to the valid ranging value.

[0142] Optionally, the N UWB anchor points include: an in-vehicle anchor point located at a preset position in the vehicle and multiple out-vehicle anchor points. Further, the multiple out-vehicle anchor points include: a head anchor point symmetrically arranged and located on both sides of the front of the vehicle, and a tail anchor point symmetrically arranged and located on both sides of the rear of the vehicle.

[0143] Optionally, the judgment execution module 704 may include: a first submodule, a second submodule, a third submodule and a fourth submodule.

[0144] The first submodule is used to perform the following steps when n=1:

[0145] Step S1: Determine whether the anchor point corresponding to the valid ranging value is located inside the vehicle. If not, determine that the UWB digital key is outside the vehicle. If yes, execute step S2.

[0146] Step S2: determining whether the effective distance measurement value is less than a first threshold value, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0147] Among them, when the number of valid ranging values ​​in the calibration data is 1, the value of the first threshold is determined according to the maximum value of the valid ranging value when the digital key is located inside the vehicle and the minimum value of the valid ranging value when the digital key is located outside the vehicle.

[0148] The second submodule is used to perform the following steps when n=2:

[0149] Step S1: Determine whether the sum of the valid ranging values ​​is less than a second threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2.

[0150] Step S2: Determine whether the sum of the valid ranging values ​​is greater than a third threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0151] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0152] Step S4: determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S5. If not, determine that the UWB digital key is outside the vehicle.

[0153] Step S5: determining whether the first power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0154] Among them, the first power judgment condition is whether the difference between the receiving power of the anchor point inside the vehicle and the receiving power of the anchor point corresponding to the minimum valid ranging value is greater than the first power difference threshold; when the number of valid ranging values ​​in the calibration data is 2, the second threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, and the third threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle.

[0155] The third submodule is used to perform the following steps when n=3:

[0156] Step S1: Determine whether the sum of the valid ranging values ​​is less than a fourth threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2.

[0157] Step S2: Determine whether the sum of the valid ranging values ​​is greater than a fifth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0158] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0159] Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle. If so, execute step S7; if not, execute step S5;

[0160] Step S5: Determine whether the anchor point corresponding to the maximum effective distance measurement value is an anchor point inside the vehicle. If so, execute step S6; if not, execute step S10;

[0161] Step S6: determining whether the anchor point corresponding to the minimum effective ranging value is a preset anchor point, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0162] Step S7: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the maximum effective distance measurement value satisfy the preset position relationship, if so, execute S8, if not, execute S9;

[0163] Step S8: determining whether the difference between the maximum effective ranging value and the minimum effective ranging value is less than a sixth threshold value, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0164] Step S9: determining whether the second power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0165] Step S10: determining whether the third power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0166] The second power judgment condition is: when the second smallest effective ranging value is the anchor point inside the vehicle, whether the difference between the minimum ranging value receiving power and the second smallest ranging value receiving power is greater than a second power difference threshold.

[0167] The third power judgment condition is: when the maximum effective ranging is the anchor point inside the vehicle, whether the difference between the minimum ranging value received power and the maximum ranging value received power is greater than a third power difference threshold.

[0168] When the number of valid ranging values ​​in the calibration data is 3, the fourth threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, the fifth threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle, and the sixth threshold is determined according to the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is inside the vehicle, and the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is outside the vehicle.

[0169] The fourth submodule is used to perform the following steps when n=4:

[0170] Step S1: Determine whether the sum of the valid ranging values ​​is less than the seventh threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2.

[0171] Step S2: Determine whether the sum of the valid ranging values ​​is greater than an eighth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3.

[0172] Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4.

[0173] Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle, if so, execute step S8, if not, execute step S5;

[0174] Step S5: Determine whether the anchor point corresponding to the third minimum effective distance measurement value is an anchor point inside the vehicle, if so, execute step S10, if not, execute step S6;

[0175] Step S6: Determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S7. If not, determine that the UWB digital key is outside the vehicle.

[0176] Step S7: determining whether the fourth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0177] Step S8: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the third minimum effective distance measurement value satisfy a preset position relationship, if so, execute S9, if not, execute S11;

[0178] Step S9: determining whether the difference between the third minimum effective ranging value and the minimum effective ranging value is less than a ninth threshold value, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0179] Step S10: determining whether the fifth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0180] Step S11: determining whether the sixth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle;

[0181] The fourth power judgment condition is: when the maximum effective ranging value is the anchor point inside the vehicle, whether the difference between the minimum ranging value received power and the maximum ranging value received power is greater than a fourth power difference threshold.

[0182] The fifth power judgment condition is: when the third smallest effective ranging value is the anchor point inside the vehicle, whether the difference between the minimum ranging value received power and the third smallest ranging value received power is greater than the fifth power difference threshold.

[0183] The sixth power judgment condition is: when the second smallest effective ranging value is the anchor point inside the vehicle, whether the difference between the minimum ranging value received power and the second smallest ranging value received power is greater than a sixth power difference threshold.

[0184] When the number of valid ranging values ​​in the calibration data is 4, the seventh threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, the eighth threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle, and the ninth threshold is determined according to the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is inside the vehicle, and the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is outside the vehicle.

[0185] Compared with the prior art, the digital key in-vehicle and out-of-vehicle judgment device of the embodiment of the present invention constructs corresponding judgment conditions for in-vehicle and out-of-vehicle judgment according to the number of UWB anchor points that receive valid ranging values, and effectively integrates multiple judgment conditions such as the number of anchor points with valid ranging values, the sum of valid ranging values, the anchor point positions corresponding to multiple valid ranging values, the receiving power corresponding to the valid ranging values, and the difference in valid ranging values ​​of preset anchor points when the valid ranging value is greater than 2 to perform in-vehicle and out-of-vehicle judgment, so that the accuracy requirements of the valid ranging value and the receiving power for a single judgment condition are reduced, and at the same time, it can be compatible with different vehicle models and anchor point layouts, which is conducive to reducing the calibration workload, thereby better meeting application requirements.

[0186] Figure 8 This is a schematic diagram of the structure of a positioning device provided in Embodiment 3 of the present invention. The positioning device 80 includes a memory 81 and a processor 82;

[0187] The memory 81 is used to store computer programs; the processor 82 is used to read the computer program in the memory 81 and implement the UWB digital key vehicle exterior and interior judgment method as described in the above embodiment when executing the program.

[0188] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computer processor, it is used to execute the technical solution of any method embodiment.

[0189] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the methods described in each embodiment of the present invention.

[0190] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0191] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining whether a UWB digital key is inside or outside a vehicle, characterized in that: include: Acquire positioning information received by N UWB anchor points on the vehicle; the positioning information includes: ranging information of each UWB anchor point and receiving power of each UWB anchor point; N is a natural number greater than 1; the N UWB anchor points are arranged on the vehicle according to a preset layout; The number n of valid ranging values ​​is obtained according to the ranging information of each UWB anchor point, and the corresponding judgment conditions are respectively used to judge whether inside or outside the vehicle according to the number n of valid ranging values; the judgment conditions at least include judging according to the following parameters: the sum of the valid ranging values, the position of the anchor point corresponding to the valid ranging value, and the receiving power corresponding to the valid ranging value; the N UWB anchor points include: an in-vehicle anchor point located at a preset position in the vehicle and a plurality of out-vehicle anchor points; When n=2, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes: Step S1: Determine whether the sum of the valid ranging values ​​is less than a second threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2. Step S2: Determine whether the sum of the valid ranging values ​​is greater than a third threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3. Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4. Step S4: determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S5. If not, determine that the UWB digital key is outside the vehicle. Step S5: determining whether the first power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Among them, the first power judgment condition is whether the difference between the receiving power of the anchor point inside the vehicle and the receiving power of the anchor point corresponding to the minimum valid ranging value is greater than the first power difference threshold; when the number of valid ranging values ​​in the calibration data is 2, the second threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, and the third threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle.

2. The UWB digital key vehicle exterior and interior judgment method according to claim 1 is characterized in that: The multiple anchor points outside the vehicle include: head anchor points that are symmetrically arranged and located on both sides of the front of the vehicle outside the vehicle, and tail anchor points that are symmetrically arranged and located on both sides of the rear of the vehicle outside the vehicle.

3. The UWB digital key vehicle exterior and interior judgment method according to claim 2 is characterized in that: When n=1, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes: Step S1: Determine whether the anchor point corresponding to the valid ranging value is located inside the vehicle. If not, determine that the UWB digital key is outside the vehicle. If yes, execute step S2. Step S2: determining whether the effective distance measurement value is less than a first threshold value, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Among them, when the number of valid ranging values ​​in the calibration data is 1, the value of the first threshold is determined according to the maximum value of the valid ranging value when the digital key is located inside the vehicle and the minimum value of the valid ranging value when the digital key is located outside the vehicle.

4. The UWB digital key vehicle exterior and interior judgment method according to claim 2 is characterized in that: When n=3, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes: Step S1: Determine whether the sum of the valid ranging values ​​is less than a fourth threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2. Step S2: Determine whether the sum of the valid ranging values ​​is greater than a fifth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3. Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4. Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle. If so, execute step S7; if not, execute step S5; Step S5: Determine whether the anchor point corresponding to the maximum effective distance measurement value is an anchor point inside the vehicle. If so, execute step S6; if not, execute step S10; Step S6: determining whether the anchor point corresponding to the minimum effective ranging value is a preset anchor point, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Step S7: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the maximum effective distance measurement value satisfy the preset position relationship, if so, execute S8, if not, execute S9; Step S8: determining whether the difference between the maximum effective ranging value and the minimum effective ranging value is less than a sixth threshold value, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Step S9: determining whether the second power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Step S10: determining whether the third power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; The second power judgment condition is: when the second smallest effective ranging value is the anchor point in the vehicle, whether the difference between the received powers corresponding to the minimum effective ranging value and the second smallest effective ranging value is greater than the second power difference threshold; The third power judgment condition is: when the maximum effective ranging is the anchor point inside the vehicle, whether the difference between the minimum ranging value received power and the maximum ranging value received power is greater than the third power difference threshold; When the number of valid ranging values ​​in the calibration data is 3, the fourth threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, the fifth threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle, and the sixth threshold is determined according to the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is inside the vehicle, and the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is outside the vehicle.

5. The UWB digital key vehicle exterior and interior judgment method according to claim 2, characterized in that: When n=4, the method of using corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values ​​includes: Step S1: Determine whether the sum of the valid ranging values ​​is less than the seventh threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2. Step S2: Determine whether the sum of the valid ranging values ​​is greater than an eighth threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3. Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4. Step S4: Determine whether the anchor point corresponding to the second smallest effective distance measurement value is an anchor point inside the vehicle, if so, execute step S8, if not, execute step S5; Step S5: Determine whether the anchor point corresponding to the third minimum effective distance measurement value is an anchor point inside the vehicle, if so, execute step S10, if not, execute step S6; Step S6: Determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S7. If not, determine that the UWB digital key is outside the vehicle. Step S7: determining whether the fourth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Step S8: Determine whether the anchor points corresponding to the minimum effective distance measurement value and the third minimum effective distance measurement value satisfy a preset position relationship, if so, execute S9, if not, execute S11; Step S9: determining whether the difference between the third minimum effective ranging value and the minimum effective ranging value is less than a ninth threshold value, if so, determining that the UWB digital key is located inside the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Step S10: determining whether the fifth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Step S11: determining whether the sixth power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; The fourth power judgment condition is: when the maximum effective ranging value is the anchor point in the vehicle, whether the difference between the minimum ranging value received power and the maximum ranging value received power is greater than the fourth power difference threshold; The fifth power judgment condition is: when the third smallest effective ranging value is the anchor point in the vehicle, whether the difference between the minimum ranging value received power and the third smallest ranging value received power is greater than the fifth power difference threshold; The sixth power judgment condition is: when the second smallest effective ranging value is the anchor point in the vehicle, whether the difference between the minimum ranging value receiving power and the second smallest ranging value receiving power is greater than the sixth power difference threshold; When the number of valid ranging values ​​in the calibration data is 4, the seventh threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, the eighth threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle, and the ninth threshold is determined according to the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is inside the vehicle, and the difference between the maximum valid ranging value and the minimum valid ranging value when the digital key is outside the vehicle.

6. A UWB digital key vehicle exterior and interior judgment device, characterized in that: include: An acquisition module is used to obtain positioning information received by N UWB anchor points on the vehicle; The positioning information includes: ranging information of each UWB anchor point and receiving power of each UWB anchor point; N is a natural number greater than 1; the N UWB anchor points are arranged on the vehicle according to a preset layout; A judgment execution module is used to obtain the number n of valid ranging values ​​according to the ranging information of each UWB anchor point, and to use corresponding judgment conditions to judge whether inside or outside the vehicle according to the number n of valid ranging values; the judgment conditions at least include judging according to the following parameters: the sum of the valid ranging values, the position of the anchor point corresponding to the valid ranging value, and the receiving power corresponding to the valid ranging value; The N UWB anchor points include: an in-vehicle anchor point located at a preset position in the vehicle and a plurality of out-vehicle anchor points; The judgment execution module includes: a second submodule, which is used to execute the following steps when n=2: Step S1: Determine whether the sum of the valid ranging values ​​is less than a second threshold value. If so, determine that the UWB digital key is in the vehicle. If not, execute step S2. Step S2: Determine whether the sum of the valid ranging values ​​is greater than a third threshold value. If so, determine that the UWB digital key is outside the vehicle. If not, execute step S3. Step S3: Determine whether the anchor point corresponding to the minimum effective ranging value is an anchor point inside the vehicle. If so, determine that the UWB digital key is inside the vehicle. If not, execute step S4. Step S4: determine whether the anchor point corresponding to the maximum effective ranging value is an anchor point inside the vehicle. If so, execute step S5. If not, determine that the UWB digital key is outside the vehicle. Step S5: determining whether the first power determination condition is met, if so, determining that the UWB digital key is located in the vehicle, if not, determining that the UWB digital key is located outside the vehicle; Among them, the first power judgment condition is whether the difference between the receiving power of the anchor point inside the vehicle and the receiving power of the anchor point corresponding to the minimum valid ranging value is greater than the first power difference threshold; when the number of valid ranging values ​​in the calibration data is 2, the second threshold is determined according to the minimum value of the sum of the valid ranging values ​​when the digital key is outside the vehicle, and the third threshold is determined according to the maximum value of the sum of the valid ranging values ​​when the digital key is inside the vehicle.

7. A positioning device, characterized in that: including a memory and a processor; A memory for storing computer programs; the processor is used to read the computer program in the memory and implement the UWB digital key vehicle exterior and interior judgment method as described in any one of claims 1-5 when executing the program.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the UWB digital key vehicle exterior and interior judgment method as described in any one of claims 1-5 is implemented.

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