Digital key positioning method and related device

Abstract

The invention discloses a digital key positioning method which can be used in the field of positioning, and the method comprises the steps: firstly, obtaining the UWB ranging values of a digital key and a plurality of base stations installed at different positions of a vehicle; then, a positioning rule is determined based on the length relation among the UWB distance measurement value r1 of the digital key and the first effective distance measurement base station, the UWB distance measurement value r2 of the digital key and the second effective distance measurement base station, and the distance d12 between the two effective distance measurement base stations; the positioning rule comprises a preset positioning rule based on the types of triangles formed by r1, r2 and d12 in a two-dimensional plane; and finally, based on the determined positioning rule, r1 and r2, obtaining the distance between the digital key and the vehicle. Therefore, the distance between the digital key and the vehicle can be obtained by using the trigonometric function in the two-dimensional plane, and the accuracy of positioning the distance between the digital key and the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a digital key positioning method and related devices. Background Art

[0002] With the development of vehicle intelligence, keyless entry and start (PEPS) and other functions through digital keys have gradually become the mainstream solution for vehicle unlocking without feeling.

[0003] To achieve keyless entry and start functions through digital keys, it is necessary to locate the distance between the digital key and the vehicle. At present, Ultra Wide Band (UWB) technology, which has the advantages of strong anti-interference ability and high positioning accuracy, has become the core technology of the third-generation digital key defined by the CCC (Car Connectivity Consortium) alliance. Using UWB technology, the base station installed on the vehicle side is usually the center of the circle or sphere, and the UWB ranging value of the digital key is used as the radius. The positioning circle or sphere of multiple base stations is solved by triangulation or circular positioning method to obtain the distance between the digital key and the vehicle, thereby locating the distance between the digital key and the vehicle.

[0004] However, due to the different hardware and power consumption of each base station, there is an error between the measured distance and the ideal value. Therefore, the positioning circles or spheres of multiple base stations may not intersect at exactly one point. In practical applications, the positioning circles or spheres of multiple base stations often intersect in a small area or even in an area without intersection. Therefore, this method has large errors and high computational complexity, and is difficult to apply in scenarios with high real-time requirements.

[0005] Therefore, how to improve the accuracy of locating the distance between the digital key and the vehicle becomes a problem that needs to be solved. Summary of the invention

[0006] Based on the above problems, the present application provides a digital key positioning method and related devices, which can improve the accuracy of positioning the distance between the digital key and the vehicle.

[0007] The embodiments of the present application disclose the following technical solutions:

[0008] In a first aspect, an embodiment of the present application provides a method for locating a digital key, the method comprising:

[0009] Obtaining ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations in the vehicle;

[0010] Based on the UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three determines the positioning rule; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values; the positioning rule includes based on r1, r2 and d 12 Predefined positioning rules based on the type of triangles formed in a two-dimensional plane;

[0011] Based on the determined positioning rule, the UWB ranging value r1 between the digital key and the first effective ranging base station, and the UWB ranging value r2 between the digital key and the second effective ranging base station, the distance between the digital key and the vehicle is obtained.

[0012] Optionally, the UWB ranging value r1 between the digital key and the first effective ranging base station, the UWB ranging value r2 between the digital key and the second effective ranging base station, and the distance d between the first effective ranging base station and the second effective ranging base station 12 The length relationship between the three determines the positioning rules, including:

[0013] like and Then the positioning rule is to set r1, r2 and d 12 Substitute the preset trigonometric function formula to calculate the vertical distance between the digital key and the line connecting the two effective ranging base stations; the vertical distance is the distance between the digital key and the vehicle;

[0014] like or Then the positioning rule is determined as the distance between the digital key and the vehicle is the minimum of r1 and r2;

[0015] If r1+r2≤d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is 0;

[0016] If |r1-r2|>d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is the minimum of r1, r2 and the upper limit of the distance measurement value.

[0017] Optionally, obtaining ultra-wideband (UWB) ranging values ​​between the digital key and a plurality of base stations installed at different locations of the vehicle includes:

[0018] Obtaining the ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle in multiple consecutive frames;

[0019] The UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three, before determining the positioning rule, the method also includes:

[0020] In the multiple continuous frames, the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle are mean filtered to obtain the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values ​​after mean filtering.

[0021] Optionally, before performing mean filtering on the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in the multiple consecutive frames to obtain the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station, the method further includes:

[0022] If there is a UWB ranging value that is not between the preset ranging value upper limit and the preset ranging value lower limit in the plurality of consecutive frames, the UWB ranging value that is not between the preset ranging value upper limit and the preset ranging value lower limit is recorded as 0.

[0023] Optionally, before performing mean filtering on the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in the multiple consecutive frames to obtain the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station, the method further includes:

[0024] If there are lost UWB ranging values ​​in the plurality of consecutive frames, the lost UWB ranging value is recorded as a preset ranging value upper limit.

[0025] Optionally, the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in the multiple consecutive frames are averaged and filtered to obtain a UWB ranging value r1 between the digital key and the first effective ranging base station and a UWB ranging value r2 between the digital key and the second effective ranging base station, including:

[0026] Removing UWB ranging values ​​whose UWB ranging values ​​are 0 or whose UWB ranging values ​​are the upper limit of the preset ranging value in a plurality of consecutive frames, to obtain a plurality of valid ranging values;

[0027] Performing mean filtering on multiple valid ranging values ​​to obtain filtered ranging values ​​between multiple digital keys and base stations; the filtered ranging values ​​correspond to the base stations one by one;

[0028] The two with the smallest values ​​are determined from the filtered ranging values ​​between the multiple digital keys and the base stations, and are used as the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station.

[0029] Optionally, after obtaining the distance between the digital key and the vehicle based on the determined positioning rule, the method further includes:

[0030] Based on the distance between the digital key and the vehicle, the unlocking state of the vehicle is controlled.

[0031] In a second aspect, an embodiment of the present application provides a digital key positioning device, the device comprising:

[0032] An acquisition module, used to obtain ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle;

[0033] A determination module is used to determine the distance d between the digital key and the first effective ranging base station based on the UWB ranging value r1 between the digital key and the second effective ranging base station, the UWB ranging value r2 between the digital key and the second effective ranging base station, and the distance d between the first effective ranging base station and the second effective ranging base station. 12 The length relationship between the three determines the positioning rule; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values; the positioning rule includes based on r1, r2 and d 12 Predefined positioning rules based on the type of triangles formed in a two-dimensional plane;

[0034] The calculation module is used to obtain the distance between the digital key and the vehicle based on the determined positioning rule, the UWB ranging value r1 between the digital key and the first effective ranging base station, and the UWB ranging value r2 between the digital key and the second effective ranging base station.

[0035] In a third aspect, an embodiment of the present application provides a digital key positioning device, the device comprising: a memory and a processor;

[0036] The memory is used to store program code and transmit the program code to the processor;

[0037] The processor is used to execute the steps of the digital key positioning method described in any implementation of the first aspect according to the program code.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is run on a digital key positioning device, the digital key positioning device executes the steps of the digital key positioning method described in any implementation of the first aspect.

[0039] Compared with the prior art, this application has the following beneficial effects:

[0040] The embodiment of the present application provides a method for locating a digital key. In the method, first, ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle are obtained; then, based on the UWB ranging value r1 between the digital key and a first effective ranging base station, the UWB ranging value r2 between the digital key and a second effective ranging base station, and the distance d between the first effective ranging base station and the second effective ranging base station, the digital key is located at a predetermined distance from the vehicle. 12 The length relationship between the three determines the positioning rule; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values; the positioning rule includes based on r1, r2 and d 12 Finally, based on the determined positioning rule, the UWB distance measurement value r1 between the digital key and the first effective distance measurement base station, and the UWB distance measurement value r2 between the digital key and the second effective distance measurement base station, the distance between the digital key and the vehicle is obtained. 12 The length relationship between the three determines the applicable positioning rule, where the positioning rule includes the length relationship between r1, r2 and d 12 The positioning rules are set based on the type of triangles that can be formed in the two-dimensional plane, that is, between r1, r2 and d 12 When a two-dimensional triangle is formed, the distance between the digital key and the vehicle can be obtained by using trigonometric functions in a two-dimensional plane. The calculation complexity is low, and there is no situation where the positioning circles or spheres of multiple base stations intersect in a small area or even have no intersecting area. This can improve the accuracy of locating the distance between the digital key and the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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.

[0042] Figure 1 A flow chart of a method for locating a digital key provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the installation position of a base station on a vehicle provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of the position relationship between a digital key and a vehicle provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of the position relationship between another digital key and a vehicle provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of the position relationship between another digital key and a vehicle provided in an embodiment of the present application;

[0047] Figure 6 A schematic diagram of the position relationship between another digital key and a vehicle provided in an embodiment of the present application;

[0048] Figure 7 A flow chart of another method for locating a digital key provided in an embodiment of the present application;

[0049] Figure 8 A schematic diagram of a digital key positioning device provided in an embodiment of the present application;

[0050] Fig. 9 A structural diagram of a digital key positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The digital key positioning method and related devices provided in the present application can be used in the positioning field. This field is only an example and does not limit the application field of the digital key positioning method and related devices provided in the present application.

[0052] The terms "first", "second", "third" and "fourth" etc. in the specification, claims and drawings of this application are used to distinguish different objects rather than to limit a specific order.

[0053] In the embodiments of the present application, the words "as an example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "as an example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the words "as an example" or "for example" is intended to present the relevant concepts in a specific way.

[0054] The terms used in the implementation section of this application are only used to explain the specific embodiments of this application and are not intended to limit this application.

[0055] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0056] See also Figure 1 , which is a flow chart of a method for locating a digital key provided in an embodiment of the present application, the method comprising:

[0057] S101: Obtain ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle.

[0058] As an example, see Figure 2 , which is a schematic diagram of the installation position of a base station on a vehicle provided by an embodiment of the present application. In the embodiment of the present application, at least 4 base stations can be installed on the vehicle. A plane rectangular coordinate system is established with the geometric center of the vehicle as the origin, the front direction of the vehicle as the positive direction of the y-axis, and the co-pilot direction as the positive direction of the x-axis. The 4 base stations are respectively located in the four quadrants of the plane rectangular coordinate system. For example, base station 1, base station 2, base station 3, and base station 4 can be installed in the left front, left rear, right rear, and right front of the vehicle in a counterclockwise direction.

[0059] Optionally, the digital key can be positioned by combining Bluetooth Low Energy (BLE) technology with UWB technology. When the digital key is far away from the vehicle, BLE technology that can broadcast and connect uninterruptedly can be used for rough positioning; after the distance between the digital key and the vehicle reaches the ranging range of UWB technology, for example, when the distance between the digital key and the vehicle is less than ten meters, the UWB ranging function of each base station is turned on, so as to more accurately position the digital key in real time.

[0060] As a possible implementation method provided in an embodiment of the present application, after each base station turns on the UWB ranging function, the digital key can initiate ranging communication and transmit frame data information with the base station. The base station transmits the data frame to a host with a UWB chip. The host can obtain the UWB ranging value between the digital key and the base station by parsing the data frame.

[0061] S102: Based on the UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three determines the positioning rules.

[0062] Specifically, the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values; the distance d between the first effective ranging base station and the second effective ranging base station 12 It can be a preconfigured value. For example, the distance between base station 1 and base station 2, the distance between base station 2 and base station 3, the distance between base station 3 and base station 4, and the distance between base station 4 and base station 1 can be preconfigured. After determining which two base stations are effective ranging base stations, the distance d between the two effective ranging base stations can be directly read. 12 For example, if the UWB distance measurement value between the digital key and base station 1 is 200, the UWB distance measurement value between the digital key and base station 2 is 500, the UWB distance measurement value between the digital key and base station 3 is 1000, and the UWB distance measurement value between the digital key and base station 4 is 800, then base station 1 and base station 2 are effective distance measurement base stations, and then the distance between base station 1 and base station 2 can be read as d 12 To distinguish the two as different base stations, base station 1 can be considered as the first effective ranging base station and base station 2 as the second effective ranging base station; or base station 2 can be considered as the first effective ranging base station and base station 1 can be considered as the second effective ranging base station.

[0063] In the embodiment of the present application, according to r1, r2 and d 12 The length relationship between the two can be selected from multiple preset positioning rules to locate the distance between the digital key and the vehicle. The positioning rule at least includes the distance between the two digital keys based on r1, r2 and d 12 The positioning rules pre-set for the type of triangle formed in the two-dimensional plane are the first and second cases described below; in addition, the positioning rules for r1, r2 and d 12 When a triangle cannot be formed in a two-dimensional plane, positioning rules such as the third and fourth cases described below are set.

[0064] The positioning rules provided in the embodiments of the present application may specifically include at least one of the following four situations:

[0065] In the first case, if and Then the positioning rule is to set r1, r2 and d 12 Substitute the preset trigonometric function formula to calculate the vertical distance between the digital key and the line connecting the two effective ranging base stations; where the vertical distance is the distance between the digital key and the vehicle.

[0066] Specifically, see Figure 3 ,like and Then r1, r2 and d 12A two-dimensional acute triangle can be formed. At this time, the vertical distance between the digital key and the line connecting the two effective ranging base stations is the distance between the digital key and the vehicle. r1, r2 and d 12 Substitute the preset trigonometric function formula to calculate the vertical distance between the digital key and the line connecting the two effective ranging base stations, and use it as the distance between the digital key and the vehicle. That is, the positioning rule is the distance between the digital key and the vehicle.

[0067] or

[0068] In the second case, if or The positioning rule is determined as the distance between the digital key and the vehicle is the minimum of r1 and r2.

[0069] Specifically, see Figure 4 ,like or Then r1, r2 and d 12 A two-dimensional obtuse triangle or a right triangle can be formed. In this case, the shorter side of r1 and r2 is the distance between the digital key and the vehicle. Therefore, the minimum term of r1 and r2 can be used as the distance between the digital key and the vehicle. That is, the positioning rule is the distance b between the digital key and the vehicle. 12 =min(r1,r2).

[0070] The third case, if r1+r2≤d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is 0.

[0071] Specifically, see Figure 5 , limited by the measurement error of UWB technology itself, there may be r1+r2≤d 12 In this case, r1, r2 and d 12 If a triangle cannot be formed, it can be considered that the distance between the digital key and the vehicle is too close, so the distance between the digital key and the vehicle is 0. That is, the positioning rule is the distance b between the digital key and the vehicle. 12 =0.

[0072] The fourth case, if |r1-r2|>d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is the minimum of r1, r2 and the upper limit of the distance measurement value.

[0073] Specifically, see Figure 6 , if |r1-r2|>d 12 , usually due to the presence of obstacles such as walls, the UWB distance measurement value between the digital key and one of the effective ranging base stations is the path length of the signal reflected by the obstacle. At this time, r1, r2 and d12 If a triangle cannot be formed, the minimum of r1, r2 and the upper limit of the distance measurement value can be used as the distance between the digital key and the vehicle. That is, the positioning rule is the distance b between the digital key and the vehicle. 12 =min(r1, r2, ∞), where ∞ can be the upper limit of the ranging value in practical applications, for example, it can be 65535, that is, the hexadecimal number FFFF.

[0074] S103: Based on the determined positioning rule, the UWB ranging value r1 between the digital key and the first effective ranging base station, and the UWB ranging value r2 between the digital key and the second effective ranging base station, the distance between the digital key and the vehicle is obtained.

[0075] For example, r1, r2 or r1, r2 and d may be used based on the needs of the determined positioning rule. 12 Substitute the determined positioning rules to calculate the distance between the digital key and the vehicle.

[0076] Therefore, in the embodiment of the present application, based on the UWB ranging value r1 between the digital key and the first effective ranging base station, the UWB ranging value r2 between the digital key and the second effective ranging base station, and the distance d between the first effective ranging base station and the second effective ranging base station 12 The length relationship between the three can determine the applicable positioning rules, where the positioning rules include those based on r1, r2 and d 12 The positioning rules are set based on the type of triangles that can be formed in the two-dimensional plane, that is, between r1, r2 and d 12 When a two-dimensional triangle is formed, the distance between the digital key and the vehicle can be obtained by using trigonometric functions in a two-dimensional plane. The calculation complexity is low, and there is no situation where the positioning circles or spheres of multiple base stations intersect in a small area or even have no intersecting area. This can improve the accuracy of locating the distance between the digital key and the vehicle.

[0077] See also Figure 7 , which is a flow chart of another method for locating a digital key provided in an embodiment of the present application, the method comprising:

[0078] S701: Obtain ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle in multiple consecutive frames.

[0079] Exemplarily, the ultra-wideband UWB ranging values ​​of the digital key and multiple base stations installed at different locations of the vehicle in multiple consecutive frames can be obtained at one time, or the ultra-wideband UWB ranging values ​​of the digital key and multiple base stations installed at different locations of the vehicle in multiple consecutive frames can be obtained asynchronously.

[0080] For example, the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in 10 consecutive frames can be obtained at one time, and then steps S702 to S706 can be executed; or step S702 can be executed after the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in each frame are obtained, until step S702 is executed for the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in 10 consecutive frames, and then steps S703 to S706 are executed.

[0081] S702: If there are UWB ranging values ​​that are not between the preset ranging value upper limit and the preset ranging value lower limit in the multiple consecutive frames, the UWB ranging values ​​that are not between the preset ranging value upper limit and the preset ranging value lower limit are recorded as 0; if there are lost UWB ranging values ​​in the multiple consecutive frames, the lost UWB ranging values ​​are recorded as the preset ranging value upper limit.

[0082] Exemplarily, the upper limit and lower limit of the ranging value may be preset, for example, the upper limit of the ranging value may be 65535, that is, the hexadecimal number FFFF; the lower limit of the ranging value may be 1. If there is a UWB ranging value that is not in the range of [1,65535] among the UWB ranging values ​​obtained in step S701, the UWB ranging value may be replaced by a value of 0; if there is a lost UWB ranging value in the process of obtaining the UWB ranging value, the lost UWB ranging value may be recorded as 65535, for example, if the UWB ranging value between the digital key and the base station 3 is lost, 65535 may be used as the UWB ranging value between the digital key and the base station 3 to ensure time synchronization.

[0083] S703: Perform mean filtering on ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in multiple consecutive frames to obtain a UWB ranging value r1 between the digital key and a first effective ranging base station and a UWB ranging value r2 between the digital key and a second effective ranging base station.

[0084] Optionally, the UWB ranging values ​​of 0 or the upper limit of the preset ranging value in the continuous frames can be removed first to obtain multiple valid ranging values; then the multiple valid ranging values ​​are mean filtered to obtain the filtered ranging values ​​between the multiple digital keys and the base stations, wherein the filtered ranging values ​​correspond to the base stations one by one; finally, the two with the smallest values ​​are determined from the filtered ranging values ​​between the multiple digital keys and the base stations, and they are respectively used as the UWB ranging value r1 between the digital key and the first valid ranging base station and the UWB ranging value r2 between the digital key and the second valid ranging base station. Thus, on the one hand, the influence of the UWB ranging value jump caused by the unstable signal can be reduced, and the stability and reliability of the UWB ranging value can be improved; on the other hand, the mean filtering method of abnormal value filling can also reduce the back and forth calls of the UWB ranging value in the subsequent control of the unlocking state of the vehicle, which can effectively avoid the ping-pong problem in the unlocking area determination.

[0085] As an example, in 10 consecutive frames, the UWB ranging values ​​between the digital key and base station 1 are 300, 305, 298, 302, 299, 301, 305, 303, 65535, and 302 respectively; the UWB ranging values ​​between the digital key and base station 2 are 455, 458, 0, 453, 454, 456, 455, 452, 455, and 456 respectively; the UWB ranging values ​​between the digital key and base station 3 are 1031, 1033, 1028, 1030, 1032, 1029, 1035, 1033, 1035, and 1030 respectively; the UWB ranging values ​​between the digital key and base station 4 are 1566, 1568, 0, 1569, 1565, 1562, 1568, 1564, 1565, and 1566 respectively. At this time, 0 and 65535 in the above UWB ranging values ​​can be removed first; then, the remaining UWB ranging values ​​between the digital key and each base station are respectively mean filtered, and the filtered ranging value between the digital key and base station 1, the filtered ranging value between the digital key and base station 2, the filtered ranging value between the digital key and base station 3, and the filtered ranging value between the digital key and base station 4 can be obtained; finally, by comparing the size relationship of the four, it can be determined that the filtered ranging value between the digital key and base station 1 and the filtered ranging value between the digital key and base station 2 are the two with the smallest values ​​among the filtered ranging values ​​between the multiple digital keys and base stations. Therefore, the filtered ranging value between the digital key and base station 1 and the filtered ranging value between the digital key and base station 2 can be used as the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station. For example, base station 1 can be used as the first effective ranging base station, and the filtered ranging value between the digital key and base station 1 can be used as r1; base station 2 can be used as the second effective ranging base station, and the filtered ranging value between the digital key and base station 2 can be used as r2.

[0086] S704: Based on the UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three determines the positioning rules.

[0087] Specifically, if and The positioning rule is determined as the distance between the digital key and the vehicle or like or The positioning rule is determined as the distance b between the digital key and the vehicle. 12 =min(r1, r2); if r1+r2≤d 12 , then the positioning rule is determined as the distance b between the digital key and the vehicle 12 =0; if |r1-r2|>d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is b 12 =min(r1, r2, ∞).

[0088] S705: Based on the determined positioning rule, the UWB ranging value r1 between the digital key and the first effective ranging base station, and the UWB ranging value r2 between the digital key and the second effective ranging base station, the distance between the digital key and the vehicle is obtained.

[0089] For example, r1, r2 or r1, r2 and d may be used based on the needs of the determined positioning rule. 12 Substitute the determined positioning rules to calculate the distance between the digital key and the vehicle.

[0090] S706: Controlling the unlocking state of the vehicle based on the distance between the digital key and the vehicle.

[0091] As an example, according to the distance between the digital key and the vehicle, the external space of the vehicle can be divided into multiple areas from far to near. For example, it can be divided into three areas: a locked area 8m away from the vehicle, a welcome area 3m to 8m away from the vehicle, and an unlocked area within 3m from the vehicle. The vehicle's unlocking state can include locked and unlocked states.

[0092] Based on the calculated distance between the digital key and the vehicle, it is possible to determine the area where the digital key is currently located, as well as how the distance between the digital key and the vehicle changes over a period of time, thereby controlling the vehicle's unlocking status and providing support for the keyless entry function.

[0093] Specifically, when the digital key enters the unlocking area from the initialization state, the unlocking area from the locking area, or the unlocking area from the buffer zone, the vehicle can be controlled to change from the unlocking state to the unlocking state; when the digital key enters the locking area from the initialization state, the locking area from the unlocking area, or the locking area from the buffer zone, the vehicle can be controlled to change from the unlocking state to the locking state. For example, if within a period of time, in the order from far to near relative to the current moment, the distances between the multiple digital keys and the vehicle calculated gradually change from the welcoming area 3m to 8m away from the vehicle to the unlocking area within 3m away from the vehicle, the vehicle can be controlled to change from the unlocking state to the unlocking state.

[0094] See also Figure 8 , this figure is a schematic diagram of a digital key positioning device provided in an embodiment of the present application, and the device includes: an acquisition module 801, a determination module 802 and a calculation module 803.

[0095] The acquisition module 801 is used to obtain ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle.

[0096] The determining module 802 is used to determine the distance d between the digital key and the first effective ranging base station based on the UWB ranging value r1 between the digital key and the second effective ranging base station, the UWB ranging value r2 between the digital key and the second effective ranging base station, and the distance d between the first effective ranging base station and the second effective ranging base station. 12 The length relationship between the three determines the positioning rule; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among multiple UWB ranging values; the positioning rule includes the positioning rule based on r1, r2 and d 12 The type of triangle formed in the two-dimensional plane is based on the pre-set positioning rules.

[0097] The calculation module 803 is used to obtain the distance between the digital key and the vehicle based on the determined positioning rule, the UWB ranging value r1 between the digital key and the first effective ranging base station, and the UWB ranging value r2 between the digital key and the second effective ranging base station.

[0098] Thus, based on the UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three can determine the applicable positioning rules, where the positioning rules include those based on r1, r2 and d 12 The positioning rules are set based on the type of triangles that can be formed in the two-dimensional plane, that is, between r1, r2 and d 12When a two-dimensional triangle is formed, the distance between the digital key and the vehicle can be obtained by using trigonometric functions in a two-dimensional plane. The calculation complexity is low, and there is no situation where the positioning circles or spheres of multiple base stations intersect in a small area or even have no intersecting area. This can improve the accuracy of locating the distance between the digital key and the vehicle.

[0099] Optionally, in some other embodiments provided in the present application, the determination module 802 is specifically configured to: and Then the positioning rule is to set r1, r2 and d 12 Substitute the preset trigonometric function formula to calculate the vertical distance between the digital key and the line connecting the two effective ranging base stations; the vertical distance is the distance between the digital key and the vehicle; if or The positioning rule is that the distance between the digital key and the vehicle is the minimum of r1 and r2; if r1+r2≤d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is 0; if |r1-r2|>d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is the minimum of r1, r2 and the upper limit of the distance measurement value.

[0100] Optionally, in some other embodiments provided in the present application, the acquisition module 801 is specifically used to: obtain ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle in multiple consecutive frames.

[0101] Optionally, in some other embodiments provided in the present application, the positioning device of the digital key also includes: a filtering module, which is used to perform mean filtering on the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in multiple consecutive frames to obtain the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values ​​after mean filtering.

[0102] Optionally, in some other embodiments provided in the present application, the filtering module is specifically used to: remove UWB ranging values ​​in multiple consecutive frames whose UWB ranging values ​​are 0 or whose UWB ranging values ​​are the upper limit of a preset ranging value, to obtain multiple valid ranging values; perform mean filtering on the multiple valid ranging values ​​to obtain filtered ranging values ​​between multiple digital keys and base stations; the filtered ranging values ​​correspond one-to-one to the base stations; and determine the two with the smallest values ​​from the filtered ranging values ​​between the multiple digital keys and the base stations, as the UWB ranging value r1 between the digital key and the first valid ranging base station and the UWB ranging value r2 between the digital key and the second valid ranging base station, respectively.

[0103] Optionally, in some other embodiments provided in the present application, the positioning device of the digital key also includes: an outlier filling module, which can be divided into a first outlier filling module and a second outlier filling module, wherein the first outlier filling module is used to, when there is a UWB ranging value that is not between the preset ranging value upper limit and the preset ranging value lower limit in multiple consecutive frames, record the UWB ranging value that is not between the preset ranging value upper limit and the preset ranging value lower limit as 0; the second outlier filling module is used to, when there is a lost UWB ranging value in multiple consecutive frames, record the lost UWB ranging value as the preset ranging value upper limit.

[0104] Optionally, in some other embodiments provided in the present application, the positioning device of the digital key further includes: a control module, used to control the unlocking state of the vehicle based on the distance between the digital key and the vehicle.

[0105] See also Fig. 9 , this figure is a structural diagram of a digital key positioning device provided in an embodiment of the present application, and the device includes: a memory 901 and a processor 902.

[0106] Memory 901: used to store program codes and transmit the program codes to the processor.

[0107] Processor 902: used to execute the steps of the above-mentioned digital key positioning method according to the instructions in the program code.

[0108] In addition, the present application also provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a positioning device of a digital key, the positioning device of the digital key executes the steps of the above-mentioned digital key positioning method.

[0109] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The device and storage medium embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0110] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for locating a digital key, characterized in that: The method comprises: Obtaining ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations in the vehicle; Based on the UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three determines the positioning rule; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values; the positioning rule includes based on r1, r2 and d 12 Predefined positioning rules based on the type of triangles formed in a two-dimensional plane; Based on the determined positioning rule, the UWB ranging value r1 between the digital key and the first effective ranging base station, and the UWB ranging value r2 between the digital key and the second effective ranging base station, the distance between the digital key and the vehicle is obtained.

2. The method according to claim 1, characterized in that The UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three determines the positioning rules, including: like and Then the positioning rule is to set r1, r2 and d 12 Substitute the preset trigonometric function formula to calculate the vertical distance between the digital key and the line connecting the two effective ranging base stations; the vertical distance is the distance between the digital key and the vehicle; like or Then the positioning rule is determined as the distance between the digital key and the vehicle is the minimum of r1 and r2; If r1+r2≤d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is 0; If |r1-r2|>d 12 , then the positioning rule is determined as the distance between the digital key and the vehicle is the minimum of r1, r2 and the upper limit of the distance measurement value.

3. The method according to claim 1, characterized in that The obtaining of ultra-wideband (UWB) ranging values ​​between the digital key and a plurality of base stations installed at different positions of the vehicle includes: Obtaining the ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle in multiple consecutive frames; The UWB distance value r1 between the digital key and the first effective distance measurement base station, the UWB distance value r2 between the digital key and the second effective distance measurement base station, and the distance d between the first effective distance measurement base station and the second effective distance measurement base station 12 The length relationship between the three, before determining the positioning rule, the method also includes: In the multiple continuous frames, the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle are mean filtered to obtain the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values ​​after mean filtering.

4. The method according to claim 3, characterized in that Before performing mean filtering on the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in the multiple consecutive frames to obtain the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station, the method further includes: If there is a UWB ranging value that is not between the preset ranging value upper limit and the preset ranging value lower limit in the plurality of consecutive frames, the UWB ranging value that is not between the preset ranging value upper limit and the preset ranging value lower limit is recorded as 0.

5. The method according to claim 3, characterized in that: Before performing mean filtering on the ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in the multiple consecutive frames to obtain the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station, the method further includes: If there are lost UWB ranging values ​​in the plurality of consecutive frames, the lost UWB ranging value is recorded as a preset ranging value upper limit.

6. The method according to claim 3, characterized in that The method of performing mean filtering on ultra-wideband UWB ranging values ​​between the digital key and multiple base stations installed at different positions of the vehicle in the multiple consecutive frames to obtain a UWB ranging value r1 between the digital key and a first effective ranging base station and a UWB ranging value r2 between the digital key and a second effective ranging base station includes: Removing UWB ranging values ​​whose UWB ranging values ​​are 0 or whose UWB ranging values ​​are the upper limit of the preset ranging value in a plurality of consecutive frames, to obtain a plurality of valid ranging values; Performing mean filtering on multiple valid ranging values ​​to obtain filtered ranging values ​​between multiple digital keys and base stations; the filtered ranging values ​​correspond to the base stations one by one; The two with the smallest values ​​are determined from the filtered ranging values ​​between the multiple digital keys and the base stations, and are used as the UWB ranging value r1 between the digital key and the first effective ranging base station and the UWB ranging value r2 between the digital key and the second effective ranging base station.

7. The method according to claim 1, characterized in that After obtaining the distance between the digital key and the vehicle based on the determined positioning rule, the method further includes: Based on the distance between the digital key and the vehicle, the unlocking state of the vehicle is controlled.

8. A digital key positioning device, characterized in that: The device comprises: An acquisition module, used to obtain ultra-wideband (UWB) ranging values ​​between the digital key and multiple base stations installed at different locations of the vehicle; A determination module is used to determine the distance d between the digital key and the first effective ranging base station based on the UWB ranging value r1 between the digital key and the second effective ranging base station, the UWB ranging value r2 between the digital key and the second effective ranging base station, and the distance d between the first effective ranging base station and the second effective ranging base station. 12 The length relationship between the three determines the positioning rule; the effective ranging base station is the base station corresponding to the two smallest UWB ranging values ​​among the multiple UWB ranging values; the positioning rule includes based on r1, r2 and d 12 Predefined positioning rules based on the type of triangles formed in a two-dimensional plane; The calculation module is used to obtain the distance between the digital key and the vehicle based on the determined positioning rule, the UWB ranging value r1 between the digital key and the first effective ranging base station, and the UWB ranging value r2 between the digital key and the second effective ranging base station.

9. A digital key positioning device, characterized in that: The device comprises: a memory and a processor; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of the digital key positioning method described in any one of claims 1 to 7 according to the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program. When the computer program is executed on a digital key positioning device, the digital key positioning device executes the steps of the digital key positioning method as described in any one of claims 1 to 7.

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