Vehicle key positioning method and device, computer equipment and storage medium

Abstract

The invention relates to a vehicle key positioning method and device, computer equipment and a storage medium. The method comprises the following steps: determining UWB positioning information of a vehicle key according to UWB ranging information of a plurality of UWB anchor points in a vehicle; uWB ranging information of a target UWB anchor point in the vehicle is obtained, the UWB ranging information is used for indicating the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is the UWB anchor point, located in a vehicle key common area in the vehicle, in the multiple UWB anchor points; and determining whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB distance measurement information of the target UWB anchor point.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle key positioning, and in particular to a vehicle key positioning method, device, computer equipment and storage medium. Background Art

[0002] With the continuous iteration of car key technology, Ultra-WideBand (UWB) technology has been widely used in car key solutions. Compared with traditional radio frequency (RF) keys and Bluetooth keys, UWB technology has a more secure anti-relay attack capability and relatively higher ranging / positioning accuracy. The digital key system using UWB technology can provide a non-sensing unlocking and starting experience with a good user experience.

[0003] In the commonly used key in-car / out-car boundary calibration scheme, the calibration is usually performed in a standard and ideal environment, in which no environmental influences are considered, such as walls, human bodies, surrounding vehicles, and various electromagnetic interferences. However, actual vehicle use scenarios often cannot achieve this ideal state. In actual vehicle use scenarios, if there are walls, human bodies, or surrounding vehicles, in this case, the Time of Flight (ToF) reflection and interference will cause the key to be actually in the car, but be misjudged as being outside the car, resulting in a negative impact on the functional experience, and even the key being locked in the car, making the vehicle unusable. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle key positioning method, device, computer equipment, computer readable storage medium and computer program product that can accurately determine whether the vehicle key is in the vehicle in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle key positioning method, comprising:

[0006] Determine the UWB positioning information of the vehicle key based on the UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle;

[0007] Acquire UWB ranging information of a target UWB anchor point in the vehicle, wherein the UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is a UWB anchor point in a common area of ​​the vehicle key in the vehicle among the multiple UWB anchor points;

[0008] Determine whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point.

[0009] In one embodiment, the method further comprises:

[0010] Obtaining a received signal strength indication (RSSI) value of a Bluetooth signal received from the vehicle key;

[0011] The determining whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point includes:

[0012] It is determined whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal.

[0013] In one embodiment, determining whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point includes:

[0014] When the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold, determining that the vehicle key is outside the vehicle;

[0015] or,

[0016] When the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is less than or equal to a second in-vehicle distance threshold, it is determined that the vehicle key is in the vehicle, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold.

[0017] In one embodiment, determining whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal includes:

[0018] When the UWB positioning information is outside the calibrated in-vehicle positioning information range, the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold, and the RSSI value of the Bluetooth signal is weaker than a preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0019] In one embodiment, the method further comprises:

[0020] When valid UWB ranging information of the plurality of ultra-wideband UWB anchor points in the vehicle is not obtained, obtaining an RSSI value of a Bluetooth signal received from the vehicle key;

[0021] When the RSSI value is not weaker than a preset in-vehicle strength value, determining that the vehicle key is in the vehicle;

[0022] When the RSSI value is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0023] In one embodiment, determining whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal includes:

[0024] When the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is less than or equal to a first in-vehicle distance threshold and greater than a second in-vehicle distance threshold, acquiring an RSSI value of the Bluetooth signal, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold;

[0025] Whether the vehicle key is in the vehicle is determined according to the RSSI value of the Bluetooth signal.

[0026] In one embodiment, determining whether the vehicle key is in the vehicle according to the RSSI value of the Bluetooth signal includes:

[0027] When the RSSI value of the Bluetooth signal is not weaker than a preset in-vehicle strength value, determining that the vehicle key is in the vehicle;

[0028] When the RSSI value of the Bluetooth signal is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0029] In a second aspect, the present application also provides a vehicle key positioning device, the device comprising:

[0030] A determination module, used to determine the UWB positioning information of the vehicle key according to the UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle;

[0031] An acquisition module, used to acquire UWB ranging information of a target UWB anchor point in the vehicle, wherein the UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is a UWB anchor point in a common area of ​​the vehicle key in the vehicle among the multiple UWB anchor points;

[0032] A positioning module is used to determine whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point.

[0033] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect or any one of its embodiments is implemented.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the method as described in the first aspect or any one of its embodiments.

[0035] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, performs the method described in the first aspect or any one of its embodiments.

[0036] The above-mentioned vehicle key positioning method, device, computer equipment, storage medium and computer program product determine the UWB positioning information of the vehicle key based on the UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle; obtain the UWB ranging information of the target UWB anchor point in the vehicle, wherein the UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is a UWB anchor point in a common area of ​​the vehicle key in the vehicle among the multiple UWB anchor points; determine whether the vehicle key is in the vehicle based on the UWB positioning information and the UWB ranging information of the target UWB anchor point. Through the above scheme, when judging whether the vehicle key is in the vehicle, the UWB positioning information of the vehicle key determined according to the UWB ranging information of multiple ultra-wideband UWB anchor points and the UWB ranging information of the target UWB anchor point in the common area of ​​the vehicle key are combined for judgment. In this way, when the UWB positioning information is inaccurate due to the influence of the surrounding environment of the vehicle, since the UWB ranging information of the target UWB anchor point is also considered for judgment, it is possible to more accurately judge whether the vehicle key is in the vehicle or outside the vehicle, reduce misjudgment, avoid negative impact on the functional experience, and avoid the problem of the key being locked in the vehicle and making the vehicle unusable. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] FIG1 is a simplified working diagram of a UWB key;

[0039] FIG2 is a schematic diagram of a commonly used vehicle key calibration scheme for the boundary between the inside and outside of the vehicle;

[0040] FIG3 is a schematic diagram of an actual vehicle use scenario;

[0041] FIG4 is a schematic diagram of a process of locating a vehicle key in an embodiment;

[0042] Figure 5AThis is an example diagram of UWB key area division;

[0043] Figure 5B is a schematic flow chart of a vehicle key positioning method in another embodiment;

[0044] FIG6 is a schematic diagram of a flow chart of a vehicle key positioning method in another embodiment;

[0045] FIG7 is a structural block diagram of a vehicle key positioning device in one embodiment;

[0046] FIG. 8 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] With the continuous iteration of vehicle key technology, UWB technology has been widely used in vehicle key solutions. Compared with traditional RF radio frequency keys and Bluetooth keys, UWB technology has a more secure anti-relay attack capability and relatively higher ranging / positioning accuracy. UWB positioning technology can achieve relatively accurate key in-vehicle / out-of-vehicle identification. Under non-line of sight (LOS) conditions, the positioning accuracy can reach ±(6~10)cm.

[0049] The digital key system using UWB technology can provide a non-contact unlocking and starting experience with a good user experience. At the same time, based on the CCC 3.0 (Car Connectivity Consortium) protocol, it can realize non-contact unlocking and starting of the vehicle using a mobile phone. When the mobile phone is out of power, the mobile phone NFC can be used to unlock and start the vehicle, and the remote sharing function of the digital key can be easily realized.

[0050] Figure 1 is a simple working diagram of a UWB key. The vehicle key in Figure 1 can be equipped with a UWB module and a Bluetooth Low Energy (BLE) module. A BLE module can also be set in the board navigation and computing module (BNCM) controller in Figure 1. The BLE module in the vehicle key and the BLE module in the BNCM controller can perform BLE communication. The UWB module of the vehicle key and multiple UWB anchor points distributed on the vehicle side perform ToF ranging. Among them, the multiple UWB anchor points distributed on the vehicle side in Figure 1 include: UWB anchor point A, UWB anchor point B, UWB anchor point C, UWB anchor point D, UWB anchor point E and UWB anchor point F. The UWB anchor points on the vehicle side will each report the ToF distance between themselves and the key UWB module to the BNCM controller, which relies on the built-in positioning algorithm to calculate the key position. The system then performs corresponding logical actions based on the key position, such as turning on the welcome light, unlocking, and starting.

[0051] The relevant logical function of the vehicle key is to use the vehicle's key positioning capability to obtain the key's coordinates relative to the vehicle body coordinate system, so as to determine whether the key (user) has entered a preset functional area. If the key is in the preset functional area, the corresponding action is performed.

[0052] FIG2 is a schematic diagram of a calibration scheme for the boundary between the inside and outside of a commonly used vehicle key. Usually, when calibrating the inside of the vehicle, the key is placed at various locations inside the vehicle, and the ranging data of all UWB anchor points (such as UWB anchor point A, UWB anchor point B, UWB anchor point C, UWB anchor point D, UWB anchor point E and UWB anchor point F shown in FIG2) at each location are collected and recorded. The data is collected, fitted and processed, and organized into an in-vehicle positioning data packet. At the same time, data is collected in a small range outside the vehicle as an overflow range of the in-vehicle area to ensure that the in-vehicle data has no blind spots and covers all areas inside the vehicle, that is, to obtain the in-vehicle positioning information range. Exemplarily, the above-mentioned data collection in a small range outside the vehicle can be performed within a range of about 20 cm outside the vehicle.

[0053] Normally, calibration is performed in a standard and ideal environment. In this environment, no environmental influences are considered, such as walls, human bodies, surrounding vehicles, and various electromagnetic interferences. However, actual vehicle use scenarios often cannot achieve this ideal state. As shown in Figure 3, a schematic diagram of an actual vehicle use scenario is shown. It can be seen from Figure 3 that the environment in which the test vehicle 31 is located will be affected by surrounding vehicles and walls. In this case, TOF reflection and interference will cause the key to be actually in the car, but it will be misjudged as being outside the car, which will lead to a negative impact on the functional experience, and even the key will be locked in the car, making the vehicle unusable.

[0054] In order to solve the above problems, the vehicle key positioning method, device, computer equipment, computer readable storage medium and computer program product provided in the embodiments of the present application can accurately determine whether the vehicle key is inside or outside the vehicle.

[0055] The vehicle key positioning method in the embodiment of the present application can be applied to a computer device, which may be a BNCM controller, an on-board device, a vehicle, etc.

[0056] In an exemplary embodiment, as shown in FIG4 , a flow chart of a vehicle key positioning method in an embodiment is provided. As shown in FIG4 , the method includes but is not limited to the following steps:

[0057] 401. Determine UWB positioning information of the vehicle key according to UWB ranging information of multiple UWB anchor points in the vehicle.

[0058] The UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key.

[0059] In the embodiment of the present application, the vehicle key supports UWB technology and may be provided with a UWB module.

[0060] In some embodiments, the BNCM controller may first obtain the UWB ranging information of each UWB anchor point among multiple UWB anchor points in the vehicle, that is, the ToF distance between the UWB anchor point and the vehicle key measured by each UWB anchor point; then the BNCM controller may calculate the UWB positioning information of the vehicle key based on the UWB ranging information of each UWB anchor point among the multiple UWB anchor points and the positioning algorithm built into the BNCM controller.

[0061] 402. Obtain UWB ranging information of a target UWB anchor point in the vehicle.

[0062] The target UWB anchor point is a UWB anchor point located in a common area of ​​a vehicle key in a vehicle among multiple UWB anchor points.

[0063] In some embodiments, the above-mentioned vehicle key common area can be the front row area of ​​the vehicle. Since vehicle keys are usually carried and used by the driver, if the vehicle key is in the car, it is usually in the front row area of ​​the vehicle. Therefore, in the embodiment of the present application, the UWB ranging information of the target UWB anchor point in the front row area of ​​the vehicle can be collected.

[0064] In some embodiments, the vehicle key frequently used area may also be the area where the driver's seat is located. For example, when the driver's seat is on the left side of the front row, the vehicle key frequently used area may be the left side of the front row.

[0065] In some embodiments, the above-mentioned vehicle key frequently used area may also be other areas in the vehicle, for example, it may be a vehicle key frequently used area determined based on historical vehicle key positioning information.

[0066] In some embodiments, in future vehicles, or in some vehicles with special structures, other areas where vehicle keys appear more frequently can also be defined as common vehicle key areas (for example, the rear area of ​​the vehicle, the driver's seat area, etc.), which is not limited in the embodiments of the present application.

[0067] In some embodiments, the target UWB anchor point may be a UWB anchor point located in a common area of ​​the vehicle key and on the central axis along the length direction of the vehicle. For example, it may be a UWB anchor point E as shown in FIG. 1 .

[0068] 403. Determine whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point.

[0069] In the embodiment of the present application, calibration can be performed using the method shown in FIG. 2 to determine the range of the in-vehicle positioning information.

[0070] In some embodiments, when the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold, it is determined that the vehicle key is outside the vehicle.

[0071] Exemplarily, it is possible to first determine whether the UWB positioning information is outside the calibrated in-vehicle positioning information range. When it is determined that the UWB positioning information is outside the calibrated in-vehicle positioning information range, then determine whether the ranging information of the target UWB anchor point is greater than the first in-vehicle distance threshold. When it is determined that the ranging information of the target UWB anchor point is greater than the first in-vehicle distance threshold, it is determined that the vehicle key is outside the vehicle.

[0072] Exemplarily, it is possible to first determine whether the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold. When it is determined that the ranging information of the target UWB anchor point is greater than the first in-vehicle distance threshold, then determine whether the UWB positioning information is outside the calibrated in-vehicle positioning information range. When it is determined that the UWB positioning information is outside the calibrated in-vehicle positioning information range, determine that the vehicle key is outside the vehicle.

[0073] In some embodiments, when the UWB positioning information is within a calibrated in-vehicle positioning information range, or the ranging information of the target UWB anchor point is less than or equal to a first in-vehicle distance threshold, it is determined that the vehicle key is in the vehicle.

[0074] In some embodiments, when the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is less than or equal to a second in-vehicle distance threshold, it is determined that the vehicle key is in the vehicle.

[0075] Among them, the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold.

[0076] In some embodiments, the first in-vehicle distance threshold and the second in-vehicle distance threshold can be set according to actual conditions, and are not limited in the embodiments of the present application.

[0077] Figure 5A This is an example diagram of UWB key area division. The UWB anchor point E is installed in the front row of the car. The anchor point E is arranged on the central axis in the length direction of the vehicle. The BLE module (also called BLE module) is arranged in other areas of the roof of the car close to the central axis in the length direction of the vehicle, such as Figure 5A A possible arrangement is shown in FIG. V1 is the in-vehicle area divided based on the ranging information of the anchor point E, the middle area between V1 and V2 is the in-vehicle transition area divided based on the ranging information of the anchor point E, and the B1 area is the in-vehicle area divided based on the RSSI strength of the BLE module; Figure 5A The circular area shown in the figure is the interior part of the vehicle in the V1-V2 transition area.

[0078] For example, with the target UWB anchor point as the center point and the first in-vehicle distance threshold as the radius, the above-mentioned Figure 5A The first in-vehicle area V1 is shown, that is, the first in-vehicle distance threshold is the radius of V1.

[0079] For example, with the target UWB anchor point as the center point and the first in-vehicle distance threshold as the radius, the above-mentioned Figure 5A The second in-vehicle area V2 is shown, that is, the radius of the first in-vehicle distance threshold V2.

[0080] The above-mentioned vehicle key positioning method, when judging whether the vehicle key is in the vehicle, combines the UWB positioning information of the vehicle key determined according to the UWB ranging information of multiple ultra-wideband UWB anchor points and the UWB ranging information of the target UWB anchor point in the common area of ​​the vehicle key for judgment. In this way, when the UWB positioning information is inaccurate due to the influence of the vehicle's surrounding environment, since the UWB ranging information of the target UWB anchor point is also considered for judgment, it is possible to more accurately judge whether the vehicle key is in the vehicle or outside the vehicle, thereby reducing misjudgment, avoiding negative impacts on the functional experience, and avoiding the problem of the key being locked in the vehicle and making the vehicle unusable.

[0081] In an exemplary embodiment, Figure 5B As shown, a flow chart of a vehicle key positioning method in another embodiment is provided. Figure 5B The method includes but is not limited to the following steps:

[0082] 501. Determine UWB positioning information of the vehicle key according to UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle.

[0083] 502. Obtain UWB ranging information of the target UWB anchor point in the vehicle.

[0084] The description of the above steps 501 and 502 can refer to the relevant description of the above steps 401 and 402, which will not be repeated here.

[0085] 503. Obtain the RSSI value of the Bluetooth signal received from the vehicle key.

[0086] The vehicle key supports Bluetooth technology. For example, the vehicle key can be provided with a BLE module (also referred to as a BLE module). A BLE module can also be provided in the vehicle, for example, a BLE module is provided in a BNCM controller.

[0087] Among them, the BNCM controller can obtain the RSSI value of the Bluetooth signal received from the vehicle key.

[0088] 504. Determine whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal.

[0089] In some embodiments, when the UWB positioning information is outside the calibrated in-vehicle positioning information range, the ranging information of the target UWB anchor point is greater than the first in-vehicle distance threshold, and the RSSI value of the Bluetooth signal is weaker than a preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0090] It should be noted that the order of judging whether the above-mentioned UWB positioning information is outside the calibrated in-vehicle positioning information range, whether the ranging information of the target UWB anchor point is greater than the first in-vehicle distance threshold, and whether the RSSI value of the Bluetooth signal is weaker than the preset in-vehicle strength value can be arbitrary, that is, these three types of judgments can be performed in any order.

[0091] In some embodiments, when the ranging information of the target UWB anchor point is less than or equal to a first in-vehicle distance threshold and greater than a second in-vehicle distance threshold, the RSSI value of the Bluetooth signal is obtained, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold. According to the RSSI value of the Bluetooth signal and the UWB positioning information, it is determined whether the vehicle key is in the vehicle.

[0092] Exemplarily, the first in-vehicle distance threshold may correspond to the above Figure 5A The second in-vehicle area V2 in the first in-vehicle distance threshold may correspond to the above Figure 5A The first vehicle interior area V1.

[0093] Usually, due to the obstruction of the vehicle body, when the vehicle key is outside the vehicle, the RSSI value of the Bluetooth signal received by the BNCM controller will be smaller, and when the vehicle key is inside the vehicle, the RSSI value of the Bluetooth signal received by the BNCM controller will be larger. Therefore, in the embodiment of the present application, the preset in-vehicle strength value can be set according to the minimum RSSI value when the vehicle key is inside the vehicle.

[0094] In some embodiments, when the RSSI value of the Bluetooth signal is not weaker than a preset in-vehicle strength value, or the UWB positioning information is within a calibrated in-vehicle positioning information range, it is determined that the vehicle key is in the vehicle.

[0095] In some embodiments, when the RSSI value of the Bluetooth signal is weaker than a preset in-vehicle strength value and the UWB positioning information is outside the calibrated in-vehicle positioning information range, it is determined that the vehicle key is outside the vehicle.

[0096] The RSSI value of the Bluetooth signal being not weaker than the preset in-car strength value can be understood as: the RSSI value of the Bluetooth signal being stronger than the preset in-car strength value, or the RSSI value of the Bluetooth signal being equal to the preset in-car strength value.

[0097] The above-mentioned vehicle key positioning method, when the UWB positioning information is inaccurate due to the influence of the vehicle's surrounding environment, takes into account the UWB ranging information of the target UWB anchor point and the RSSI value of the Bluetooth signal for judgment. Therefore, it can more accurately judge whether the vehicle key is inside or outside the vehicle, reduce misjudgment, avoid negative impact on functional experience, and avoid the problem of the key being locked in the vehicle and making the vehicle unusable.

[0098] In an exemplary embodiment, as shown in FIG6 , a flow chart of a vehicle key positioning method in another embodiment is provided. As shown in FIG6 , the method includes but is not limited to the following steps:

[0099] 601. Obtain UWB ranging information of multiple ultra-wideband (UWB) anchor points in the vehicle.

[0100] 602. Determine whether there is valid ranging information of the target UWB anchor point.

[0101] If the target UWB anchor point has valid ranging information, continue to execute the following steps 603 to 605, and then execute step 606 or 607; if the target UWB anchor point does not have valid ranging information, directly execute the following step 606.

[0102] For example, if the UWB anchor point fails or is subject to strong electromagnetic interference, resulting in a large difference between the measured distance value and the actual situation, then such data cannot be regarded as valid ranging information. For another example, if the measurement data is missing key parts or has obvious jumps, it also does not meet the requirements of valid ranging information.

[0103] 603. Determine whether the UWB ranging information of the target UWB anchor point is less than or equal to a second in-vehicle distance threshold.

[0104] If the UWB ranging information of the target UWB anchor point is less than or equal to the second in-vehicle distance threshold, it is determined that the vehicle key is in the vehicle, and the following step 604 is executed; if the UWB ranging information of the target UWB anchor point is greater than the second in-vehicle distance threshold, it means that the vehicle key may be outside the vehicle, and the following step 605 is executed.

[0105] 604. Output information indicating that the vehicle key is located in the vehicle.

[0106] 605. Determine whether the UWB ranging information of the target UWB anchor point is greater than a second in-vehicle distance threshold and less than or equal to a first in-vehicle distance threshold.

[0107] If the UWB ranging information of the target UWB anchor point is greater than the second in-vehicle distance threshold and less than or equal to the first in-vehicle distance threshold, it means that the vehicle key may be in the in-vehicle transition area, and execute the following step 606; if the UWB ranging information of the target UWB anchor point is greater than the first in-vehicle distance threshold, it means that the vehicle key may be outside the vehicle, and execute the following step 607.

[0108] 606. Determine whether the RSSI value of the Bluetooth signal received from the vehicle key is not weaker than a preset in-vehicle strength value.

[0109] In some embodiments, when valid UWB ranging information of the target UWB anchor point is not obtained, the RSSI value of the Bluetooth signal received from the vehicle key is obtained; when the RSSI value is not weaker than the preset in-vehicle strength value, it is determined that the vehicle key is in the vehicle; when the RSSI value is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0110] In some embodiments, if the RSSI value is not weaker than the preset in-car strength value, it means that the signal strength is strong at this time, and the vehicle key is in the car, and the above step 604 is executed; if the RSSI value is weaker than the preset in-car strength value, it means that the signal strength is weak at this time, and the vehicle key may be outside the car, and the following step 607 is executed for further judgment.

[0111] 607. Determine the UWB positioning information of the vehicle key according to the UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle.

[0112] 608. Determine whether the UWB positioning information of the vehicle key is within the calibrated in-vehicle positioning information range.

[0113] If it is determined that the UWB positioning information of the vehicle key is within the calibrated in-vehicle positioning information range, the process returns to execute the above step 604 ; if it is determined that the UWB positioning information of the vehicle key is outside the calibrated in-vehicle positioning information range, the following step 609 is executed.

[0114] 609. Output information indicating that the vehicle key is located outside the vehicle.

[0115] In some embodiments, determining whether the vehicle key is in the vehicle based on UWB positioning information, UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal includes: when the UWB positioning information is outside the calibrated in-vehicle positioning information range, and the ranging information of the target UWB anchor point is less than or equal to a first in-vehicle distance threshold and greater than a second in-vehicle distance threshold, obtaining the RSSI value of the Bluetooth signal, and determining whether the vehicle key is in the vehicle based on the RSSI value of the Bluetooth signal. Wherein, the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold.

[0116] That is to say, the judgment is first made based on the UWB positioning information and the distance measurement information of the target UWB anchor point, and then the judgment is made based on the RSSI value of the Bluetooth signal whether the vehicle key is in the vehicle. When it is judged that the UWB positioning information is outside the calibrated in-vehicle positioning information range, and the distance measurement information of the target UWB anchor point is less than or equal to the first in-vehicle distance threshold and greater than the second in-vehicle distance threshold, it is determined whether the vehicle key is in the vehicle based on the RSSI value of the Bluetooth signal.

[0117] Among them, when the RSSI value is not weaker than the preset in-vehicle strength value, it is determined that the vehicle key is in the vehicle; when the RSSI value is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0118] The above-mentioned vehicle key positioning method is based on the UWB positioning information determined based on multiple UWB anchor points, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal to judge whether the vehicle key is inside or outside the vehicle. Therefore, it can more accurately judge whether the vehicle key is inside or outside the vehicle, reduce misjudgment, avoid negative impact on functional experience, and avoid the problem of the key being locked in the car and making the vehicle unusable.

[0119] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0120] Based on the same inventive concept, the embodiment of the present application also provides a vehicle key positioning device for implementing the vehicle key positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle key positioning device embodiments provided below can refer to the limitations of the vehicle key positioning method above, and will not be repeated here.

[0121] In an exemplary embodiment, as shown in FIG7 , a structural block diagram of a vehicle key positioning device is provided, including:

[0122] The determination module 701 is used to determine the UWB positioning information of the vehicle key according to the UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle;

[0123] An acquisition module 702 is used to acquire UWB ranging information of a target UWB anchor point in the vehicle, wherein the UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is a UWB anchor point in a common area of ​​the vehicle key in the vehicle among the multiple UWB anchor points;

[0124] The positioning module 703 is used to determine whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point.

[0125] In one embodiment, the acquisition module 702 is further used to: acquire a received signal strength indication RSSI value of the Bluetooth signal received from the vehicle key;

[0126] The positioning module 703 is specifically configured to determine whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal.

[0127] In one embodiment, the positioning module 703 is specifically used to determine that the vehicle key is outside the vehicle when the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold; or, when the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is less than or equal to a second in-vehicle distance threshold, determine that the vehicle key is in the vehicle, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold.

[0128] In one embodiment, the positioning module 703 is further configured to obtain an RSSI value of a Bluetooth signal received from the vehicle key when valid UWB ranging information of the target UWB anchor point is not obtained;

[0129] When the RSSI value is not weaker than a preset in-vehicle strength value, determining that the vehicle key is in the vehicle;

[0130] When the RSSI value is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0131] In one embodiment, the positioning module 703 is specifically used to: when the UWB positioning information is outside the calibrated in-vehicle positioning information range, and the ranging information of the target UWB anchor point is less than or equal to a first in-vehicle distance threshold and greater than a second in-vehicle distance threshold, obtain the RSSI value of the Bluetooth signal, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold;

[0132] Whether the vehicle key is in the vehicle is determined according to the RSSI value of the Bluetooth signal.

[0133] In one embodiment, the positioning module 703 is specifically configured to:

[0134] When the RSSI value of the Bluetooth signal is not weaker than a preset in-vehicle strength value, determining that the vehicle key is in the vehicle;

[0135] When the RSSI value of the Bluetooth signal is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0136] Each module in the above vehicle key locating device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0137] In an exemplary embodiment, a computer device is provided, which may be a vehicle-mounted device, a BNCM controller, etc., and its internal structure diagram may be shown in FIG8. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle key positioning method is implemented.

[0138] Those skilled in the art will understand that the structure shown in FIG. 8 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0139] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0140] Determine the UWB positioning information of the vehicle key based on the UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle;

[0141] Acquire UWB ranging information of a target UWB anchor point in the vehicle, wherein the UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is a UWB anchor point in a common area of ​​the vehicle key in the vehicle among the multiple UWB anchor points;

[0142] Determine whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point.

[0143] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0144] Obtaining a received signal strength indication RSSI value of a Bluetooth signal received from the vehicle key;

[0145] It is determined whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal.

[0146] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0147] The determining whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point includes:

[0148] When the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold, it is determined that the vehicle key is outside the vehicle.

[0149] In one of the embodiments, in one of the embodiments, when the processor executes the computer program, the following steps are also implemented:

[0150] The determining whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal includes:

[0151] When the UWB positioning information is outside the calibrated in-vehicle positioning information range, the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold, and the RSSI value of the Bluetooth signal is weaker than a preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

[0152] In one of the embodiments, in one of the embodiments, when the processor executes the computer program, the following steps are also implemented:

[0153] The determining whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal includes:

[0154] When the ranging information of the target UWB anchor point is less than or equal to a first in-vehicle distance threshold and greater than a second in-vehicle distance threshold, acquiring an RSSI value of the Bluetooth signal, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold;

[0155] Whether the vehicle key is in the vehicle is determined according to the RSSI value of the Bluetooth signal and the UWB positioning information.

[0156] In one of the embodiments, in one of the embodiments, when the processor executes the computer program, the following steps are also implemented:

[0157] The determining whether the vehicle key is in the vehicle according to the RSSI value of the Bluetooth signal and the UWB positioning information includes:

[0158] When the RSSI value of the Bluetooth signal is not weaker than a preset in-vehicle strength value, or the UWB positioning information is within a calibrated in-vehicle positioning information range, it is determined that the vehicle key is in the vehicle;

[0159] When the RSSI value of the Bluetooth signal is weaker than the preset in-vehicle strength value and the UWB positioning information is outside the calibrated in-vehicle positioning information range, it is determined that the vehicle key is outside the vehicle.

[0160] In an exemplary embodiment, a vehicle is provided. The vehicle includes the above-mentioned computer device or vehicle key locating apparatus.

[0161] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned vehicle key locating method is implemented.

[0162] In one embodiment, a computer program product is provided, comprising a computer program, which implements the above-mentioned vehicle key positioning method when executed by a processor.

[0163] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0164] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle key positioning method, characterized in that: The method comprises: Determine the UWB positioning information of the vehicle key based on the UWB ranging information of multiple ultra-wideband UWB anchor points in the vehicle; Acquire UWB ranging information of a target UWB anchor point in the vehicle, wherein the UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is a UWB anchor point in a common area of ​​the vehicle key in the vehicle among the multiple UWB anchor points; Determine whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining a received signal strength indication RSSI value of a Bluetooth signal received from the vehicle key; The determining whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point includes: It is determined whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal.

3. The method according to claim 1, characterized in that The determining whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point includes: When the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is greater than a first in-vehicle distance threshold, determining that the vehicle key is outside the vehicle; or, When the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is less than or equal to a second in-vehicle distance threshold, it is determined that the vehicle key is in the vehicle, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold.

4. The method according to claim 1, characterized in that: The method further comprises: When the valid UWB ranging information of the target UWB anchor point is not obtained, obtaining the RSSI value of the Bluetooth signal received from the vehicle key; When the RSSI value is not weaker than a preset in-vehicle strength value, determining that the vehicle key is in the vehicle; When the RSSI value is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

5. The method according to claim 2, characterized in that: The determining whether the vehicle key is in the vehicle according to the UWB positioning information, the UWB ranging information of the target UWB anchor point, and the RSSI value of the Bluetooth signal includes: When the UWB positioning information is outside the calibrated in-vehicle positioning information range and the ranging information of the target UWB anchor point is less than or equal to a first in-vehicle distance threshold and greater than a second in-vehicle distance threshold, acquiring an RSSI value of the Bluetooth signal, wherein the first in-vehicle distance threshold is greater than the second in-vehicle distance threshold; Whether the vehicle key is in the vehicle is determined according to the RSSI value of the Bluetooth signal.

6. The method according to claim 5, characterized in that The step of determining whether the vehicle key is in the vehicle according to the RSSI value of the Bluetooth signal includes: When the RSSI value of the Bluetooth signal is not weaker than a preset in-vehicle strength value, determining that the vehicle key is in the vehicle; When the RSSI value of the Bluetooth signal is weaker than the preset in-vehicle strength value, it is determined that the vehicle key is outside the vehicle.

7. A vehicle key positioning device, characterized in that: The device comprises: A determination module, used to determine the UWB positioning information of the vehicle key according to the UWB ranging information of multiple UWB anchor points in the vehicle; An acquisition module, used to acquire UWB ranging information of a target UWB anchor point in the vehicle, wherein the UWB ranging information is used to indicate the distance between the UWB anchor point and the vehicle key, and the target UWB anchor point is a UWB anchor point in a common area of ​​the vehicle key in the vehicle among the multiple UWB anchor points; A positioning module is used to determine whether the vehicle key is in the vehicle according to the UWB positioning information and the UWB ranging information of the target UWB anchor point.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. 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 according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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