Key positioning method, device and equipment based on signal intensity and storage medium

Abstract

The invention provides a key positioning method and device based on signal intensity, equipment and a storage medium. The method comprises the steps that signal intensity values of target signals received by multiple signal receiving equipment on a vehicle are acquired; for any signal intensity value, screening out at least one target first signal intensity value and a target coordinate position corresponding to each target first signal intensity value from a database, wherein the similarity between the target first signal intensity value and the signal intensity value meets a preset similarity requirement; constructing a first position set and a first similarity set corresponding to the signal intensity values; taking an intersection of a plurality of first position sets respectively corresponding to the plurality of signal intensity values to obtain a second position set; constructing a second similarity set corresponding to the second position set based on a plurality of first similarity sets respectively corresponding to the plurality of signal intensity values; and determining a positioning area of the digital car key based on the second position set and the second similarity set. According to the embodiment of the invention, the key positioning accuracy can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of positioning technology, and in particular to a key positioning method, device, equipment and storage medium based on signal strength. Background Art

[0002] With the continuous development of the smart technology industry, the process of vehicle intelligence and networking has been accelerated. Car keys have gone through the iteration of mechanical keys, remote control radio frequency keys to PEPS (Passive Entry Passive Start) digital keys, and more and more vehicles are equipped with digital car keys. Digital car keys control vehicles based on digital signals. They can unlock vehicles or perform other operations without using mechanical keys or any operations. The carrier can be a mobile communication device such as a mobile phone, watch or bracelet.

[0003] At present, Bluetooth Low Energy (BLE) technology has become the preferred wireless technology for digital car keys due to its ubiquity, low cost and low power consumption. The Bluetooth key positioning system mainly uses the on-board Bluetooth module to detect the signal strength value (Receive Signal Strength Indicator, RSSI) of the BLE digital key to estimate the position of the key relative to the vehicle, and then generate a corresponding vehicle control request.

[0004] At present, the main Bluetooth positioning method is the fingerprint positioning method. In specific applications, this method cannot eliminate data with large deviations in positioning due to the fixed k value, resulting in low positioning accuracy of digital keys. For example, when the k value is too small, the algorithm may be affected by noise and outliers, resulting in reduced positioning accuracy; when the k value is too large, those truly representative signal features may be ignored, making the positioning result inaccurate. Therefore, choosing a suitable k value is crucial to improving the performance of the positioning system. Summary of the invention

[0005] In view of this, the present disclosure proposes a key positioning method, device, equipment and storage medium based on signal strength to solve the problem of low positioning accuracy of digital keys existing in the related art.

[0006] The first aspect of the present disclosure provides a key positioning method based on signal strength, the method comprising:

[0007] Acquire signal strength values ​​of target signals received by multiple signal receiving devices on a vehicle; the target signal is sent by a digital vehicle key matched with the vehicle;

[0008] For any one of the multiple signal strength values, at least one target first signal strength value whose similarity with the signal strength value meets a preset similarity requirement, and a target coordinate position corresponding to each target first signal strength value are screened out from a database; the database includes the coordinate positions of multiple calibration points, and multiple first signal strength values ​​corresponding to each calibration point; each first signal strength value refers to the strength value of a target signal sent by a digital car key located at a corresponding calibration point when received by a corresponding signal receiving device;

[0009] Constructing a first position set and a first similarity set corresponding to the signal strength value; the first position set includes at least one target coordinate position corresponding to the at least one target first signal strength value; the first similarity set includes the similarity between the signal strength value and the at least one target first signal strength value;

[0010] Taking the intersection of a plurality of first position sets corresponding to the plurality of signal strength values ​​respectively, to obtain a second position set; the second position set includes at least one common target coordinate position;

[0011] Based on a plurality of first similarity sets respectively corresponding to the plurality of signal strength values, a second similarity set corresponding to the second position set is constructed; the second similarity set includes a plurality of second similarities; each second similarity refers to a target first similarity corresponding to each common target coordinate position in each first similarity set;

[0012] Based on the second position set and the second similarity set, a positioning area of ​​the digital car key is determined.

[0013] The disclosed embodiment obtains a second position set by taking the intersection of multiple first position sets corresponding to multiple signal strength values, constructs a second similarity set corresponding to the second position set based on multiple first similarity sets corresponding to the multiple signal strength values, and determines the positioning area of ​​the digital car key based on the second position set and the second similarity set, thereby greatly improving the accuracy of key positioning.

[0014] In the embodiment of the present disclosure, before screening out from the database at least one target first signal strength value whose similarity with the signal strength value meets the preset similarity requirement, and the target coordinate position corresponding to each target first signal strength value, the method further includes:

[0015] According to the magnitude of the signal strength values, the plurality of first signal strength values ​​are sorted from large to small;

[0016] Filter out a plurality of second signal strength values ​​whose signal strength values ​​are less than a preset value from the sorted plurality of first signal strength values;

[0017] The first k signal strength values ​​are screened out from the multiple second signal strength values, and the k signal strength values ​​are used as the multiple signal strength values; wherein the value of k is determined by the number of signal receiving devices on the vehicle.

[0018] In the embodiment of the present disclosure, after obtaining the second position set, the method further includes:

[0019] If the second position set is empty, and k is greater than or equal to a first preset number, filtering out first k-1 signal strength values ​​from the plurality of second signal strength values;

[0020] The k-1 signal strength values ​​are used as the multiple signal strength values, and the step of screening out from the database at least one target first signal strength value whose similarity with any one of the multiple signal strength values ​​meets a preset similarity requirement is repeated until the second position set is a non-empty set.

[0021] In an embodiment of the present disclosure, the method further includes:

[0022] If the second position set is empty and k is less than the first preset number, the k signal strength values ​​are used as the multiple signal strength values, and the step of screening out from the database at least one target first signal strength value whose similarity with any one of the multiple signal strength values ​​meets a preset similarity requirement is repeated until the second position set is a non-empty set; wherein the preset similarity requirement is a second similarity requirement.

[0023] In an embodiment of the present disclosure, constructing a second similarity set corresponding to the second position set based on a plurality of first similarity sets respectively corresponding to the plurality of signal strength values ​​includes:

[0024] For any one of the at least one shared target coordinate position, select a target first similarity corresponding to the shared target coordinate position from each first similarity set to obtain a plurality of target first similarities corresponding to the shared target coordinate position;

[0025] The target first similarity is used as the second similarity, and the second similarity set is constructed according to the multiple second similarities.

[0026] In the embodiment of the present disclosure, the second similarity set includes a plurality of second sub-similarity sets corresponding one-to-one to a plurality of signal receiving devices; each second sub-similarity set includes a plurality of second similarities;

[0027] Determining the location area of ​​the digital car key based on the second position set and the second similarity set includes:

[0028] For any one of the plurality of signal receiving devices, based on the target coordinate position shared by the signal receiving device and the at least one target, filter out at least one target second similarity from the second similarity set;

[0029] Based on the at least one target second similarity, calculating at least one first weighting coefficient corresponding one-to-one to the at least one common target coordinate position;

[0030] Based on the at least one common target coordinate position and the first weighting coefficient corresponding to each common target coordinate position, the target secondary position corresponding to the signal receiving device is calculated to obtain multiple target secondary positions corresponding to multiple signal receiving devices.

[0031] In the embodiment of the present disclosure, after obtaining a plurality of target secondary positions corresponding to a plurality of signal receiving devices, the method further includes:

[0032] Based on the multiple target sub-positions and the second weighting coefficient corresponding to each target sub-position, the final target position of the digital car key is calculated; wherein each second weighting coefficient is calculated based on the second similarity corresponding to each target sub-position.

[0033] In an embodiment of the present disclosure, the method further includes:

[0034] According to the final target position and the dimensions of the vehicle in all directions, the position area of ​​the digital vehicle key relative to the vehicle and the shortest distance from the position of the digital vehicle key to the vehicle body are determined.

[0035] In an embodiment of the present disclosure, the method further includes:

[0036] Performing a validity check on the final target location according to the location area, the shortest distance, and the sorting result of the plurality of first signal strength values;

[0037] If the validity check passes, the final target position and the corresponding position validity mark are output;

[0038] If the validity check fails, an invalid position flag is output.

[0039] An embodiment of a second aspect of the present disclosure provides a key positioning device based on signal strength, comprising:

[0040] A signal strength value acquisition module, used to acquire signal strength values ​​of target signals received by multiple signal receiving devices on a vehicle; the target signal is sent by a digital car key matched with the vehicle;

[0041] A data screening module, for screening, for any one of a plurality of signal strength values, at least one target first signal strength value whose similarity with the signal strength value meets a preset similarity requirement, and a target coordinate position corresponding to each target first signal strength value from a database; the database includes coordinate positions of a plurality of calibration points, and a plurality of first signal strength values ​​corresponding to each calibration point; each first signal strength value refers to a strength value of a target signal sent by a digital car key located at a corresponding calibration point when received by a corresponding signal receiving device;

[0042] A set construction module, configured to construct a first position set and a first similarity set corresponding to the signal strength value; the first position set includes at least one target coordinate position corresponding to the at least one target first signal strength value; the first similarity set includes the similarity between the signal strength value and the at least one target first signal strength value;

[0043] An intersection processing module, used for taking the intersection of a plurality of first position sets corresponding to the plurality of signal strength values ​​respectively, to obtain a second position set; the second position set includes at least one common target coordinate position;

[0044] A second similarity set construction module is used to construct a second similarity set corresponding to the second position set based on a plurality of first similarity sets corresponding to the plurality of signal strength values ​​respectively; the second similarity set includes a plurality of second similarities; each second similarity refers to a target first similarity corresponding to each common target coordinate position in each first similarity set;

[0045] A positioning area determination module is used to determine the positioning area of ​​the digital car key based on the second position set and the second similarity set.

[0046] An embodiment of the third aspect of the present disclosure provides an electronic device, which includes a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the signal strength-based key positioning method described in the first aspect by executing the computer instructions.

[0047] An embodiment of the fourth aspect of the present disclosure provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute the key positioning method based on signal strength described in the first aspect.

[0048] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will become apparent from the following description or be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limitations of the present disclosure. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings.

[0050] In the attached picture:

[0051] Figure 1 A schematic diagram of a flow chart of a key positioning method based on signal strength provided by an embodiment of the present disclosure is shown;

[0052] Figure 2 A schematic diagram showing the installation position of a signal receiving device provided by an embodiment of the present disclosure;

[0053] Figure 3 A schematic diagram showing the calibration of calibration points provided by an embodiment of the present disclosure is shown;

[0054] Figure 4 A schematic diagram showing a location area of ​​a digital car key provided by an embodiment of the present disclosure relative to a vehicle;

[0055] Figure 5 A schematic structural diagram of a key positioning device based on signal strength provided by an embodiment of the present disclosure is shown;

[0056] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure is shown;

[0057] Figure 7 A schematic diagram of a storage medium provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0058] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0059] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present disclosure should have the common meanings understood by those skilled in the art to which the present disclosure belongs.

[0060] The following describes the technical scenarios involved in the embodiments of the present disclosure.

[0061] At present, the main Bluetooth positioning methods are based on signal propagation models and signal location fingerprints. The positioning method based on the signal propagation model uses geometric principles to achieve target positioning. It has simple logic, low complexity, and no offline data collection. However, it is easily affected by the environment, which makes the universality of this method worse. The positioning method based on signal location fingerprint uses the signal strength collected offline as fingerprint data to achieve positioning, which is more reliable than the signal propagation model. The commonly used fingerprint positioning method is the k-nearest neighbor algorithm, but since the k value is fixed in the application, it is impossible to eliminate data with large deviations; in order to improve the accuracy of fingerprint positioning, the machine learning model is used to extract features from fingerprint data and online data, which effectively improves the positioning accuracy, but machine learning requires a large amount of data and has high system complexity, which is not conducive to the real-time and efficiency of vehicle-side applications.

[0062] With the replacement of vehicles, the upgrade of digital car keys and the complexity and diversification of application scenarios, the common location fingerprint positioning method cannot eliminate data with large errors, affecting the positioning accuracy and overall operating speed.

[0063] To solve the above problems, the present invention provides a positioning method based on Bluetooth signal strength, through which the positioning accuracy of digital car keys is improved and the user experience is optimized.

[0064] According to an embodiment of the present disclosure, an embodiment of a key positioning method based on signal strength is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0065] In this embodiment, a key positioning method based on signal strength is provided. Figure 1 is a flow chart of a key positioning method based on signal strength according to an embodiment of the present disclosure, such as Figure 1 As shown, the process includes the following steps:

[0066] Step S101, obtaining signal strength values ​​of target signals received by multiple signal receiving devices on a vehicle.

[0067] In the disclosed embodiment, the signal receiving device may be understood as a BLE (Bluetooth Low Energy) module, which is used to receive a target signal sent by a digital car key matching the vehicle and located in the area to be located. A number of signal receiving devices may be installed on the vehicle, and the specific number and specific installation location of the signal receiving devices may be set according to actual conditions. The specific number is generally greater than or equal to 4, and the specific installation location is, for example, Figure 2 The target signal strength value may be represented by a RSSI value (Receive Signal Strength Indicator, RSSI).

[0068] In some specific embodiments, the signal strength values ​​of all signal receiving devices on the vehicle within a preset time can be obtained, for example: the RSSI values ​​of all APs within 100ms; after receiving all the signal strength values, all RSSI values ​​can be organized into a one-dimensional vector according to the preset order of signal receiving devices, namely, the RSSI vector; wherein the RSSI value takes an absolute value, for example: the preset order of signal receiving devices is AP0-AP1-AP2-AP3-AP4, then the one-dimensional vector is: RSSI = {RSSI0, RSSI1, RSSI2, RSSI3, RSSI4}.

[0069] In some specific embodiments, the obtained multiple signal strength values, namely RSSI vectors, are preprocessed to ensure the stability and real-time performance of the multiple first signal strength values. The preprocessing is specifically as follows:

[0070] Each RSSI vector is judged. If the signal receiving device is far away from the digital car key or cannot scan the target signal, the signal strength value (ie RSSI value) of the target signal received by the signal receiving device is replaced with 90 to form a new RSSI vector.

[0071] The new RSSI vector is smoothed and denoised. After experimental testing, 19 consecutive groups of RSSI vectors are selected. The new data is placed at the end of each measurement. The data with RSSI value equal to 90 is removed. The maximum and minimum values ​​of the remaining data are calculated. The maximum and minimum values ​​are subtracted. If the difference is greater than the threshold, the median of the remaining data is taken as the latest data; if the difference is less than the threshold, it remains unchanged. Then Gaussian filtering is performed, with the new value accounting for a large proportion and the old value accounting for a small proportion. The pre-processed RSSI vector rssi={rssi1,rssi2,…,rssi n}, improve the stability and real-time performance of the online RSSI vector.

[0072] In some specific embodiments, before step S102, the method includes steps a1 to a3:

[0073] Step a1: sorting the plurality of first signal strength values ​​from large to small according to the signal strength values.

[0074] In the disclosed embodiment, in the RSSI value, the closer the value is to 0, the stronger the signal is; the smaller the value (i.e., the larger the negative value), the weaker the signal is. Among them, a strong signal is approximately between -30dBm and -70dBm. A medium signal may be between -71dBm and -90dBm. A weak signal is usually below -91dBm. The sorted multiple first signal strength values ​​can be expressed by the following formula:

[0075] rssi′={rssi1',rssi'2,…,rssi' n}

[0076] Among them, rssi'1≤rssi'2,…≤rssi' n , each rssi′ is the result of taking the absolute value.

[0077] Step a2: Filter out a plurality of second signal strength values ​​whose signal strength values ​​are less than a preset value from the sorted plurality of first signal strength values.

[0078] In the disclosed embodiment, a signal greater than 90 dBm is judged as a weak signal, so the preset value can be set to 90 dBm. m second signal strength values ​​are selected from n first signal strength values, and the size of m depends on the number of second signal strength values ​​whose signal strength values ​​are less than the preset value. If m = 0, the current positioning calculation ends and an invalid position flag is output.

[0079] Step a3: Filter out first k signal strength values ​​from the multiple second signal strength values, and use the k signal strength values ​​as the multiple signal strength values.

[0080] In the embodiment of the present disclosure, the value of k is determined by the number of signal receiving devices on the vehicle, and it is necessary to ensure that the number of visible signal receiving devices in different directions of the vehicle body is not less than two, that is, k≥2. For example, when the number of signal receiving devices n=4, k=2, and when n=5, k=3. Furthermore, if k≤m, k remains unchanged; if k>m, k=m+1.

[0081] Step S102, for any one of the multiple signal strength values, screen out from a database at least one target first signal strength value whose similarity with the signal strength value meets a preset similarity requirement, and a target coordinate position corresponding to each target first signal strength value.

[0082] In some specific embodiments, the database includes the coordinate positions of multiple calibration points and multiple first signal strength values ​​corresponding to each calibration point, each first signal strength value refers to the strength value of the target signal sent by the digital car key located at the corresponding calibration point when the corresponding signal receiving device receives the signal. For example, as shown in the following formula:

[0083]

[0084] Among them, F N represents the above database, N represents the number of calibration points, n represents the corresponding signal receiving device, θ is the polar angle in the position coordinate, r is the polar diameter in the position coordinate, θ N and r N Indicates the coordinate position of the calibration point N, It indicates the strength value of the target signal sent by the digital car key located at the calibration point N and received by the signal receiving device n.

[0085] In some specific embodiments, the database is constructed by the following steps:

[0086] Multiple signal receiving devices are set on the experimental vehicle, and multiple calibration points are set around the experimental vehicle. At each calibration point, a digital car key matching the experimental vehicle is used to send a target signal to the experimental vehicle. The signal strength value of the target signal received by each signal receiving device on the experimental vehicle is detected, and the coordinate position of the calibration point is recorded at the same time. The coordinate position can be in polar coordinates; and a database is established based on this.

[0087] In the embodiment of the present disclosure, the number of calibration points set around the experimental vehicle can be determined in the following manner: Figure 3 , with the center of the car body as the center, establish multiple concentric circles on the periphery of the car body. The widths of the concentric circles are equal or unequal. The concentric circles are divided into equal angles, and the intersection of the dividing line and the arc is the calibration point. The number of calibration points can be adjusted by the angle size and the number of concentric circles, which is determined according to the actual application.

[0088] In the embodiment of the present disclosure, in the process of detecting the signal strength value of the target signal received by each signal receiving device on the experimental vehicle, the signal strength values ​​collected within a certain period of time are removed from the beginning and the end, and the three-fold mean error method is used to eliminate the data with large deviations from the remaining data. Then, the average value of the remaining data is calculated as the fingerprint vector of the point, and finally a database after error processing is obtained.

[0089] In some specific embodiments, the above step S102 is described by the following specific examples:

[0090] When multiple signal strength values ​​are obtained, that is: rssi′={rssi1′,rssi′2,…,rssi′ n}, first determine multiple first signal strength values ​​corresponding to the signal receiving device 1 from the database, that is:

[0091]

[0092] Then, similarity calculation is performed between the signal strength value rssi'1 of the target signal received by the signal receiving device 1 and the above-mentioned multiple first signal strength values ​​respectively;

[0093] Finally, at least one target first signal strength value whose similarity meets the preset similarity requirement and the target coordinate position corresponding to each target first signal strength value are screened out. For example, when the target first signal strength value includes and When , the corresponding target coordinate positions include: The corresponding θ1 and r1, and The corresponding θ N and r N .

[0094] The preset similarity requirements include the following formulas (1) and (2). When the similarity satisfies both formulas (1) and (2), it is considered to satisfy the preset similarity requirements.

[0095]

[0096] In the formula, i=1,2…k, j=1,2…N, σ1 and σ2 control the width between the concentric circles, and the size can be continuously adjusted according to the density of the marking points and the actual application effect.

[0097] The above method is repeatedly executed to filter out from the database at least one target first signal strength value whose similarity with the signal strength value meets the preset similarity requirement, and the target coordinate position corresponding to each target first signal strength value.

[0098] Step S103: construct a first position set and a first similarity set corresponding to the signal strength values.

[0099] In an embodiment of the present disclosure, a first position set and a first similarity set can be constructed based on at least one target first signal strength value screened out in step S102, and the target coordinate position corresponding to each target first signal strength value; wherein the first position set includes at least one target coordinate position corresponding one-to-one to the at least one target first signal strength value; and the first similarity set includes the similarities between the signal strength values ​​and the at least one target first signal strength value.

[0100] Step S104: Taking the intersection of a plurality of first position sets corresponding to the plurality of signal strength values ​​to obtain a second position set.

[0101] Specifically, the second position set includes at least one common target coordinate position.

[0102] In some specific embodiments, after the above step S104, the method further includes steps b1 to b4:

[0103] Step b1: If the second position set is empty and k is greater than or equal to a first preset number, first k-1 signal strength values ​​are filtered out from the multiple second signal strength values.

[0104] The first preset number includes but is not limited to 3, that is, when k≥3, the first two signal strength values ​​are screened out from the multiple second signal strength values.

[0105] Step b2, taking the k-1 signal strength values ​​as the multiple signal strength values, repeatedly performing the step of screening out from the database at least one target first signal strength value whose similarity with the signal strength value meets the preset similarity requirement for any one of the multiple signal strength values, until the second position set is a non-empty set.

[0106] Step b3: If the second position set is empty and k is less than the first preset number, the k signal strength values ​​are used as the multiple signal strength values, and the step of screening out from the database at least one target first signal strength value whose similarity with the signal strength value meets the preset similarity requirement for any one of the multiple signal strength values ​​is repeated until the second position set is a non-empty set; wherein the preset similarity requirement is the second similarity requirement.

[0107] Among them, the second similarity requirement can be understood as the following inequality:

[0108]

[0109] Step S105: construct a second similarity set corresponding to the second position set based on a plurality of first similarity sets respectively corresponding to the plurality of signal strength values.

[0110] Specifically, the second similarity set includes a plurality of second similarities; each second similarity refers to a target first similarity corresponding to each common target coordinate position in each first similarity set.

[0111] In some specific embodiments, the above step S105 includes step S1051-step S1052:

[0112] Step S1051, for any one of the at least one shared target coordinate position, select the target first similarity corresponding to the shared target coordinate position from each first similarity set to obtain multiple target first similarities corresponding to the shared target coordinate position.

[0113] In the embodiment of the present disclosure, in the process of screening out the target first similarity, the target first signal strength value corresponding to the common target coordinate position can be first screened out from the first position set; then, the similarity corresponding to the target first signal strength value is screened out from the first similarity set, and the similarity is used as the target first similarity.

[0114] Step S1052: taking the target first similarity as a second similarity, and constructing the second similarity set according to multiple second similarities.

[0115] Step S106: determining a positioning area of ​​the digital car key based on the second position set and the second similarity set.

[0116] In some specific embodiments, the second similarity set includes a plurality of second sub-similarity sets corresponding one-to-one to a plurality of signal receiving devices; each second sub-similarity set includes a plurality of second similarities; the above step S106 includes steps S1061 to S1064:

[0117] Step S1061 : for any one of the plurality of signal receiving devices, based on the target coordinate position shared by the signal receiving device and the at least one target, select at least one target second similarity from the second similarity set.

[0118] Specifically, the second similarity set Dis t×k Includes t×k second similarities, for example: Dis 1×2 Indicates the second similarity corresponding to the first common target coordinate position and the second signal receiving device. Thus, at least one target second similarity corresponding to the common target coordinate position and the signal receiving device can be screened out from the second similarity set.

[0119] Step S1062: Based on the at least one target second similarity, calculate at least one first weighting coefficient corresponding to the at least one common target coordinate position.

[0120] Specifically, the first weighting coefficient can be calculated by the following formula:

[0121]

[0122] in, represents the first weighting coefficient, Represents the second similarity of the target corresponding to the target coordinate position shared by the i-th signal receiving device and the t-th signal receiving device.

[0123] Step S1063, based on the at least one common target coordinate position and the first weighting coefficient corresponding to each common target coordinate position, calculate the target secondary position corresponding to the signal receiving device to obtain multiple target secondary positions corresponding to multiple signal receiving devices.

[0124] Specifically, each common target coordinate position and its corresponding first weighting coefficient can be weighted and summed to obtain the target secondary position corresponding to the signal receiving device in the following manner; finally, a corresponding number of multiple target secondary positions are determined according to the number of signal receiving devices.

[0125]

[0126] Among them, P i Indicates the target location, Loc t Indicates the common target coordinate position, represents the corresponding first weighting coefficient.

[0127] Step S1064: Calculate the final target position of the digital car key based on the multiple target sub-positions and the second weighting coefficient corresponding to each target sub-position.

[0128] Specifically, the final target position of the digital car key can be calculated according to the following formula (5), multiple target sub-positions, and the second weighting coefficient corresponding to each target sub-position. Each second weighting coefficient is calculated according to the second similarity corresponding to each target sub-position, such as shown in the following formula (4):

[0129]

[0130] In some specific embodiments, the method further comprises:

[0131] According to the final target position and the dimensions of the vehicle in all directions, the position area of ​​the digital vehicle key relative to the vehicle and the shortest distance from the position of the digital vehicle key to the vehicle body are determined.

[0132] In the disclosed embodiment, the location area of ​​the digital car key relative to the vehicle can be determined according to the final target location, for example Figure 4 As shown, it includes: a front welcome area, a rear welcome area, a left welcome area, a right welcome area, a front unlocking area, a rear unlocking area, a left unlocking area and a right unlocking area.

[0133] In the disclosed embodiment, the distance from the position of the digital car key to the center point of the vehicle can be determined based on the final target position, and then the shortest distance, that is, the distance from the position of the digital car key to the vehicle contour line, can be obtained based on the distance from the position of the digital car key to the vehicle center point and the size of the vehicle in each direction. For example: the distance from the position of the digital car key to the vehicle contour line is obtained by subtracting the length of the vehicle in that direction from the position of the digital car key.

[0134] In some specific embodiments, after obtaining the shortest distance, the method further includes:

[0135] According to the shortest distance obtained, a sliding window of fixed size is set, and the Kalman filter is used in the window to smooth the distance, wherein the filter parameters Q=0.1, R=30, P=1000, and the parameter values ​​can be adjusted according to the actual test results. The distance from the digital car key to the car body is obtained after filtering, thereby further improving the accuracy of the digital car key position estimation.

[0136] In some specific embodiments, the method further comprises:

[0137] Step c1, performing a validity check on the final target location according to the location area, the shortest distance, and the sorting result of the plurality of first signal strength values;

[0138] Step c2: if the validity check passes, output the final target position and the corresponding position validity mark;

[0139] Step c3: if the validity check fails, an invalid position flag is output.

[0140] In the above steps c1 to c3, the validity check can be reflected in the following steps: obtain the sorting results of multiple first signal strength values ​​through step a1, and judge the direction area of ​​the digital car key relative to the vehicle; at the same time, use the shortest distance obtained in the above embodiment to obtain the distance area of ​​the digital car key relative to the vehicle; compare the direction area and the distance area with the position area of ​​the digital car key relative to the vehicle determined in the above embodiment; if both are the same, output the final position and the valid position mark; if the direction areas are the same and the distance areas are different, it is judged as an abnormal area and eliminated, and the invalid position mark is output; if the direction areas are different and the distance areas are the same, the current distance position and the last direction position are output, and the valid position mark is output; if both are different, the invalid position mark is directly output.

[0141] In some specific embodiments, the similarity is calculated in a manner including but not limited to Euclidean distance; the coordinate positions of the calibration points in the database include but are not limited to being expressed in polar coordinates.

[0142] The embodiments of the present disclosure have the following technical effects:

[0143] (1) Reduce environmental impact and improve positioning robustness;

[0144] (2) Improve the positioning accuracy and stability of digital car keys and enhance user experience;

[0145] (3) Improve the overall system operation speed while ensuring accuracy.

[0146] Corresponding to the implementation of the above key positioning method based on signal strength, the embodiment of the present disclosure also provides a key positioning device based on signal strength, which is used to implement the above Figures 1 to 4 The key positioning method based on signal strength described in any of the illustrated embodiments. Figure 5 As shown, the key positioning device based on signal strength includes:

[0147] A signal strength value acquisition module, used to acquire signal strength values ​​of target signals received by multiple signal receiving devices on a vehicle; the target signal is sent by a digital car key matched with the vehicle;

[0148] A data screening module, for screening, for any one of a plurality of signal strength values, at least one target first signal strength value whose similarity with the signal strength value meets a preset similarity requirement, and a target coordinate position corresponding to each target first signal strength value from a database; the database includes coordinate positions of a plurality of calibration points, and a plurality of first signal strength values ​​corresponding to each calibration point; each first signal strength value refers to a strength value of a target signal sent by a digital car key located at a corresponding calibration point when received by a corresponding signal receiving device;

[0149] A set construction module, configured to construct a first position set and a first similarity set corresponding to the signal strength value; the first position set includes at least one target coordinate position corresponding to the at least one target first signal strength value; the first similarity set includes the similarity between the signal strength value and the at least one target first signal strength value;

[0150] An intersection processing module, used for taking the intersection of a plurality of first position sets corresponding to the plurality of signal strength values ​​respectively, to obtain a second position set; the second position set includes at least one common target coordinate position;

[0151] A second similarity set construction module is used to construct a second similarity set corresponding to the second position set based on a plurality of first similarity sets corresponding to the plurality of signal strength values ​​respectively; the second similarity set includes a plurality of second similarities; each second similarity refers to a target first similarity corresponding to each common target coordinate position in each first similarity set;

[0152] A positioning area determination module is used to determine the positioning area of ​​the digital car key based on the second position set and the second similarity set.

[0153] Optionally, the device also includes: a signal strength value filtering module, used to sort multiple first signal strength values ​​from large to small according to the size of the signal strength values; filter out multiple second signal strength values ​​whose signal strength values ​​are less than a preset value from the sorted multiple first signal strength values; filter out the first k signal strength values ​​from the multiple second signal strength values, and use the k signal strength values ​​as the multiple signal strength values; wherein the value of k is determined by the number of signal receiving devices on the vehicle.

[0154] Optionally, the device also includes: a judgment module, which is used to, after obtaining the second position set, if the second position set is empty and k is greater than or equal to a first preset number, filter out the first k-1 signal strength values ​​from the multiple second signal strength values; use the k-1 signal strength values ​​as the multiple signal strength values, and repeatedly perform the step of filtering out at least one target first signal strength value whose similarity with any one of the multiple signal strength values ​​meets a preset similarity requirement from the database until the second position set is a non-empty set; if the second position set is empty and k is less than the first preset number, use the k signal strength values ​​as the multiple signal strength values, and repeatedly perform the step of filtering out at least one target first signal strength value whose similarity with any one of the multiple signal strength values ​​meets a preset similarity requirement from the database until the second position set is a non-empty set; wherein the preset similarity requirement is a second similarity requirement.

[0155] Optionally, the second similarity set construction module is also used to: for any one of the at least one shared target coordinate positions, filter out the target first similarity corresponding to the shared target coordinate position from each first similarity set, and obtain multiple target first similarities corresponding to the shared target coordinate position; use the target first similarity as the second similarity, and construct the second similarity set based on the multiple second similarities.

[0156] Optionally, the second similarity set includes multiple second sub-similarity sets corresponding one-to-one to multiple signal receiving devices; each second sub-similarity set includes multiple second similarities; the positioning area determination module is also used to: for any one of the multiple signal receiving devices, based on the signal receiving device and the at least one common target coordinate position, screen out at least one target second similarity from the second similarity set; based on the at least one target second similarity, calculate at least one first weighting coefficient corresponding one-to-one to the at least one common target coordinate position; based on the at least one common target coordinate position and the first weighting coefficient corresponding to each common target coordinate position, calculate the target sub-position corresponding to the signal receiving device, and obtain multiple target sub-positions corresponding to the multiple signal receiving devices.

[0157] Optionally, the final target position calculation module is used to calculate the final target position of the digital car key after obtaining multiple target sub-positions corresponding to multiple signal receiving devices, based on the multiple target sub-positions and the second weighting coefficient corresponding to each target sub-position; wherein each second weighting coefficient is calculated based on the second similarity corresponding to each target sub-position.

[0158] Optionally, the device also includes: a shortest distance determination module, used to determine the position area of ​​the digital car key relative to the vehicle and the shortest distance from the position of the digital car key to the vehicle body based on the final target position and the dimensions of the vehicle in all directions.

[0159] Optionally, the device also includes: a validity check module, used to perform a validity check on the final target position based on the location area, the shortest distance, and the sorting results of the multiple first signal strength values; if the validity check passes, the final target position and the corresponding location validity mark are output; if the validity check fails, the location invalid mark is output.

[0160] The key positioning device based on signal strength provided in the above-mentioned embodiment of the present disclosure and the key positioning method based on signal strength provided in the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0161] The present disclosure also provides an electronic device to perform the above-mentioned key positioning method based on signal strength. Figure 6 , which shows a schematic diagram of an electronic device provided by some embodiments of the present disclosure. Figure 6As shown, the electronic device 6 includes: a processor 600, a memory 601, a bus 602 and a communication interface 603, wherein the processor 600, the communication interface 603 and the memory 601 are connected via the bus 602; the memory 601 stores a computer program that can be run on the processor 600, and the processor 600 executes the aforementioned Figures 1 to 4 A key positioning method based on signal strength is provided in any of the illustrated embodiments.

[0162] The memory 601 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 603 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0163] The bus 602 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 601 is used to store programs. After receiving the execution instruction, the processor 600 executes the program. Figures 1 to 4 The key positioning method based on signal strength disclosed in any of the illustrated embodiments may be applied to the processor 600 or implemented by the processor 600 .

[0164] The processor 600 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 600 or the instruction in the form of software. The above processor 600 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware decoding processor to be executed, or a combination of hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 601, and the processor 600 reads the information in the memory 601 and completes the steps of the above method in combination with its hardware.

[0165] The electronic device provided by the embodiment of the present disclosure and the key positioning method based on signal strength provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0166] The present disclosure also provides a computer-readable storage medium corresponding to the key positioning method based on signal strength provided in the above embodiment. Figure 7 The computer-readable storage medium shown is a CD 30 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the key positioning method based on signal strength provided in any of the aforementioned embodiments is executed.

[0167] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0168] The computer-readable storage medium provided by the above-mentioned embodiment of the present disclosure and the key positioning method based on signal strength provided by the embodiment of the present disclosure are based on the same inventive concept, and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0169] It should be noted that:

[0170] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present disclosure can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0171] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present disclosure, the various features of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the following schematic diagram: the claimed disclosure requires more features than the features explicitly recited in each claim. More specifically, as reflected in the claims below, the inventive aspects lie in less than all the features of the single embodiment disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present disclosure.

[0172] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of this disclosure and form different embodiments. For example, in the claims below, any one of the claimed embodiments may be used in any combination.

[0173] The above is only a preferred specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A key positioning method based on signal strength, characterized in that: The method comprises: Acquire signal strength values ​​of target signals received by multiple signal receiving devices on a vehicle; the target signal is sent by a digital vehicle key matched with the vehicle; For any one of the multiple signal strength values, at least one target first signal strength value whose similarity with the signal strength value meets a preset similarity requirement, and a target coordinate position corresponding to each target first signal strength value are screened out from a database; the database includes the coordinate positions of multiple calibration points, and multiple first signal strength values ​​corresponding to each calibration point; each first signal strength value refers to the strength value of a target signal sent by a digital car key located at a corresponding calibration point when received by a corresponding signal receiving device; Constructing a first position set and a first similarity set corresponding to the signal strength value; the first position set includes at least one target coordinate position corresponding to the at least one target first signal strength value; the first similarity set includes the similarity between the signal strength value and the at least one target first signal strength value; Taking the intersection of a plurality of first position sets corresponding to the plurality of signal strength values ​​respectively, to obtain a second position set; the second position set includes at least one common target coordinate position; Based on a plurality of first similarity sets respectively corresponding to the plurality of signal strength values, a second similarity set corresponding to the second position set is constructed; the second similarity set includes a plurality of second similarities; each second similarity refers to a target first similarity corresponding to each common target coordinate position in each first similarity set; Based on the second position set and the second similarity set, a positioning area of ​​the digital car key is determined.

2. The method according to claim 1, characterized in that Before screening out from the database at least one target first signal strength value whose similarity with the signal strength value meets a preset similarity requirement, and the target coordinate position corresponding to each target first signal strength value, the method further includes: According to the magnitude of the signal strength values, the plurality of first signal strength values ​​are sorted from large to small; Filter out a plurality of second signal strength values ​​whose signal strength values ​​are less than a preset value from the sorted plurality of first signal strength values; The first k signal strength values ​​are screened out from the multiple second signal strength values, and the k signal strength values ​​are used as the multiple signal strength values; wherein the value of k is determined by the number of signal receiving devices on the vehicle.

3. The method according to claim 2, characterized in that After obtaining the second position set, the method further includes: If the second position set is empty, and k is greater than or equal to a first preset number, filtering out first k-1 signal strength values ​​from the plurality of second signal strength values; The k-1 signal strength values ​​are used as the multiple signal strength values, and the step of screening out from the database at least one target first signal strength value whose similarity with any one of the multiple signal strength values ​​meets a preset similarity requirement is repeated until the second position set is a non-empty set.

4. The method according to claim 3, characterized in that The method further comprises: If the second position set is empty and k is less than the first preset number, the k signal strength values ​​are used as the multiple signal strength values, and the step of screening out from the database at least one target first signal strength value whose similarity with any one of the multiple signal strength values ​​meets a preset similarity requirement is repeated until the second position set is a non-empty set; wherein the preset similarity requirement is a second similarity requirement.

5. The method according to claim 1 or 2, characterized in that: Constructing a second similarity set corresponding to the second position set based on a plurality of first similarity sets respectively corresponding to the plurality of signal strength values, comprising: For any one of the at least one shared target coordinate position, select a target first similarity corresponding to the shared target coordinate position from each first similarity set to obtain a plurality of target first similarities corresponding to the shared target coordinate position; The target first similarity is used as the second similarity, and the second similarity set is constructed according to the multiple second similarities.

6. The method according to claim 2, characterized in that The second similarity set includes a plurality of second sub-similarity sets corresponding one-to-one to a plurality of signal receiving devices; each second sub-similarity set includes a plurality of second similarities; Determining the location area of ​​the digital car key based on the second position set and the second similarity set includes: For any one of the plurality of signal receiving devices, based on the target coordinate position shared by the signal receiving device and the at least one target, filter out at least one target second similarity from the second similarity set; Based on the at least one target second similarity, calculating at least one first weighting coefficient corresponding one-to-one to the at least one common target coordinate position; Based on the at least one common target coordinate position and the first weighting coefficient corresponding to each common target coordinate position, the target secondary position corresponding to the signal receiving device is calculated to obtain multiple target secondary positions corresponding to multiple signal receiving devices.

7. The method according to claim 6, characterized in that After obtaining a plurality of target secondary positions corresponding to a plurality of signal receiving devices, the method further includes: Based on the multiple target sub-positions and the second weighting coefficient corresponding to each target sub-position, the final target position of the digital car key is calculated; wherein each second weighting coefficient is calculated based on the second similarity corresponding to each target sub-position.

8. The method according to claim 7, characterized in that The method further comprises: According to the final target position and the dimensions of the vehicle in all directions, the position area of ​​the digital vehicle key relative to the vehicle and the shortest distance from the position of the digital vehicle key to the vehicle body are determined.

9. The method according to claim 8, characterized in that The method further comprises: Performing a validity check on the final target location according to the location area, the shortest distance, and the sorting result of the plurality of first signal strength values; If the validity check passes, the final target position and the corresponding position validity mark are output; If the validity check fails, an invalid position flag is output.

10. A key positioning device based on signal strength, characterized in that: The device comprises: A signal strength value acquisition module, used to acquire signal strength values ​​of target signals received by multiple signal receiving devices on a vehicle; the target signal is sent by a digital car key matched with the vehicle; A data screening module, for screening, for any one of a plurality of signal strength values, at least one target first signal strength value whose similarity with the signal strength value meets a preset similarity requirement, and a target coordinate position corresponding to each target first signal strength value from a database; the database includes coordinate positions of a plurality of calibration points, and a plurality of first signal strength values ​​corresponding to each calibration point; each first signal strength value refers to a strength value of a target signal sent by a digital car key located at a corresponding calibration point when received by a corresponding signal receiving device; A set construction module, configured to construct a first position set and a first similarity set corresponding to the signal strength value; the first position set includes at least one target coordinate position corresponding to the at least one target first signal strength value; the first similarity set includes the similarity between the signal strength value and the at least one target first signal strength value; An intersection processing module, used for taking the intersection of a plurality of first position sets corresponding to the plurality of signal strength values ​​respectively, to obtain a second position set; the second position set includes at least one common target coordinate position; A second similarity set construction module is used to construct a second similarity set corresponding to the second position set based on a plurality of first similarity sets corresponding to the plurality of signal strength values ​​respectively; the second similarity set includes a plurality of second similarities; each second similarity refers to a target first similarity corresponding to each common target coordinate position in each first similarity set; A positioning area determination module is used to determine the positioning area of ​​the digital car key based on the second position set and the second similarity set.

11. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the signal strength-based key positioning method described in any one of claims 1 to 9 by executing the computer instructions.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the key positioning method based on signal strength according to any one of claims 1 to 9.

Images