Location fingerprint database management method, computer equipment, storage medium and program product

Abstract

The invention relates to a location fingerprint database management method, a computer device, a storage medium and a program product, and the method comprises the steps: obtaining the signal intensity feature data of a digital key at each sampling point in a sampling region when determining that a reference device and the digital key associated with a vehicle are carried by the same object; and determining target position information of each sampling point according to signal information of a first positioning signal transmitted by the reference device at each sampling point and received by a first signal receiver on the vehicle and signal information of a second positioning signal transmitted by the reference device at each sampling point and received by a second signal receiver on the vehicle, and managing the position fingerprint database of the digital key according to the signal intensity characteristic data of each sampling point and the target position information. On one hand, the determined target position information is more accurate, so that the vehicle positioning is more accurate; and on the other hand, the vehicle control based on the digital key does not depend on the positioning precision of the digital key any more, and the vehicle control precision is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a location fingerprint library management method, computer equipment, storage medium and program product. Background Art

[0002] Digital key is a vehicle access control tool based on digital technology. It uses smart devices such as smartphones and smart watches as carriers, and through wireless communication technologies such as Bluetooth, Near Field Communication (NFC), and cellular networks, it can achieve remote or close-range interaction with the vehicle, thereby completing a series of operations such as unlocking, starting, and authorized sharing of the vehicle. Among them, Bluetooth positioning technology plays a vital role in the application of digital keys.

[0003] In traditional technology, digital key positioning systems usually implement Bluetooth positioning based on the distance determination method based on field strength. This method roughly estimates the distance between the key and the vehicle by measuring the strength of the Bluetooth signal. Due to environmental factors such as obstacles and electromagnetic interference, the distance estimation based on the Bluetooth signal strength is inaccurate, and the vehicle control based on the estimated distance is not accurate enough. Summary of the invention

[0004] Based on this, it is necessary to provide a location fingerprint library management method, computer equipment, storage medium and program product to address the above technical problems, which can improve the accuracy of determining the distance between the digital key and the vehicle.

[0005] In a first aspect, the present application provides a location fingerprint library management method, the method comprising:

[0006] When it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, obtaining signal strength characteristic data of the digital key at each sampling point in the sampling area; and,

[0007] Determine the target position information of each sampling point according to the signal information of the first positioning signal transmitted by the reference device at each sampling point and received by the first signal receiver on the vehicle, and the signal information of the second positioning signal transmitted by the reference device at each sampling point and received by the second signal receiver on the vehicle; wherein the signal strength characteristic data includes the signal strength of the wireless signal transmitted by the digital key and received by the third signal receiver on the vehicle;

[0008] The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the target location information.

[0009] In one of the embodiments, the reference device supports at least two wireless communication modes among ultra-wideband UWB, Bluetooth and wireless fidelity WIFI.

[0010] In one embodiment, the first positioning signal is a UWB positioning signal, the second positioning signal is a Bluetooth positioning signal and / or a WIFI positioning signal, and the number of the first signal receiver and the number of the second signal receiver are both at least two;

[0011] Determining target position information of each sampling point according to signal information of a first positioning signal transmitted by the reference device at each sampling point and received by a first signal receiver on the vehicle, and signal information of a second positioning signal transmitted by the reference device at each sampling point and received by a second signal receiver on the vehicle, including:

[0012] For each sampling point, determining candidate position information of the sampling point according to signal information of the first positioning signal transmitted by the reference device at the sampling point and received by each of the first signal receivers on the vehicle;

[0013] When the number of the candidate position information is one, determining the target position information of the sampling point according to the candidate position information;

[0014] When the number of the candidate position information is at least two, the target position information of the sampling point is selected from each candidate position information based on the signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle.

[0015] In one of the embodiments, the signal information of the second positioning signal includes signal strength;

[0016] The method further comprises: selecting target position information of the sampling point from each candidate position information according to signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle, comprising:

[0017] For each candidate position information, according to the candidate position information and the center position information of the auxiliary rectangle, select an associated area matching the candidate position information from each auxiliary area; wherein the auxiliary rectangle is constructed according to the deployment position of each second signal receiver, and each auxiliary area is obtained by cross-dividing the auxiliary rectangle;

[0018] The target location information of the sampling point is selected from each of the candidate location information according to the signal strength of the second positioning signal received by the second signal receiver located in the associated area of ​​each of the candidate location information.

[0019] In one embodiment, determining the target location information of the sampling point according to the candidate location information includes:

[0020] Determine the position jump of the reference device according to the candidate position information and the target position information of the previous sampling point corresponding to the sampling point;

[0021] When the position jump situation is that there is no position jump, using the candidate position information as the target position information of the sampling point;

[0022] When the position jump situation is that there is a position jump, the target position information of the sampling point is determined according to the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver, and the candidate position information; wherein the reference signal receiver is a signal receiver among the first signal receivers.

[0023] In one of the embodiments, determining the target position information of the sampling point according to the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver, and the candidate position information, includes:

[0024] Determine a change in a ranging value of the reference signal receiver according to signal information of a first positioning signal of the reference device at the sampling point and signal information of a first positioning signal at the previous sampling point received by the reference signal receiver;

[0025] Determining the validity of the candidate position information according to a change in the ranging value of the reference signal receiver and a ranging property of UWB;

[0026] When the candidate position information is valid, the candidate position information is used as the target position information of the sampling point.

[0027] In one embodiment, the sampling area includes a plurality of unit areas of the same size, and the target position information of each sampling point includes the position coordinates of the sampling point relative to the vehicle;

[0028] Managing the location fingerprint library of the digital key according to the signal strength characteristic data of each sampling point and the target location information includes:

[0029] For each sampling point, according to the position coordinates of the sampling point, determine the unit area matching the position coordinates from the unit areas as the associated unit area of ​​the sampling point;

[0030] The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the associated unit area.

[0031] In one embodiment, the sampling area includes at least two area blocks, and each of the area blocks includes at least two unit areas;

[0032] According to the target position coordinates of the sampling point, determining the unit area matching the position coordinates from each of the unit areas as the associated unit area of ​​the sampling point, including:

[0033] Determine a target area block from each of the area blocks according to the position coordinates of the sampling point and the area position range of each of the area blocks;

[0034] According to the position coordinates of the sampling point, the unit area matching the position coordinates is determined in the target area block as the associated unit area of ​​the sampling point.

[0035] In one embodiment, the reference device is a physical key of the vehicle.

[0036] In a second aspect, the present application further provides a location fingerprint library management device, the device comprising:

[0037] A determination module, for determining that a reference device associated with a vehicle and a digital key are carried by the same object, obtaining signal strength characteristic data of the digital key at each sampling point in a sampling area; and determining target position information of each sampling point according to signal information of a first positioning signal transmitted by the reference device at each sampling point received by a first signal receiver on the vehicle, and signal information of a second positioning signal transmitted by the reference device at each sampling point received by a second signal receiver on the vehicle; wherein the signal strength characteristic data includes the signal strength of a wireless signal transmitted by the digital key received by a third signal receiver on the vehicle;

[0038] A management module is used to manage the location fingerprint library of the digital key according to the signal strength characteristic data of each sampling point and the target location information.

[0039] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0040] When it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, obtaining signal strength characteristic data of the digital key at each sampling point in the sampling area; and,

[0041] Determine the target position information of each sampling point according to the signal information of the first positioning signal transmitted by the reference device at each sampling point and received by the first signal receiver on the vehicle, and the signal information of the second positioning signal transmitted by the reference device at each sampling point and received by the second signal receiver on the vehicle; wherein the signal strength characteristic data includes the signal strength of the wireless signal transmitted by the digital key and received by the third signal receiver on the vehicle;

[0042] The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the target location information.

[0043] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0044] When it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, obtaining signal strength characteristic data of the digital key at each sampling point in the sampling area; and,

[0045] Determine the target position information of each sampling point according to the signal information of the first positioning signal transmitted by the reference device at each sampling point and received by the first signal receiver on the vehicle, and the signal information of the second positioning signal transmitted by the reference device at each sampling point and received by the second signal receiver on the vehicle; wherein the signal strength characteristic data includes the signal strength of the wireless signal transmitted by the digital key and received by the third signal receiver on the vehicle;

[0046] The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the target location information.

[0047] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, which implements the following steps when executed by a processor:

[0048] When it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, obtaining signal strength characteristic data of the digital key at each sampling point in the sampling area; and,

[0049] Determine the target position information of each sampling point according to the signal information of the first positioning signal transmitted by the reference device at each sampling point and received by the first signal receiver on the vehicle, and the signal information of the second positioning signal transmitted by the reference device at each sampling point and received by the second signal receiver on the vehicle; wherein the signal strength characteristic data includes the signal strength of the wireless signal transmitted by the digital key and received by the third signal receiver on the vehicle;

[0050] The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the target location information.

[0051] The above-mentioned location fingerprint library management method, computer equipment, storage medium and program product, when it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, obtains the signal strength characteristic data of the digital key at each sampling point in the sampling area; and determines the target location information of each sampling point based on the signal information of the first positioning signal transmitted by the reference device at each sampling point received by the first signal receiver on the vehicle and the signal information of the second positioning signal transmitted by the reference device at each sampling point received by the second signal receiver on the vehicle; and then manages the location fingerprint library of the digital key based on the signal strength characteristic data and the target location information of each sampling point. On the one hand, based on the characteristics of mobile association and binding between the reference device and the digital key, the signal interaction between the vehicle and the reference device is used to determine the distance between the digital key and the vehicle, replacing the distance estimated based on the signal strength of the interaction between the digital key and the vehicle, bypassing the defect of low positioning accuracy of the digital key. By binding the signal strength characteristic data determined by the interaction between the vehicle and the digital key with the positioning association determined by the interaction between the vehicle and the reference device, in the application stage of the location fingerprint library, the digital key vehicle control function is based on the signal strength characteristic data between the digital key and the vehicle, and is not affected by the accuracy of the conversion between signal strength and distance. That is, the accuracy of vehicle control based on the digital key no longer depends on the positioning accuracy of the digital key itself, thereby improving the accuracy of vehicle control. On the other hand, the signal information of multiple positioning signals is used to determine the target position information of each sampling point, so that the determined target position information is more accurate, thereby making the subsequent vehicle positioning more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1A A schematic diagram of a flow chart of a location fingerprint library management method in one embodiment;

[0053] Figure 1B is a schematic diagram of sampling points in one embodiment;

[0054] Figure 2 A schematic diagram of a process for determining target position information of each sampling point in an embodiment;

[0055] Figure 3A A schematic diagram of determining candidate location information of a sampling point in one embodiment;

[0056] Figure 3B A schematic diagram of determining candidate position information of a sampling point in another embodiment;

[0057] Figure 4A A schematic diagram of a process of selecting target position information of a sampling point from various candidate position information in one embodiment;

[0058] Figure 4B is a schematic diagram of an auxiliary rectangle and an auxiliary area in one embodiment;

[0059] Figure 5 A schematic diagram of a process of selecting target position information of a sampling point from various candidate position information in another embodiment;

[0060] Figure 6 A schematic diagram of a flow chart for determining target location information of a sampling point in another embodiment;

[0061] Figure 7 A schematic diagram of a process for determining target position information of a sampling point in yet another embodiment;

[0062] Figure 8 A schematic diagram of a process for managing a location fingerprint library of a digital key in one embodiment;

[0063] Fig. 9 It is a schematic diagram of a process of determining the associated unit area to which the position coordinates of a sampling point belong in one embodiment;

[0064] Fig.10 A schematic diagram of dividing a sampling area into a plurality of area blocks in one embodiment;

[0065] Fig.11 It is a schematic diagram of a flow chart of determining the associated unit area to which the position coordinates of a sampling point belong in another embodiment;

[0066] Fig.12 A schematic diagram of dividing a sampling area into multiple sub-areas in one embodiment;

[0067] Fig.13 It is a schematic diagram of a flow chart of determining the associated unit area to which the position coordinates of a sampling point belong in yet another embodiment;

[0068] Fig.14 A schematic diagram of the area range of a target area block in one embodiment;

[0069] Fig.15 A schematic diagram of a flow chart of determining the associated unit area to which the position coordinates of a sampling point belong in yet another embodiment;

[0070] Fig.16 A schematic diagram of a process for establishing a location fingerprint library of a digital key in one embodiment;

[0071] Fig.17 A schematic diagram of setting a target location that allows the establishment of a location fingerprint library in one embodiment;

[0072] Fig.18 A schematic diagram of a flow chart of a location fingerprint library management method in another embodiment;

[0073] Fig.19 A schematic diagram of the structure of a location fingerprint library management device in one embodiment;

[0074] Fig. 20 A schematic diagram of the hardware structure of a computer device in one embodiment;

[0075] Fig.21 FIG. 4 is a schematic diagram of the hardware structure of a computer device in another embodiment. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0077] The location fingerprint library management method provided in the embodiment of the present application can be applied to the application scenario of the sensorless control vehicle. The method can be executed by a computer device, specifically by a controller deployed on the vehicle, or by a server.

[0078] In one embodiment, Figure 1A As shown, a location fingerprint library management method is provided, which is described by the method being executed by a controller deployed on a vehicle, and includes the following steps:

[0079] S101, when it is determined that a reference device associated with a vehicle and a digital key are carried by the same object, obtain signal strength characteristic data of the digital key at each sampling point in a sampling area; and determine target position information of each sampling point based on signal information of a first positioning signal transmitted by the reference device at each sampling point and received by a first signal receiver on the vehicle, and signal information of a second positioning signal transmitted by the reference device at each sampling point and received by a second signal receiver on the vehicle.

[0080] The reference device associated with the vehicle may be an independent device that can control the vehicle and has a high positioning accuracy, for example, it may be a physical key of the vehicle. In some optional implementations, when the reference device is a physical key, the sampling frequency of the physical key in the fingerprint library management scenario is higher than the sampling frequency in the fingerprint library usage scenario. In this way, in the fingerprint library management scenario, that is, in the fingerprint library establishment and update scenario, the higher sampling frequency of the physical key makes the sampling points denser, and thus makes the location information of the collected sampling points richer, which can improve the positioning accuracy of the fingerprint library.

[0081] Optionally, the reference device in the embodiment of the present application may support at least two wireless communication methods among Ultra Wideband (UWB) wireless communication, Bluetooth and Wireless Fidelity (WIFI). Among them, UWB wireless communication technology has the characteristics of high positioning accuracy, making the location information of the determined sampling points more accurate; Bluetooth and WIFI communication technologies can improve the flexibility of the location information of the determined sampling points. It can be understood that by introducing a reference device that supports multiple communication methods and using the multiple communication methods supported by the reference device to determine the location information of the sampling points, the determined location information of the sampling points can be made more reliable.

[0082] The digital key can be a device that supports remote control of the vehicle by registering the vehicle application, such as a portable device such as a mobile phone or a watch.

[0083] The sampling area can be an area within the preset range of the vehicle, excluding the area inside the vehicle. For example, it can be an area with a preset radius and centered on the vehicle; or it can be an area corresponding to a graphic of a preset size and centered on the vehicle; or it can be a pre-set designated area, such as a pre-set home address, company address, or address of a frequently visited place. Each sampling point within the sampling area can be any location point within the sampling area, or it can be a location point where an object carrying a reference device and a digital key passes through the sampling area. For example, see Figure 1B , Figure 1B A schematic diagram of sampling points is provided, where each point in the diagram is a location point where the digital key and the reference device are carried by the same object at the same time. Among them, E1 is the in-vehicle area, E2 is the unit area, and E3 is the sampling area.

[0084] In an embodiment of the present application, the object carrying the reference device and the digital key may be a user with permission to operate the vehicle. Exemplarily, it is possible to determine whether the reference device and the digital key are carried by the same object based on the field signal strength between the reference device and the digital key. For example, the field signal strength between the reference device and the digital key may be obtained; if the field signal strength is greater than a preset strength threshold, it is determined that the reference device associated with the vehicle and the digital key are carried by the same object.

[0085] It is understandable that when both the digital key and the reference device are turned on and in a communicative state, the digital key and the reference device will send out wireless signals for mutual identification and communication. These signals propagate in space, forming a certain field strength distribution. This field strength can be used to determine whether the digital key and the reference device are in the same physical location, that is, whether they are carried by the same person. In this way, the field strength signal strength between the reference device and the digital key can be obtained, and based on the field strength signal strength, it can be determined that the reference device and the digital key are carried by the same object.

[0086] Optionally, the digital key can transmit a wireless signal to a signal receiver on the vehicle. When it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, the signal strength characteristic data of the digital key at each sampling point in the sampling area can be obtained through the third signal receiver on the vehicle; that is, the signal strength characteristic data includes the signal strength of the wireless signal transmitted by the digital key received by the third signal receiver on the vehicle.

[0087] In the case where it is determined that the reference device and the digital key associated with the vehicle are carried by the same object, the target position information of each sampling point can also be determined based on the interaction between the vehicle and the reference device. For example, the signal information of the first positioning signal emitted by the reference device at each sampling point can be received by the first signal receiver on the vehicle, and the signal information of the second positioning signal emitted by the reference device at each sampling point can be received by the second signal receiver on the vehicle. Then, according to the signal information of the first positioning signal emitted by the reference device at each sampling point received by the first signal receiver on the vehicle, the distance between each sampling point and the vehicle is determined, and the preliminary position information of each sampling point is determined according to the determined distance; then, the target position information of each sampling point can be determined according to the signal information of the second positioning signal emitted by the reference device at each sampling point received by the second signal receiver on the vehicle, and the preliminary position information of each sampling point. Among them, the preliminary position information and the target position information can be the position coordinates of the sampling point relative to the vehicle.

[0088] The first positioning signal may be a UWB signal, and the signal information of the first positioning signal may be signal information used to reflect the distance between the reference device and the vehicle, for example, it may include the time interval between the UWB signal transmission time and the reception time, and then the distance between the reference device and the vehicle may be determined according to the product of the time interval between the UWB signal transmission time and the reception time and the light propagation speed. Exemplarily, the second positioning signal may be a Bluetooth signal, or a WIFI signal, or a Bluetooth signal and a WIFI signal. The signal information of the second positioning signal may be information such as signal strength.

[0089] In some embodiments, the digital key may have one or more signal transmission functions, that is, the digital key may transmit one or more wireless signals, such as Bluetooth signals and WIFI signals. Optionally, in the scenario of the embodiment of the present application, the reference device and the digital key may transmit the same or different wireless signals. Exemplarily, the first signal receiver, the second signal receiver, and the third signal receiver in the embodiment of the present application may be the same signal receiver or different signal receivers for receiving different types of positioning signals.

[0090] S102: managing the location fingerprint library of the digital key according to the signal strength characteristic data of each sampling point and the target location information.

[0091] Among them, "location fingerprint" can be understood as associating the location in the actual environment with certain characteristic information. For the same location, the characteristic information is unique, just like its "fingerprint". In the embodiment of the present application, the location fingerprint of the digital key can be understood as linking the target position information of the digital key relative to the vehicle and the corresponding signal strength characteristic data. One target position information corresponds to one or a group of signal strength characteristic data. The location fingerprint library can be understood as a collection of location fingerprints of the digital key at multiple sampling points, including the correspondence between the target position information and the signal strength characteristic data of each sampling point. When determining the relative distance between the digital key and the vehicle according to the location fingerprint library, the target location information can be matched according to the signal strength characteristic data of the digital key received by the controller of the vehicle, and then the relative distance between the digital key and the vehicle can be determined according to the target location information, so as to facilitate the automatic execution of preset actions on the vehicle when it is determined that the digital key is within the controllable vehicle range of the vehicle.

[0092] Optionally, managing the location fingerprint library may include creating the location fingerprint library, or updating the location fingerprint library.

[0093] In some embodiments, if a location fingerprint library of a digital key is not established for the parking place to which the sampling area belongs, a location fingerprint library for the digital key in the parking place to which the sampling area belongs may be established based on the signal strength characteristic data and target location information of each sampling point. If a location fingerprint library of a digital key is established for the parking place to which the sampling area belongs, the established location fingerprint library may be updated based on the signal strength characteristic data and target location information of each sampling point.

[0094] The above-mentioned location fingerprint library management method obtains the signal strength characteristic data of the digital key at each sampling point in the sampling area when it is determined that the reference device associated with the vehicle and the digital key are carried by the same object; and determines the target location information of each sampling point based on the signal information of the first positioning signal transmitted by the reference device at each sampling point received by the first signal receiver on the vehicle and the signal information of the second positioning signal transmitted by the reference device at each sampling point received by the second signal receiver on the vehicle; and then manages the location fingerprint library of the digital key based on the signal strength characteristic data and the target location information of each sampling point. On the one hand, based on the characteristics of mobile association and binding between the reference device and the digital key, the signal interaction between the vehicle and the reference device is used to determine the distance between the digital key and the vehicle, replacing the distance estimated based on the signal strength of the interaction between the digital key and the vehicle, bypassing the defect of low positioning accuracy of the digital key. By binding the signal strength characteristic data determined by the interaction between the vehicle and the digital key with the positioning association determined by the interaction between the vehicle and the reference device, in the application stage of the location fingerprint library, the digital key vehicle control function is based on the signal strength characteristic data between the digital key and the vehicle, and is not affected by the accuracy of the conversion between signal strength and distance. That is, the accuracy of vehicle control based on the digital key no longer depends on the positioning accuracy of the digital key itself, thereby improving the accuracy of vehicle control. On the other hand, the signal information of multiple positioning signals is used to determine the target position information of each sampling point, so that the determined target position information is more accurate, thereby making the vehicle positioning more accurate.

[0095] In some optional implementations, the preliminary position information of each sampling point relative to the vehicle is determined based on the signal information of the first positioning signal transmitted by the reference device at each sampling point and received by the first signal receiver on the vehicle, wherein the determined preliminary position information may be one or more. The following takes the case in which the first positioning signal in the above embodiment is a UWB positioning signal, the second positioning signal is a Bluetooth positioning signal and / or a WIFI positioning signal, and the number of the first signal receiver and the second signal receiver are both at least two as an example to introduce the optional implementation process of determining the target position information of each sampling point.

[0096] For example, see Figure 2 , Figure 2A schematic diagram of a process for determining target location information of each sampling point is provided, which specifically includes the following steps:

[0097] S201 , for each sampling point, determine candidate position information of the sampling point according to signal information of a first positioning signal transmitted by a reference device at the sampling point and received by each first signal receiver on the vehicle.

[0098] Exemplarily, for each sampling point, the distance between each sampling point and the vehicle can be determined based on the signal information of the first positioning signal transmitted by the reference device at the sampling point and received by each first signal receiver on the vehicle, that is, based on the signal information of the UWB signal transmitted by the reference device at the sampling point and received by each first signal receiver on the vehicle (for example, the time interval between transmitting and receiving the UWB signal), and the propagation speed of light.

[0099] For example, see Figure 3A , Figure 3A A schematic diagram for determining candidate position information of a sampling point is provided. It is assumed that there are three first signal receivers (a1, a2, and a3) on the vehicle that receive signal information of a first positioning signal transmitted by a reference device at the sampling point. For each first signal receiver, the distance between the sampling point and the vehicle can be determined based on the signal information of the first positioning signal transmitted by the reference device at the sampling point received by the first signal receiver; thereafter, a circle can be drawn with the position of the first signal receiver as the center and the distance between the sampling point and the vehicle determined based on the signal information of the first positioning signal transmitted by the reference device at the sampling point received by the first signal receiver as the radius. The intersection of each circle relative to the position coordinates of the vehicle can then be determined as the candidate position information of the sampling point. For example, Figure 3A The position coordinates of point A relative to the vehicle are used as candidate position information of the sampling point.

[0100] For example, see Figure 3B , Figure 3B Another schematic diagram for determining candidate position information of a sampling point is provided. It is assumed that there are two first signal receivers (b1 and b2) on the vehicle that receive signal information of a first positioning signal transmitted by a reference device at the sampling point. Similarly, for each first signal receiver, the distance between the sampling point and the vehicle can be determined based on the signal information of the first positioning signal transmitted by the reference device at the sampling point received by the first signal receiver; thereafter, a circle can be drawn with the position of the first signal receiver as the center and the distance between the sampling point and the vehicle determined based on the signal information of the first positioning signal transmitted by the reference device at the sampling point received by the first signal receiver as the radius. The position coordinates of the intersection of each circle relative to the vehicle can then be determined as the candidate position information of the sampling point. For example, Figure 3BThe position coordinates of point B and point C relative to the vehicle are used as candidate position information of the sampling point.

[0101] S202: When the number of candidate position information is one, determine the target position information of the sampling point according to the candidate position information.

[0102] For example, when the number of candidate location information is one, Figure 3A In the scenario shown, the candidate position information can be directly used as the target position information of the sampling point. For example, the position coordinates of point A relative to the vehicle can be directly used as the target position information of the sampling point.

[0103] Alternatively, the candidate position information may be verified, and if the verification passes, the candidate position information is used as the target position information of the sampling point.

[0104] S203: When the number of candidate position information is at least two, select target position information of the sampling point from each candidate position information according to signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle.

[0105] Exemplarily, when the number of candidate position information is at least two, for example, Figure 3B In the scenario shown, there are two candidate position information. At this time, the target position information of the sampling point can be selected from each candidate position information according to the signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle. For example, the second signal receiver corresponding to the maximum signal information in the signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver can be determined, and the candidate position information closest to the second signal receiver corresponding to the maximum signal information is used as the target position information of the sampling point.

[0106] In an embodiment of the present application, when the number of candidate position information is at least two, the target position information of the sampling point can be selected from each candidate position information based on the signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle. That is, the reference device is used to interact with the vehicle based on Bluetooth and / or WIFI communication to assist in ranging based on UWB communication, thereby making the determined target position information of the sampling point more reliable and thus making the vehicle positioning more accurate.

[0107] In some optional implementations, the signal information of the second positioning signal in the above embodiment may include signal strength. Based on this, the target position information of the sampling point can be selected from each candidate position information according to the signal strength of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle.

[0108] For example, see Figure 4A , Figure 4A A schematic diagram of a process for selecting target location information of a sampling point from various candidate location information is provided, which specifically includes the following steps:

[0109] S401 : for each candidate position information, select an associated area matching the candidate position information from each auxiliary area according to the candidate position information and the center position information of the auxiliary rectangle.

[0110] Exemplarily, an auxiliary rectangle may be constructed in advance. The auxiliary rectangle may be constructed according to the deployment positions of the second signal receivers. For example, a rectangle surrounded by the second signal receivers on the periphery is used as an auxiliary rectangle. The auxiliary rectangle is then cross-divided to obtain auxiliary regions, that is, each auxiliary region is obtained by cross-dividing the auxiliary rectangle.

[0111] For example, see Figure 4B , Figure 4B A schematic diagram of an auxiliary rectangle and an auxiliary area is provided. For example, a vehicle is equipped with five second signal receivers (b1, b2, b3, b4, and b5). The rectangle formed by the four surrounding second signal receivers (b1, b2, b3, and b4) is used as an auxiliary rectangle, and a cross is divided at the center of the auxiliary rectangle. Starting from the first area on the upper left, the auxiliary rectangle is divided into auxiliary area 1, auxiliary area 2, auxiliary area 3, and auxiliary area 4 in a clockwise direction.

[0112] Exemplarily, the auxiliary region where the candidate position information falls can be determined based on the candidate position information and the center position information of the auxiliary rectangle, and the auxiliary region where the candidate position information falls is used as the associated region matching the candidate position information.

[0113] by Figure 3B Taking the candidate position information of point B and point C relative to the position coordinates of the vehicle as the sampling points as an example, assuming that point B falls into auxiliary area 2 and point C falls into auxiliary area 3, auxiliary area 2 and auxiliary area 3 are used as associated areas matching the candidate position information.

[0114] Optionally, if all candidate position information falls on the straight line corresponding to the cross, the auxiliary area may not be divided, and multiple second signal receivers may be selected, and based on the signal strength of the second positioning signal received by the second signal receiver, the candidate position information of the second signal receiver with the strongest signal strength may be used as the target position information of the sampling point.

[0115] S402: Select target location information of a sampling point from each candidate location information according to the signal strength of a second positioning signal received by a second signal receiver located in an associated area of ​​each candidate location information.

[0116] Exemplarily, the target location information of the sampling point can be selected from each candidate location information according to the signal strength of the second positioning signal received by the second signal receiver located in the associated area of ​​each candidate location information. For example, the signal strengths of the second positioning signals received by the second signal receivers located in the auxiliary area 2 and the auxiliary area 3 can be compared, and the auxiliary area where the second signal receiver with a greater signal strength is located can be determined. Assuming that the signal strength of the second positioning signal received by the second signal receiver in the auxiliary area 3 is greater, the position coordinates of point C located in the auxiliary area 3 relative to the vehicle can be used as the target location information of the sampling point.

[0117] In the embodiment of the present application, the target position information of the sampling point is selected from each candidate position information based on the signal strength of the second positioning signal received by the second signal receiver located in the associated area of ​​each candidate position information, thereby improving the efficiency of determining the target position information and making the determined target position information of the sampling point more reliable, thereby making the vehicle positioning more accurate.

[0118] In some optional implementations, see Figure 5 , Figure 5 Another flow chart of selecting the target location information of the sampling point from each candidate location information is provided. Taking two candidate location information result1 and result2 as an example, the coordinates of the candidate location information result1 are (result1.x, result1.y), the coordinates of the candidate location information result2 are (result2.x, result2.y), and the coordinates of the cross intersection (center.x, center.y) are used as the reference point. Specifically, the following steps are included:

[0119] S501, determine whether result1.x is less than center.x, if so, execute S502; if not, execute S505.

[0120] S502, determine whether result1.y is greater than center.y, if so, execute S503; if not, execute S504.

[0121] S503: Determine whether the candidate position information result1 belongs to auxiliary area 1.

[0122] S504 , determining that the candidate position information result1 belongs to auxiliary area 4 .

[0123] S505, determine whether result1.y is greater than center.y, if so, execute S506; if not, execute S507.

[0124] S506 , determining that the candidate position information result1 belongs to auxiliary area 2 .

[0125] S507 , determining that the candidate position information result1 belongs to auxiliary area 3 .

[0126] S508, determine whether result2.x is less than center.x, if so, execute S509; if not, execute S512.

[0127] S509, determine whether result2.y is greater than center.y, if so, execute S510; if not, execute S511.

[0128] S510 , determining that the candidate position information result2 belongs to auxiliary area 1 .

[0129] S511 , determining that the candidate position information result2 belongs to auxiliary area 4 .

[0130] S512, determine whether result2.y is greater than center.y, if so, execute S513; if not, execute S514.

[0131] S513: Determine whether the candidate position information result2 belongs to auxiliary area 2.

[0132] S514 , determining that the candidate position information result2 belongs to auxiliary area 3 .

[0133] S515, determining whether result1 and result2 belong to the same auxiliary area, if not, executing S516; if yes, executing S519.

[0134] S516, determine whether the anchor point field strength corresponding to the area to which result1 belongs is greater than the anchor point field strength corresponding to the area to which result2 belongs, if so, execute S517; if not, execute S518. The anchor point field strength is the field strength of the wireless signal received by the second signal receiver in the corresponding area.

[0135] S517, using result1 as the target position information of the sampling point.

[0136] S518, using result2 as the target position information of the sampling point.

[0137] S519, determining the position jump distance of result1 relative to the previous sampling point, and the position jump distance of result2 relative to the previous sampling point, and taking the candidate position information with the smaller jump distance as the target position information of the sampling point.

[0138] In the above embodiment, the steps of determining the auxiliary areas to which result1 and result2 belong can be executed simultaneously. This is only an exemplary description in the embodiment of the present application and is not used to limit the execution order of the steps.

[0139] In some optional implementations, when the number of candidate position information is one, in order to improve the reliability of determining the target position information of the sampling point, whether the candidate position information is accurate can be determined based on whether a position jump occurs between adjacent sampling points, so as to improve the reliability of the determined target position information of the sampling point.

[0140] For example, see Figure 6 , Figure 6 Another flow chart for determining target location information of a sampling point is provided, which specifically includes the following steps:

[0141] S601, determining a position jump of a reference device according to candidate position information and target position information of a previous sampling point corresponding to a sampling point.

[0142] Exemplarily, the distance between the candidate position information and the target position information of the previous sampling point corresponding to the sampling point may be determined, and then the position jump of the reference device may be determined according to the distance between the candidate position information and the target position information of the previous sampling point corresponding to the sampling point.

[0143] For example, a distance threshold may be pre-set. Under normal circumstances, the sampling points that the object passes through with the reference device and the digital key should be a smooth curve, that is, the distance between adjacent sampling points should be within the distance threshold. If the distance between the candidate position information and the target position information of the previous sampling point corresponding to the sampling point is greater than the distance threshold, it can be determined that the position of the reference device has jumped; if the distance between the candidate position information and the target position information of the previous sampling point corresponding to the sampling point is less than or equal to the distance threshold, it can be determined that the position of the reference device has not jumped.

[0144] S602: When the position jump situation is that there is no position jump, the candidate position information is used as the target position information of the sampling point.

[0145] Exemplarily, when the position jump situation is that there is no position jump, it can be considered that the candidate position information of the sampling point is reliable, and the candidate position information can be directly used as the target position information of the sampling point.

[0146] S603, when the position jump situation is that there is a position jump, determine the target position information of the sampling point according to the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver, and the candidate position information.

[0147] Exemplarily, in the case where there is a position jump, whether the candidate position information is reliable can be determined based on the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver. If it is reliable, the candidate position information can be used as the target position information of the sampling point.

[0148] The reference signal receiver is a signal receiver among the first signal receivers. For example, the reference signal receiver may be a signal receiver located at the center among the first signal receivers.

[0149] In an embodiment of the present application, whether the candidate position information is reliable is determined based on the position jump of the reference device, and in the event of a position jump, whether the candidate position information is reliable is further determined based on the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver, thereby improving the reliability of the target position information of the determined sampling point, thereby making the vehicle positioning more accurate.

[0150] In some optional implementations, in the process of determining whether the candidate position information is reliable based on the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver, the determination can be made based on the change in the ranging value of the reference signal receiver and the ranging properties of UWB.

[0151] For example, see Figure 7 , Figure 7 A schematic diagram of another process for determining target location information of a sampling point is provided, which specifically includes the following steps:

[0152] S701, determining a change in a ranging value of a reference signal receiver according to signal information of a first positioning signal of a reference device at a sampling point and signal information of a first positioning signal at a previous sampling point received by the reference signal receiver.

[0153] Exemplarily, the relative distance between the reference device and the vehicle at the sampling point can be determined based on the signal information of the first positioning signal of the reference device at the sampling point received by the reference signal receiver; and the relative distance between the reference device and the vehicle at the previous sampling point can be determined based on the signal information of the first positioning signal of the reference device at the previous sampling point received by the receiver; and then the relative distance between the reference device and the vehicle at the sampling point and the relative distance between the reference device and the vehicle at the previous sampling point can be compared to determine the change in the ranging value of the reference signal receiver.

[0154] For example, if the relative distance between the reference device and the vehicle at the sampling point is greater than the relative distance between the reference device and the vehicle at the previous sampling point, it can be determined that the ranging value has increased; if the relative distance between the reference device and the vehicle at the sampling point is less than the relative distance between the reference device and the vehicle at the previous sampling point, it can be determined that the ranging value has decreased; if the relative distance between the reference device and the vehicle at the sampling point is consistent with the relative distance between the reference device and the vehicle at the previous sampling point, it can be determined that the ranging value remains unchanged.

[0155] S702: Determine validity of candidate position information according to a variation of a ranging value of a reference signal receiver and a ranging property of UWB.

[0156] Exemplarily, the ranging of UWB is measured by time and the speed of light, that is, the ranging property of UWB is that the ranging error is larger but not smaller. Based on this, according to the variation of the ranging value of the reference signal receiver and the ranging property of UWB, the validity of the candidate position information is determined. It can be understood that if the variation of the ranging value of the reference signal receiver is decreasing, that is, the position jump is caused by the decrease of the ranging value, the candidate position information can be considered to be valid; if the variation of the ranging value of the reference signal receiver is increasing, that is, the position jump is caused by the increase of the ranging value, the candidate position information can be considered to be invalid.

[0157] S703: When the candidate position information is valid, use the candidate position information as the target position information of the sampling point.

[0158] Exemplarily, when the candidate position information is valid, the candidate position information may be directly used as the target position information of the sampling point.

[0159] In an embodiment of the present application, the validity of the candidate position information is determined based on the change in the ranging value of the reference signal receiver and the ranging properties of the UWB. The validity of the candidate position information can be determined without the aid of other devices. On the one hand, the convenience of determining the validity of the candidate position information can be improved, and on the other hand, the reliability of determining the validity of the candidate position information can also be improved.

[0160] In some optional implementations, in order to improve the accuracy of the location fingerprint library, the sampling area can be divided into multiple unit areas of equal size. Figure 1B , wherein the unit area may be an area of ​​a preset size obtained by equally dividing the sampling area.

[0161] Accordingly, the target position information of each sampling point may include the position coordinates of the sampling point relative to the vehicle.

[0162] Based on this, see Figure 8 , Figure 8 A schematic diagram of a process for managing a location fingerprint library of a digital key is provided, which specifically includes the following steps:

[0163] S801 , for each sampling point, according to the position coordinates of the sampling point, determine from each unit area a unit area that matches the position coordinates as an associated unit area of ​​the sampling point.

[0164] Exemplarily, the area range of each unit area can be determined in advance, for example, by determining the value range of the horizontal coordinate and the value range of the vertical coordinate of each unit area. Then, for each sampling point, it can be assumed that the position coordinates of the sampling point are (x, y); according to the position coordinates (x, y) of the sampling point and the area range of each unit area, the area range in which (x, y) falls is determined, and the unit area corresponding to the area range in which (x, y) falls is used as the unit area matching the position coordinates, and then the unit area corresponding to the area range is used as the associated unit area of ​​the sampling point.

[0165] S802: Manage the location fingerprint library of the digital key according to the signal strength characteristic data of each sampling point and the associated unit area.

[0166] Optionally, the signal strength characteristic data of each sampling point may be associated with an associated unit area. If a location fingerprint library of the digital key has not been established for the parking place to which the sampling area belongs, a location fingerprint library for the parking place to which the sampling area belongs may be established based on the signal strength characteristic data of each sampling point and the associated unit area. If a location fingerprint library for the parking place to which the sampling area belongs has been established, the signal strength characteristic data associated with the corresponding associated unit area in the established location fingerprint library of the digital key may be updated based on the signal strength characteristic data of each sampling point and the associated unit area.

[0167] In an embodiment of the present application, by dividing the sampling area into multiple unit areas of the same size, and then managing the location fingerprint library of the digital key according to the signal strength characteristic data of each sampling point and the associated unit area, the accuracy of the location fingerprint library can be improved.

[0168] In order to more quickly determine the associated unit area to which the position coordinates of the sampling point belong, in some examples of this embodiment, the sampling area may be divided into at least two area blocks, and each area block includes at least two unit areas.

[0169] Based on this, see Fig. 9 , Fig. 9 A schematic diagram of a process for determining the associated unit area to which the location coordinates of a sampling point belong is provided, which specifically includes the following steps:

[0170] S901 : determining a target area block from each area block according to the position coordinates of the sampling points and the area position ranges of each area block.

[0171] For example, see Fig.10 , Fig.10 A schematic diagram of dividing a sampling area into a plurality of area blocks is provided. For example, the sampling area can be divided into area block A, area block B, area block C, area block D and area block E.

[0172] For example, the coordinate point (x0, y0) and the coordinate point (x1, y1) may be pre-set. For example, the coordinate point at the lower left of the outer boundary of the in-car area may be used as (x0, y0), and the coordinate point at the upper right of the outer boundary of the in-car area may be used as (x1, y1). The area range of each area block is determined by the coordinate point (x0, y0) and the coordinate point (x1, y1). For example, the range of area block A may be a range where the horizontal coordinate is greater than x1 and the vertical coordinate is greater than y1; the range of area block C may be a range where the horizontal coordinate is greater than x1 and the vertical coordinate is less than or equal to y1; the range of area block E may be a range where the horizontal coordinate is greater than x0 and less than x1, and the vertical coordinate is less than y0; the range of area block B may be a range where the horizontal coordinate is less than x1 and the vertical coordinate is greater than y1; the range of area block D may be a range where the horizontal coordinate is less than x0 and the vertical coordinate is less than y1. Among them, the coordinates of the area boundary may be identified as belonging to any area block adjacent to the boundary.

[0173] Exemplarily, the regional block to which the position coordinates of the sampling point belong may be determined according to the position coordinates of the sampling point and the regional position ranges of each regional block, and the regional block may be used as the target regional block.

[0174] S902 , according to the position coordinates of the sampling point, determine a unit area matching the position coordinates in the target area block as an associated unit area of ​​the sampling point.

[0175] Exemplarily, the target area block includes multiple unit areas, and after determining the target area block, the target area block can be traversed to determine the unit area to which the position coordinates of the sampling point belong, that is, the unit area that matches the position coordinates, and the unit area is used as the associated unit area of ​​the sampling point.

[0176] In the embodiment of the present application, by dividing the sampling area into multiple area blocks, first determining the target area block to which the position coordinates of the sampling point belong, and then determining the associated unit area to which the position coordinates of the sampling point belong within the target area block, the determination range of the unit area can be narrowed, thereby improving the efficiency of determining the associated unit area to which the position coordinates of the sampling point belong.

[0177] Optionally, in order to more quickly determine the associated unit area to which the location coordinates of the sampling point belong, the location of the vehicle can be used as the center of the sampling area, that is, the vehicle is located at the center of the sampling area, and then the sampling area can be divided into multiple sub-areas according to the control ranges corresponding to different control functions of the digital key, and each sub-area includes multiple unit areas. Correspondingly, the location information of each sampling point also includes the area identifier of the sub-area to which the sampling point belongs, and then the associated unit area to which the location coordinates of the sampling point belong is determined in the sub-area.

[0178] Based on this, see Fig.11 , Fig.11 Another flow chart for determining the associated unit area to which the location coordinates of a sampling point belong is provided, which specifically includes the following steps:

[0179] S1101: Determine the sub-region to which the sampling point belongs according to the region identifier corresponding to the sampling point.

[0180] For example, see Fig.12 , Fig.12 A schematic diagram of dividing a sampling area into multiple sub-areas is provided. For example, the sampling area can be divided into sub-area 0, sub-area 1, sub-area 2, sub-area 3 and sub-area 4. Among them, sub-area 0 is the in-vehicle area, sub-area 1 is the unlocking area, sub-area 2 is the locking area, sub-area 3 is the welcome area, and sub-area 4 is the invalid area. The area identifier can be an area number or an area name.

[0181] Optionally, the area identifier corresponding to each sampling point may be determined according to the area identifier of the sub-area to which the sampling point belongs included in the location information of each sampling point; and then the sub-area to which each sampling point belongs may be determined according to the area identifier corresponding to each sampling point.

[0182] S1102: According to the position coordinates of the sampling point, determine, in the sub-region to which the sampling point belongs, a unit region that matches the position coordinates as an associated unit region of the sampling point.

[0183] For example, according to the location coordinates of the sampling point, the sub-area to which the sampling point belongs can be traversed to determine the unit area containing the location coordinates of the sampling point, that is, the unit area matching the location coordinates, and the unit area is used as the associated unit area of ​​the sampling point.

[0184] In the embodiment of the present application, by dividing the sampling area into a plurality of sub-areas, firstly, according to the area identifier of the sub-area to which the sampling point belongs included in the position information of each sampling point, the sub-area to which each sampling point belongs is determined; and then, within the sub-area to which the position coordinates of the sampling point belong, the associated unit area to which the position coordinates of the sampling point belong is determined, so that the determination range of the unit area can be narrowed, thereby improving the efficiency of determining the associated unit area to which the position coordinates of the sampling point belong.

[0185] In some optional implementations, in order to further improve the efficiency of determining the associated unit area to which the location coordinates of the sampling point belong, the sampling area can be first divided into sub-areas, and then each sub-area is divided into each area block. For example, when the sampling area includes both sub-areas and area blocks, the sub-area can include at least two area blocks.

[0186] Based on this, see Fig.10 and Fig.12 , assuming that the sampling area is first divided into sub-area 0, sub-area 1, sub-area 2, sub-area 3 and sub-area 4; wherein the in-car area is taken as sub-area 0; and then sub-area 1, sub-area 2, sub-area 3 and sub-area 4 are all divided into area block A, area block B, area block C, area block D and area block E. For example, the range of each sub-area can be first determined, and then each sub-area can be divided into area block A, area block B, area block C, area block D and area block E within the range of each sub-area. For each sub-area, a reference point of each sub-area can be determined, and the reference point of each sub-area is used to determine the area range of each area block in the sub-area. When determining the reference point of sub-area 1, the reference point can be determined on the adjacent boundary between sub-area 1 and sub-area 0, for example, the coordinate point at the upper right and the coordinate point at the lower left of the outer boundary of sub-area 0 are used as the reference point of sub-area 1; when determining the reference point of sub-area 2, the reference point can be determined on the adjacent boundary between sub-area 2 and sub-area 1, for example, the coordinate point at the upper right and the coordinate point at the lower left of the outer boundary of sub-area 1 are used as the reference point of sub-area 2; when determining the reference point of sub-area 3, the reference point can be determined on the adjacent boundary between sub-area 3 and sub-area 2, for example, the coordinate point at the upper right and the coordinate point at the lower left of the outer boundary of sub-area 2 are used as the reference point of sub-area 3; when determining the reference point of sub-area 4, the reference point can be determined on the adjacent boundary between sub-area 4 and sub-area 3, for example, the coordinate point at the upper right and the coordinate point at the lower left of the outer boundary of sub-area 3 are used as the reference point of sub-area 4.

[0187] See also Fig.13 , Fig.13Another flow diagram for determining the associated unit area to which the position coordinates of the sampling point belong is provided. For example, first, based on the area identifier of the sub-area to which the sampling point belongs included in the position information of the sampling point, the sub-area to which the sampling point belongs can be determined. Assume that the sub-area to which the sampling point belongs is sub-area 1.

[0188] Among them, in sub-area 1, the coordinate points (x0, y0) and (x1, y1) are used to determine the area range of each area block. The position coordinates of the sampling point are (x, y). It should be noted that the sampling area does not include the area inside the vehicle, that is, the sampling point will not fall into the area inside the vehicle.

[0189] Based on this, the following steps can be executed:

[0190] S1301, determine whether x is less than x1. If not, execute S1302; if so, execute S1305.

[0191] S1302, determine whether y is less than y1. If so, execute S1303; if not, execute S1304.

[0192] S1303, determine that the target area block to which the sampling point belongs is area block C.

[0193] S1304, determine that the target area block to which the sampling point belongs is area block A.

[0194] S1305, determine whether y is less than y1. If not, execute S1306; if so, execute S1307.

[0195] S1306, determine that the target area block to which the sampling point belongs is area block B.

[0196] S1307, determine whether x is less than x0. If so, execute S1308; if not, execute S1309.

[0197] S1308, determine that the target area block to which the sampling point belongs is area block D.

[0198] S1309, determine that the target area block to which the sampling point belongs is area block E.

[0199] That is, determine the size between the abscissa x in the position coordinates of the sampling point and the abscissa x1 of the coordinate point (x1, y1), and then determine the candidate area range to which the sampling point belongs in sub-area 1. For example, if x≥x1, determine that the candidate area range is the range composed of area block A and area block C; if x<x1, determine that the candidate area range is the range composed of area block B, area block D, and area block E.

[0200] Furthermore, the target region block to which the sampling point belongs can be determined within the candidate region according to the magnitude relationship between the ordinate y in the position coordinates of the sampling point and the ordinate y1 of the coordinate point (x1, y1). For example, if x ≥ x1 and y ≥ y1, it is determined that the target region block to which the sampling point belongs is region block A; if x ≥ x1 and y < y1, it is determined that the target region block to which the sampling point belongs is region block C.

[0201] If x < x1 and y ≥ y1, it is determined that the target region block to which the sampling point belongs is region block B.

[0202] If x < x1 and y < y1, it is necessary to further determine the target region block to which the sampling point belongs within the candidate region in combination with the magnitude relationship between the abscissa x in the position coordinates of the sampling point and the abscissa x0 of the coordinate point (x0, y0) in the region block to which the sampling point belongs. For example, if x < x0, it is determined that the target region block to which the sampling point belongs is region block D; otherwise, it is determined that the target region block to which the sampling point belongs is region block E.

[0203] Furthermore, the associated unit region matching the same position coordinates can be determined in the target region block.

[0204] Exemplarily, referring to Fig.14 , Fig.14 a schematic diagram of the region range of the target region block is provided. Among them, the spacing corresponding to the target region block can be preset. For example, the spacing is set to d, and then the region range of the target region block is determined to be from (x_0, y_0) to (x_0 + nd, y_0 + md). For example, (x_0, y_0) is the lower left corner coordinate point of the target region block, n is the number of spacing divisions of the region block in the x-axis direction, and m is the number of spacing divisions of the region block in the y-axis direction.

[0205] On the basis of determining the target region block, referring to Fig.15 , Fig.15 a schematic diagram of another process for determining the associated unit region to which the position coordinates of the sampling point belong is provided. Exemplarily, it can be implemented through the following steps:

[0206] S1501, assign n to i.

[0207] S1502, determine whether x is less than x_0 + id. If so, execute S1503; if not, execute S1505.

[0208] S1503, assign i - 1 to i.

[0209] S1504, determine whether i is equal to 0. If so, execute S1505; if not, return to execute S1502.

[0210] S1505, determine that the position coordinate of the sampling point is located in the i+1th column.

[0211] S1506, assign m to j.

[0212] S1507, determine whether y is less than y_0+jd. If yes, execute S1508; if no, execute S1510.

[0213] S1508, assign the value of j-1 to j.

[0214] S1509, determine whether j is equal to 0. If so, execute S1510; if not, return to execute S1507.

[0215] S1510, determining that the associated unit area to which the sampling point belongs is the i+1th row and the j+1th column.

[0216] That is, i is assigned to n, and it is determined whether the horizontal coordinate x in the position coordinate of the sampling point is less than x_0+id. If so, the value of i can be assigned to i-1, and it is determined whether i is equal to 0. If not, it is continued to determine whether the horizontal coordinate x in the position coordinate of the sampling point is less than x_0+id; if i is equal to 0, or the horizontal coordinate x in the position coordinate of the sampling point does not meet the condition of being less than x_0+id, it is determined that the position coordinate of the sampling point is located in the i+1th column.

[0217] In some examples of this embodiment, the initial value of j may be assigned to m, and it is determined whether the ordinate y in the position coordinates of the sampling point is less than y_0+jd. If so, j is assigned to j-1, and it is determined whether j is equal to 0. If not equal to 0, it is further determined whether the ordinate y in the position coordinates of the sampling point is less than y_0+jd. If the ordinate y in the position coordinates of the sampling point does not satisfy the condition of being less than y_0+jd, or j is equal to 0, it is determined that the associated unit area to which the sampling point belongs is the i+1th row and the j+1th column.

[0218] In the embodiment of the present application, by dividing the sampling area into multiple sub-areas and dividing each sub-area into multiple area blocks, the determination range of the unit area can be further narrowed, thereby improving the efficiency of determining the associated unit area to which the position coordinates of the sampling point belong.

[0219] In some optional implementations, when the parking location to which the sampling area belongs is a location where no location fingerprint library is set up, a location fingerprint library of the digital key at the parking location can be established based on the signal strength characteristic data of each sampling point and the associated unit area, so as to determine based on the signal strength characteristic data of each sampling point whether the vehicle can be automatically controlled to perform preset actions without sensor-controlled vehicles.

[0220] Based on this, see Fig.16 , Fig.16A schematic diagram of a process for establishing a location fingerprint library of a digital key is provided, which specifically includes the following steps:

[0221] S1601, determining signal strength characteristic data of each associated unit area according to the signal strength characteristic data of each sampling point and the associated unit area.

[0222] In order to avoid the impact of signal strength errors, multiple second signal receivers can be used to receive the signal strength of the wireless signal of the digital key at each sampling point in the sampling area, and based on the signal strength of the wireless signal at the same sampling point received by each second signal receiver, the mean and standard deviation of each signal strength of the sampling point can be determined, and then the signal strength of the wireless signal at the sampling point, the mean and standard deviation of each signal strength can be used as the signal strength characteristic data of the sampling point.

[0223] For example, if N second signal receivers are deployed on the vehicle, then for each sampling point, the N second signal receivers will obtain the received signal strength indication (RSSI) value of the wireless signal transmitted by the N digital keys, and calculate the average value Rssi of the N Rssi values. mean and standard deviation Rssi std ; The calculation formula is as follows:

[0224] Rssi1,Rssi2,…,Rssi N ,Rssi mean ,Rssi std

[0225]

[0226] Then, N Rssi values ​​and mean Rssi mean and standard deviation Rssi std As the signal strength characteristic data of each sampling point.

[0227] Exemplarily, an associated unit area may correspond to only one sampling point or to multiple sampling points; when an associated unit area corresponds to only one sampling point, the signal strength characteristic data of the sampling point may be used as the signal strength characteristic data of the associated unit area; when an associated unit area corresponds to only multiple sampling points, the average value of the signal strength characteristic data of the multiple sampling points may be used as the signal strength characteristic data of the associated unit area.

[0228] S1602: Bind each associated unit area with the corresponding signal strength characteristic data to create a location fingerprint library of the digital key at the parking location.

[0229] Furthermore, each associated unit area can be bound to the corresponding signal strength characteristic data to create a location fingerprint library of the digital key at the parking location. In this way, the relative position of the digital key and the vehicle can be determined based on the signal strength characteristic data of the digital key, and then whether to execute the preset action corresponding to the non-sensing control vehicle can be determined based on the relative position of the digital key and the vehicle.

[0230] In an embodiment of the present application, when the parking location to which the sampling area belongs is a location where no location fingerprint library is set up, a location fingerprint library of the digital key at the parking location can be established based on the signal strength characteristic data of each sampling point and the associated unit area, thereby realizing the establishment of a location fingerprint library of the digital key for the parking location. That is, in the process of establishing the location fingerprint library of the digital key for the parking location, the influence of the parking location on the received signal strength is taken into account, so that at the parking location, when the relative position between the digital key and the vehicle is determined according to the location fingerprint library, there will be no errors caused by environmental factors, thereby improving the accuracy of determining the distance between the digital key and the vehicle.

[0231] In some optional implementations, when the parking location to which the sampling area belongs is a location where a location fingerprint library has been set up, the location fingerprint library of the digital key can be updated based on the signal strength characteristic data of each sampling point and the associated unit area.

[0232] Based on this, for each associated unit area, the signal strength characteristic data of the sampling point belonging to the associated unit area can be used to update the signal strength characteristic data of the associated unit area in the location fingerprint library corresponding to the parking place, that is, the signal strength characteristic data of the associated unit area in the location fingerprint library can be replaced, or the signal strength characteristic data of the associated unit area not stored in the location fingerprint library can be added. For example, the environment of the parking place to which the sampling area belongs may change, for example, a building is added to the parking place or a building is demolished, which will cause the second signal receiver to receive inconsistent signal strength characteristic data of the digital key at the same sampling point. Therefore, the location fingerprint library of the digital key can be updated according to the signal strength characteristic data of each sampling point and the associated unit area.

[0233] In an embodiment of the present application, by adopting the signal strength characteristic data of the sampling points belonging to the associated unit area, the signal strength characteristic data of the associated unit area in the location fingerprint library corresponding to the parking location is updated. After the environment of the parking location corresponding to the sampling area changes, the location fingerprint library of the digital key at the parking location can be updated, thereby avoiding the problem of unreliable location fingerprint library due to environmental changes.

[0234] In some embodiments, there are many conditions for triggering the management of the location fingerprint library of the digital key, which are not limited in the embodiments of the present application.

[0235] For example, in an optional implementation, when it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, the signal strength characteristic data of the digital key at each sampling point in the sampling area can be automatically obtained to automatically manage the location fingerprint library of the digital key.

[0236] In another optional implementation, the signal strength characteristic data of the digital key at each sampling point in the sampling area may be obtained only when it is determined that the reference device associated with the vehicle and the digital key are carried by the same object and it is determined that there is a need to manage the location fingerprint library of the digital key, so as to manage the location fingerprint library of the digital key.

[0237] For example, it can be determined that the reference device associated with the vehicle and the digital key are carried by the same object, and when a fingerprint library management trigger event for the digital key is detected, signal strength characteristic data of the digital key at each sampling point in the sampling area is obtained.

[0238] Exemplarily, the detection of a trigger event for fingerprint library management of a digital key may be a user triggering an instruction for fingerprint library management of a digital key in a digital key control interface, or a determination that a vehicle meets preset conditions, such as arrival at a designated location.

[0239] In the embodiment of the present application, a variety of trigger conditions for managing the location fingerprint library of the digital key are introduced. On the one hand, the location fingerprint library of the digital key can be managed in a timely manner, and on the other hand, the flexibility of managing the location fingerprint library of the digital key can be improved.

[0240] In some examples of this embodiment, the fingerprint library management trigger event detected for the digital key associated with the vehicle in the above embodiment may be any of the following:

[0241] Optionally, a fingerprint library management instruction for the digital key may be received.

[0242] Exemplarily, the user can trigger a fingerprint library management instruction for the digital key on the digital key's control interface. The digital key can send the fingerprint library management instruction for the digital key to the vehicle's controller. When the controller receives the fingerprint library management instruction for the digital key, it considers that a fingerprint library management trigger event for the digital key associated with the vehicle has been detected.

[0243] Optionally, it may be detected that the vehicle is currently parked at the target location, and the target location meets the fingerprint library management conditions; wherein the sampling area is the area within the preset range of the vehicle. The fingerprint library management conditions may be that the target location is a location where the fingerprint library of the digital key is allowed to be established, or the digital key has not established a fingerprint library at the target location, or the fingerprint library of the digital key at the target location needs to be updated, etc. That is, when it is detected that the vehicle is currently parked at the target location, and the target location meets the fingerprint library management conditions, it is considered that a fingerprint library management trigger event for the digital key associated with the vehicle is detected.

[0244] Optionally, it may also be detected that the signal strength characteristic data of the digital key at the current check point does not match the signal strength characteristic data at the check point stored in the location fingerprint library; wherein the check point is any sampling point in the sampling area. For example, if the location corresponding to the location fingerprint library is a company, the check point may be the entrance or exit of the company, etc. When it is detected that the signal strength characteristic data of the digital key at the current check point does not match the signal strength characteristic data at the check point stored in the location fingerprint library, it means that the location fingerprint library needs to be updated, and thus it can be considered that a fingerprint library management trigger event for the digital key associated with the vehicle is detected.

[0245] In an embodiment of the present application, a variety of application scenarios are provided for determining that a fingerprint library management trigger event for a digital key associated with a vehicle is detected. When the above application scenarios are met, the location fingerprint library of the digital key can be managed.

[0246] It is understandable that the target location mentioned in the above embodiment satisfies the fingerprint library management condition, which can be any of the following:

[0247] Optionally, the target location satisfies the fingerprint library management condition by being a location where a location fingerprint library is set. The location where a location fingerprint library is set may be a location where the location fingerprint library is allowed to be established but has not been established, or a location where a fingerprint library has been established.

[0248] For example, see Fig.17 , Fig.17 A schematic diagram of setting a target location that allows the establishment of a location fingerprint library is provided. Among them, the user can click the new address, that is, the "+" button, on the digital key display interface to add a common address. The common address can be an address field manually entered by the user or an address field automatically located by the Global Positioning System (GPS), and then the common address can be used as the target location. For example, common addresses include but are not limited to schools and companies.

[0249] Optionally, the target location may satisfy the fingerprint library management condition if the number of times the vehicle is parked at the target location within a set period is greater than a number threshold. The set period and the number threshold can be set according to actual needs. For example, the set period can be set to 1 day and the number threshold can be set to 2 times. If the number of times the vehicle is parked at the target location within the set period is greater than the number threshold, it means that the vehicle often appears at this target location. Therefore, it can be considered that the target location satisfies the fingerprint library management condition, so as to establish a location fingerprint library for the target location, and then realize the sensorless control of the vehicle.

[0250] Optionally, the target location satisfies the fingerprint library management condition or the object carries both the reference device and the digital key and stays in the sampling area for longer than a set time. The set time can be set according to actual needs, for example, it can be set to 5 hours. In the case where the object carries both the reference device and the digital key and stays in the sampling area for longer than a set time, it can be considered that the vehicle often appears at the target location, and thus the target location can be considered to meet the fingerprint library management condition, so as to establish the location fingerprint library of the target location, and then realize the sensorless control of the vehicle.

[0251] In the embodiment of the present application, a plurality of methods for determining whether the target location satisfies the fingerprint library management conditions are provided, so as to facilitate the management of the location fingerprint library of the digital key when it is determined that the target location satisfies the fingerprint library management conditions.

[0252] In some optional implementations, see Fig.18 , Fig.18 A flowchart of another location fingerprint library management method is provided, which specifically includes the following steps:

[0253] S1801, obtaining the field signal strength between the reference device and the digital key.

[0254] S1802: If the field signal strength is greater than a preset strength threshold, it is determined that the reference device associated with the vehicle and the digital key are carried by the same object.

[0255] S1803, when it is determined that the reference device associated with the vehicle and the digital key are carried by the same object and a fingerprint library management trigger event for the digital key is detected, signal strength characteristic data of the digital key at each sampling point in the sampling area is obtained.

[0256] S1804, determining the target position information of each sampling point based on the signal information of the first positioning signal transmitted by the reference device at each sampling point and received by the first signal receiver on the vehicle, and the signal information of the second positioning signal transmitted by the reference device at each sampling point and received by the second signal receiver on the vehicle.

[0257] S1804 may specifically include the following steps:

[0258] Step 1: for each sampling point, according to the signal information of the first positioning signal transmitted by the reference device at the sampling point and received by each first signal receiver on the vehicle, determine the candidate position information of the sampling point.

[0259] Step 2: determine whether the candidate location information is one, if so, execute step 3; if not, execute step 11.

[0260] Step three, determining the position jump of the reference device according to the candidate position information and the target position information of the previous sampling point corresponding to the sampling point.

[0261] Step 4: determine whether the position jump situation is a position jump. If not, execute step 5; if yes, execute step 6.

[0262] Step 5: Use the candidate location information as the target location information of the sampling point.

[0263] Step six: determine the change of the ranging value of the reference signal receiver according to the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver.

[0264] Step seven: determine the validity of the candidate position information according to the variation of the ranging value of the reference signal receiver and the ranging property of UWB.

[0265] Step eight, determine whether the candidate location information is valid, if so, execute step nine; if not, execute step ten.

[0266] Step nine: Use the candidate location information as the target location information of the sampling point.

[0267] Step 10: discard the candidate location information.

[0268] Step eleven: for each candidate position information, select an associated area matching the candidate position information from each auxiliary area according to the candidate position information and the center position information of the auxiliary rectangle.

[0269] Step 12: Select target location information of the sampling point from each candidate location information according to the signal strength of the second positioning signal received by the second signal receiver located in the associated area of ​​each candidate location information.

[0270] S1805: Manage the location fingerprint library of the digital key according to the signal strength characteristic data and target location information of each sampling point.

[0271] The specific process of the above S1801 to S1805 can be found in the description of the above method embodiment. The implementation principle and technical effect are similar and will not be repeated here.

[0272] Furthermore, the execution order of the above steps is only an exemplary description and is not used to limit the execution steps. Other execution orders of the steps are within the protection scope of the embodiments of the present application.

[0273] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0274] Based on the same inventive concept, the embodiment of the present application also provides a location fingerprint library management device for implementing the location fingerprint library management method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more location fingerprint library management device embodiments provided below can refer to the limitations of the location fingerprint library management method above, and will not be repeated here.

[0275] In one embodiment, Fig.19 As shown, a location fingerprint library management device is provided, comprising:

[0276] A determination module 10 is used to determine that the reference device associated with the vehicle and the digital key are carried by the same object, and obtain signal strength characteristic data of the digital key at each sampling point in the sampling area; and

[0277] Determine the target position information of each sampling point according to the signal information of the first positioning signal transmitted by the reference device at each sampling point received by the first signal receiver on the vehicle, and the signal information of the second positioning signal transmitted by the reference device at each sampling point received by the second signal receiver on the vehicle; wherein the signal strength characteristic data includes the signal strength of the wireless signal transmitted by the digital key received by the third signal receiver on the vehicle;

[0278] The management module 20 is used to manage the location fingerprint library of the digital key according to the signal strength characteristic data of each sampling point and the target location information.

[0279] The above-mentioned location fingerprint library management device, when determining that the reference device associated with the vehicle and the digital key are carried by the same object, obtains the signal strength characteristic data of the digital key at each sampling point in the sampling area; and determines the target location information of each sampling point based on the signal information of the first positioning signal transmitted by the reference device at each sampling point received by the first signal receiver on the vehicle and the signal information of the second positioning signal transmitted by the reference device at each sampling point received by the second signal receiver on the vehicle; and then manages the location fingerprint library of the digital key based on the signal strength characteristic data and the target location information of each sampling point. On the one hand, based on the characteristics of mobile association and binding between the reference device and the digital key, the signal interaction between the vehicle and the reference device is used to determine the distance between the digital key and the vehicle, replacing the distance estimated based on the signal strength of the interaction between the digital key and the vehicle, bypassing the defect of low positioning accuracy of the digital key. By binding the signal strength characteristic data determined by the interaction between the vehicle and the digital key with the positioning association determined by the interaction between the vehicle and the reference device, in the application stage of the location fingerprint library, the digital key vehicle control function is based on the signal strength characteristic data between the digital key and the vehicle, and is not affected by the accuracy of the conversion between signal strength and distance. That is, the accuracy of vehicle control based on the digital key no longer depends on the positioning accuracy of the digital key itself, thereby improving the accuracy of vehicle control. On the other hand, the signal information of multiple positioning signals is used to determine the target position information of each sampling point, so that the determined target position information is more accurate, thereby making the subsequent vehicle positioning more accurate.

[0280] In one of the embodiments, the reference device supports at least two wireless communication methods among Ultra Wideband (UWB), Bluetooth, and Wireless Fidelity (WIFI).

[0281] In one embodiment, the first positioning signal is a UWB positioning signal, the second positioning signal is a Bluetooth positioning signal and / or a WIFI positioning signal, and the number of the first signal receiver and the second signal receiver is at least two; the determination module 10 specifically includes:

[0282] A first determining unit is used to determine, for each sampling point, candidate position information of the sampling point according to signal information of a first positioning signal transmitted by a reference device at the sampling point and received by each first signal receiver on the vehicle;

[0283] A second determining unit is used to determine the target position information of the sampling point according to the candidate position information when the number of candidate position information is one;

[0284] The selection unit is used to select the target position information of the sampling point from each candidate position information according to the signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle when the number of candidate position information is at least two.

[0285] In one embodiment, the signal information of the second positioning signal includes signal strength; and the selection unit is specifically configured to:

[0286] For each candidate position information, an associated area matching the candidate position information is selected from each auxiliary area according to the candidate position information and the center position information of the auxiliary rectangle; wherein the auxiliary rectangle is constructed according to the deployment position of each second signal receiver, and each auxiliary area is obtained by cross-dividing the auxiliary rectangle; according to the signal strength of the second positioning signal received by the second signal receiver located in the associated area of ​​each candidate position information, the target position information of the sampling point is selected from each candidate position information.

[0287] In one embodiment, the second determining unit specifically includes:

[0288] A first determination subunit is used to determine the position jump of the reference device according to the candidate position information and the target position information of the previous sampling point corresponding to the sampling point;

[0289] The second determining subunit is used to use the candidate position information as the target position information of the sampling point when the position jump situation is that there is no position jump;

[0290] The third determination subunit is used to determine the target position information of the sampling point according to the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver, and the candidate position information when the position jump situation is that there is a position jump; wherein the reference signal receiver is a signal receiver among the first signal receivers.

[0291] In one embodiment, the third determining subunit is specifically configured to:

[0292] Determine a change in a ranging value of the reference signal receiver based on signal information of a first positioning signal of a reference device at a sampling point and signal information of a first positioning signal at a previous sampling point received by the reference signal receiver; determine validity of candidate position information based on a change in the ranging value of the reference signal receiver and the ranging properties of UWB; and, if the candidate position information is valid, use the candidate position information as target position information of the sampling point.

[0293] In one embodiment, the sampling area includes a plurality of unit areas of the same size, and the target position information of each sampling point includes the position coordinates of the sampling point relative to the vehicle; the management module 20 specifically includes:

[0294] A third determining unit is used to determine, for each sampling point, a unit area matching the position coordinates from each unit area according to the position coordinates of the sampling point, as an associated unit area of ​​the sampling point;

[0295] The management unit is used to manage the location fingerprint library of the digital key according to the signal strength characteristic data of each sampling point and the associated unit area.

[0296] In one embodiment, the sampling area includes at least two area blocks, and each area block includes at least two unit areas; the third determining unit is specifically used to:

[0297] According to the position coordinates of the sampling point and the area position range of each area block, a target area block is determined from each area block; according to the position coordinates of the sampling point, a unit area matching the position coordinates is determined in the target area block as the associated unit area of ​​the sampling point.

[0298] In one embodiment, the reference device is a physical key of the vehicle.

[0299] Each module in the above-mentioned location fingerprint library management device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0300] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the location fingerprint library management method described in any of the above embodiments when executing the computer program.

[0301] In an exemplary embodiment, see Fig. 20 , Fig. 20 A diagram of the internal structure of a computer device is provided. The computer device may be a server or a controller in a vehicle. The computer device includes a memory 2001 and a processor 2002, the memory 2001 and the processor 2002 are connected via a system bus 2003, a computer program is stored in the memory 2001, and the location fingerprint library management method described in any of the above embodiments is implemented when the processor 2002 executes the computer program.

[0302] Optional, see Fig.21 , Fig.21 Another internal structure diagram of a computer device is provided. Fig. 20On the basis of the above, the computer device may further include an input / output (I / O) interface 2004 and a communication interface 2005. The processor 2002, the memory 2001 and the input / output interface 2004 are connected via the system bus 2003, and the communication interface 2005 is connected to the system bus 2003 via the input / output interface 2004. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium 2006 and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store input data. The input / output interface 2004 of the computer device is used to exchange information between the processor 2002 and an external device. The communication interface 2005 of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the location fingerprint library management method described in any of the above embodiments is implemented.

[0303] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the location fingerprint library management method described in any of the above embodiments is implemented.

[0304] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the location fingerprint library management method described in any of the above embodiments is implemented.

[0305] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0306] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0307] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0308] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A location fingerprint library management method, characterized in that: The method comprises: When it is determined that the reference device associated with the vehicle and the digital key are carried by the same object, obtaining signal strength characteristic data of the digital key at each sampling point in the sampling area; and, Determine the target position information of each sampling point according to the signal information of the first positioning signal transmitted by the reference device at each sampling point and received by the first signal receiver on the vehicle, and the signal information of the second positioning signal transmitted by the reference device at each sampling point and received by the second signal receiver on the vehicle; wherein the signal strength characteristic data includes the signal strength of the wireless signal transmitted by the digital key and received by the third signal receiver on the vehicle; The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the target location information.

2. The method according to claim 1, characterized in that: The reference device supports at least two wireless communication modes among ultra-wideband UWB, Bluetooth and wireless fidelity WIFI.

3. The method according to claim 2, characterized in that The first positioning signal is a UWB positioning signal, the second positioning signal is a Bluetooth positioning signal and / or a WIFI positioning signal, and the number of the first signal receiver and the number of the second signal receiver are both at least two; Determining target position information of each sampling point according to signal information of a first positioning signal transmitted by the reference device at each sampling point and received by a first signal receiver on the vehicle, and signal information of a second positioning signal transmitted by the reference device at each sampling point and received by a second signal receiver on the vehicle, including: For each sampling point, determining candidate position information of the sampling point according to signal information of the first positioning signal transmitted by the reference device at the sampling point and received by each of the first signal receivers on the vehicle; When the number of the candidate position information is one, determining the target position information of the sampling point according to the candidate position information; When the number of the candidate position information is at least two, the target position information of the sampling point is selected from each candidate position information based on the signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle.

4. The method according to claim 3, characterized in that The signal information of the second positioning signal includes signal strength; The method further comprises: selecting target position information of the sampling point from each candidate position information according to signal information of the second positioning signal transmitted by the reference device at the sampling point and received by each second signal receiver on the vehicle, comprising: For each candidate position information, according to the candidate position information and the center position information of the auxiliary rectangle, select an associated area matching the candidate position information from each auxiliary area; wherein the auxiliary rectangle is constructed according to the deployment position of each second signal receiver, and each auxiliary area is obtained by cross-dividing the auxiliary rectangle; The target location information of the sampling point is selected from each of the candidate location information according to the signal strength of the second positioning signal received by the second signal receiver located in the associated area of ​​each of the candidate location information.

5. The method according to claim 3, characterized in that: Determining the target location information of the sampling point according to the candidate location information includes: Determine the position jump of the reference device according to the candidate position information and the target position information of the previous sampling point corresponding to the sampling point; When the position jump situation is that there is no position jump, using the candidate position information as the target position information of the sampling point; When the position jump situation is that there is a position jump, the target position information of the sampling point is determined according to the signal information of the first positioning signal of the reference device at the sampling point and the signal information of the first positioning signal at the previous sampling point received by the reference signal receiver, and the candidate position information; wherein the reference signal receiver is a signal receiver among the first signal receivers.

6. The method according to claim 5, characterized in that Determining target position information of the sampling point according to signal information of a first positioning signal of the reference device at the sampling point and signal information of a first positioning signal at the previous sampling point received by a reference signal receiver, and the candidate position information, including: Determine a change in a ranging value of the reference signal receiver according to signal information of a first positioning signal of the reference device at the sampling point and signal information of a first positioning signal at the previous sampling point received by the reference signal receiver; Determining the validity of the candidate position information according to a change in the ranging value of the reference signal receiver and a ranging property of UWB; When the candidate position information is valid, the candidate position information is used as the target position information of the sampling point.

7. The method according to any one of claims 1 to 6, characterized in that: The sampling area includes a plurality of unit areas of the same size, and the target position information of each sampling point includes the position coordinates of the sampling point relative to the vehicle; The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the target location information, including: For each sampling point, according to the position coordinates of the sampling point, determine the unit area matching the position coordinates from the unit areas as the associated unit area of ​​the sampling point; The location fingerprint library of the digital key is managed according to the signal strength characteristic data of each sampling point and the associated unit area.

8. The method according to claim 7, characterized in that The sampling area includes at least two area blocks, and each of the area blocks includes at least two unit areas; According to the position coordinates of the sampling point, determining the unit area matching the position coordinates from each of the unit areas as the associated unit area of ​​the sampling point, including: Determine a target area block from each of the area blocks according to the position coordinates of the sampling point and the area position range of each of the area blocks; According to the position coordinates of the sampling point, the unit area matching the position coordinates is determined in the target area block as the associated unit area of ​​the sampling point.

9. The method according to any one of claims 1 to 6, characterized in that: The reference device is a physical key of the vehicle.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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