Vehicle key positioning method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle key positioning method and device, a vehicle and a storage medium. The method belongs to the field of vehicle engineering, and comprises the following steps: acquiring anchor point positions of a plurality of anchor points on a vehicle, particle positions of a plurality of initial particles, and key signals detected by the plurality of anchor points at the current moment; based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, multiple target particles are screened out from the multiple initial particles, and the relevancy between the particle position of any target particle and the target position of the vehicle key is larger than the relevancy between the particle position of any target particle and the target position of the vehicle key in the multiple initial particles except the multiple target particles. The relevancy between the particle position of any other particle and the target position is obtained; and determining a target position based on the particle positions of the plurality of target particles. According to the invention, the technical problem that the positioning effect of the wireless car key is poor in the prior art is solved.

Description

Technical Field

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

[0002] In recent years, with the rapid development of intelligent connected cars, the degree of vehicle intelligence and networking has been continuously improved, and the requirements for in-vehicle and out-vehicle communication technologies have also increased. Under this trend, wireless car keys, as an important part of vehicle intelligence, have been widely used in keyless entry and start systems for cars.

[0003] UWB (Ultra-Wideband) positioning technology uses extremely wide bandwidth to transmit signals, which enables it to provide accurate ranging information, thereby achieving high-precision positioning. However, UWB's communication distance is limited, usually between 10 and 30 meters, which limits its application in remote control scenarios. In addition, the deployment of UWB positioning systems requires the deployment of multiple base stations in the vehicle, increasing the complexity and cost of the entire vehicle. More importantly, traditional positioning algorithms, such as methods based on signal arrival time difference, are susceptible to measurement errors, reducing the accuracy of positioning.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a vehicle key positioning method and device, a vehicle, and a storage medium, so as to at least solve the technical problem of poor positioning effect of wireless vehicle keys in the related art.

[0006] According to one aspect of an embodiment of the present invention, a method for locating a vehicle key is provided, comprising: obtaining anchor point positions of multiple anchor points on a vehicle, particle positions of multiple initial particles, and key signals detected by the multiple anchor points at a current moment, wherein the multiple anchor points are used to characterize anchor points deployed on the vehicle for determining the position of a vehicle key, and the multiple initial particles are used to characterize multiple particles deployed in a preset space for determining the position of a vehicle key; based on the key signal, the anchor point positions of the multiple anchor points, and the particle positions of the multiple initial particles, screening out multiple target particles from the multiple initial particles, wherein a correlation between the particle position of any target particle and the target position of the vehicle key is greater than a correlation between the particle position of any other particle among the multiple initial particles except the multiple target particles and the target position; and determining the target position based on the particle positions of the multiple target particles.

[0007] Furthermore, based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, multiple target particles are screened out from the multiple initial particles, including: based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, particle weights of different initial particles among the multiple initial particles are determined, wherein the particle weights of different initial particles are used to reflect the correlation between the particle positions of different initial particles and the target position; based on the particle weights of different initial particles, multiple target particles are selected from the multiple initial particles, wherein the particle weight of any target particle is greater than the particle weight of any other particle, and the other particles are used to characterize particles other than the multiple target particles among the multiple initial particles.

[0008] Furthermore, based on the key signal, the anchor point positions of multiple anchor points and the particle positions of multiple initial particles, the particle weights of different initial particles among the multiple initial particles are determined, including: based on the key signal, obtaining the initial position of the vehicle key; based on the initial position and the anchor point position, determining the first distance difference between the initial position and different anchor points; based on the anchor point position and the particle position, determining the second distance difference between different initial particles and different anchor points; based on the first distance difference and the second distance difference, determining the particle weights of different initial particles.

[0009] Further, the multiple anchor points include: a main anchor point and multiple non-main anchor points, the main anchor point is deployed at the center position of the vehicle; based on the initial position and the anchor point position, a first distance difference between the initial position and different anchor points is determined, including: based on the initial position and the position of the main anchor point, a first anchor point distance between the initial position and the main anchor point is determined; based on the initial position and the positions of different non-main anchor points, a second anchor point distance between the initial position and different non-main anchor points is determined; based on the difference between the second anchor point distance and the first anchor point distance, a third anchor point distance is obtained, and based on the sum of the third anchor point distance and a preset error, a fourth anchor point distance corresponding to different non-main anchor points is obtained; and the fourth anchor point distance corresponding to different non-main anchor points is determined as the first distance difference.

[0010] Furthermore, based on the anchor point position and the particle position, a second distance difference between different initial particles and different anchor points is determined, including: based on the particle position and the position of the main anchor point, determining the first particle distance between different initial particles and the main anchor point; based on the particle position and the positions of different non-main anchor points, determining the second particle distance between different initial particles and different non-main anchor points; based on the difference between the second particle distance and the first particle distance, obtaining a third particle distance; and determining the third particle distance as the second distance difference.

[0011] Furthermore, based on the key signal, the initial position of the vehicle key is obtained, including: based on the key signal, obtaining the previous moment position of the vehicle key from a vehicle position table, wherein the vehicle position table is used to store the positions of the vehicle key detected at different moments; in response to successfully obtaining the previous moment position, determining the previous moment position as the initial position; in response to failing to obtain the previous moment position, obtaining multiple times when different anchor points receive the key signal, and determining the initial position based on the time difference between the multiple times.

[0012] Furthermore, the method also includes: in response to successfully obtaining the position at the previous moment, obtaining the maximum displacement speed of the vehicle key; obtaining the maximum displacement distance of the vehicle key based on the product of the time difference between the previous moment and the current moment and the maximum displacement speed; and constructing a preset space based on the maximum displacement distance and the position at the previous moment.

[0013] Furthermore, the method also includes: in response to a failure to obtain the position at a previous moment, obtaining the center position of the vehicle and the maximum transmission distance of signals between multiple anchor points and the vehicle key; and constructing a preset space based on the center position of the vehicle and the maximum transmission distance.

[0014] Furthermore, based on the particle weights of different initial particles, multiple target particles are selected from the multiple initial particles, including: obtaining a device identification of the vehicle key; determining a particle screening method based on the device identification; and screening multiple target particles from the multiple initial particles based on the particle weights of different initial particles according to the particle screening method.

[0015] Furthermore, based on the particle positions of multiple target particles, the target position is determined, including: based on the particle weights of different target particles, performing weighted summation on the particle positions of different target particles to obtain a first position value; based on the sum of the particle positions of different target particles, obtaining a second position value; based on the quotient of the first position value and the second position value, obtaining a target position value; and determining the target position of the vehicle key based on the target position value.

[0016] According to another aspect of an embodiment of the present invention, a positioning device for a vehicle key is also provided, comprising: a signal acquisition module, used to acquire the anchor point positions of multiple anchor points on the vehicle, the particle positions of multiple initial particles, and the key signals detected by the multiple anchor points at the current moment, wherein the multiple anchor points are used to characterize the anchor points deployed on the vehicle for determining the position of the vehicle key, and the multiple initial particles are used to characterize the multiple particles deployed in a preset space for determining the position of the vehicle key; a particle selection module, used to screen out multiple target particles from the multiple initial particles based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, wherein the correlation between the particle position of any target particle and the target position of the vehicle key is greater than the correlation between the particle position of any other particle among the multiple initial particles except the multiple target particles and the target position; a position determination module, used to determine the target position based on the particle positions of the multiple target particles.

[0017] According to another aspect of an embodiment of the present invention, a vehicle is further provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0018] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0021] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0022] In an embodiment of the present invention, the anchor point positions of multiple anchor points on the vehicle, the particle positions of multiple initial particles, and the key signals detected by the multiple anchor points at the current moment are obtained; based on the key signals, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, multiple target particles are screened out from the multiple initial particles; based on the particle positions of the multiple target particles, the target position is determined. By arranging multiple anchor points on the vehicle body and constructing multiple initial particles, the multiple anchor points and the vehicle key can communicate wirelessly. The positioning system can further obtain the positions of the multiple anchor points on the vehicle, and can screen out target particles closer to the actual position of the vehicle from the multiple initial particles based on the time difference of the signals received by the multiple anchor points, so as to narrow the range of the initial particles, thereby determining the position of the vehicle key, thereby achieving the purpose of improving the accuracy of the vehicle key positioning, thereby realizing the technical effect of accurately positioning the vehicle key, and further solving the technical problem of poor positioning effect of wireless vehicle keys in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of a vehicle key positioning method according to an embodiment of the present invention;

[0025] Figure 2 is an optional vehicle topology diagram according to an embodiment of the present invention;

[0026] Figure 3 is a detailed flow chart of a vehicle key positioning method according to an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of a positioning device for a vehicle key according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] According to an embodiment of the present invention, an embodiment of a method for locating a vehicle key is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 1 is a flow chart of a vehicle key positioning method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0032] Step S102, obtaining the anchor point positions of multiple anchor points on the vehicle, the particle positions of multiple initial particles, and the key signals detected by the multiple anchor points at the current moment, wherein the multiple anchor points are used to represent the anchor points deployed on the vehicle for determining the position of the vehicle key, and the multiple initial particles are used to represent the multiple particles deployed in a preset space for determining the position of the vehicle key.

[0033] The anchor point may be an anchor point for determining the position of the vehicle key. The initial particle may be a particle for determining the position of the vehicle key. The key signal may be a signal continuously sent by the wireless vehicle key, for example, the key signal may be a star flash signal, but is not limited thereto. The preset space may be a space centered on the vehicle where the vehicle key may be located.

[0034] In an optional embodiment, considering that the precise position of the above-mentioned anchor point is crucial for the positioning of the vehicle key, because the vehicle key positioning system (hereinafter referred to as the positioning system) relies on the position information of the above-mentioned anchor point to calculate the relative position of the vehicle key relative to each anchor point, the positioning system can first obtain the anchor point positions of multiple anchor points on the vehicle. Further considering that the positioning system can use a particle filter algorithm to locate the vehicle key, the algorithm can estimate the more likely position of the key by generating multiple initial particles (each particle represents a possible position of the key) in the above-mentioned preset space, so the positioning system can further obtain the particle positions of the above-mentioned multiple initial particles. In addition, considering that the above-mentioned key signal is continuously emitted by the wireless car key, the above-mentioned anchor point can receive these signals and record the arrival time of the signal. The time difference information is obtained by comparing the time when different anchor points receive the same signal. The positioning system can use the time difference information to calculate the position of the key relative to the anchor point, and then combine the optimization of the particle filter to obtain a more accurate positioning result. Therefore, the positioning system can also obtain the key signals detected by multiple anchor points at the current moment.

[0035] For example, it can be assumed that four Star Flash SLE (Satellite Link Extension) anchor points are deployed on the vehicle, located on the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper and the right side of the rear bumper, as well as a main anchor point located at the center of the vehicle body. The positioning system can establish a three-dimensional Cartesian coordinate system with the center of mass of the vehicle as the origin of the coordinate system, and record the positions of the above anchor points in the above coordinate system. Then, the positioning system can construct multiple initial particles so that these particles are evenly distributed in the coordinate system, where each particle represents a hypothetical vehicle key position. The vehicle key acts as a Star Flash signal transmitter and sends a Star Flash signal at fixed intervals. The above multiple anchor points can receive the signal of the wireless car key and record the receiving time. Subsequently, the above multiple anchor points can return the recorded information to the positioning system, so that the positioning system can obtain the key signal detected by the above multiple anchor points at the current moment.

[0036] Step S104, based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, multiple target particles are screened out from the multiple initial particles, wherein the correlation between the particle position of any target particle and the target position of the vehicle key is greater than the correlation between the particle position of any other particle among the multiple initial particles except the multiple target particles and the target position.

[0037] The target particle may refer to a particle that is more likely to represent the position of the vehicle key, selected from the multiple initial particles in each iteration of the particle filter algorithm. The target position may be the actual position of the vehicle key to be located. The correlation may be the degree of matching between the particle position and the actual position of the key.

[0038] In an optional embodiment, considering that the increase in the number of particles in the particle filter algorithm can improve the positioning accuracy, but at the same time it will also increase the amount of calculation, therefore, the positioning system can screen out multiple particles with a high correlation with the target position from the multiple initial particles based on the key signal, the anchor point positions of the multiple anchor points, and the particle positions of the multiple initial particles as the target particles. Through the above process, the positioning system can gradually approach the real position and improve the accuracy of positioning. At the same time, it can also reduce the number of particles that need to be processed in subsequent steps, thereby reducing the computational complexity in the positioning process and improving the positioning performance.

[0039] For example, at the beginning of the positioning process, it can be assumed that the above-mentioned anchor point has received the signal sent by the vehicle key, and the positioning system can evaluate each particle based on the received signal and the anchor point position information. Specifically, the positioning system can calculate the theoretical TDOA (Time Difference Of Arrival) value based on the assumed position of each particle and the anchor point position, and calculate the actual TDOA value based on the signal received by the anchor point, by comparing the theoretical TDOA value and the actual theoretical TDOA value. The smaller the difference between the theoretical TDOA value and the actual theoretical TDOA value, the closer the particle is to the target position. Based on this, the positioning system can determine which of the above-mentioned multiple particles have a higher degree of match with the target position, that is, to screen out multiple target particles from multiple initial particles, so as to facilitate the subsequent determination of the specific location of the vehicle key.

[0040] Step S106, determining the target position based on the particle positions of the plurality of target particles.

[0041] In an optional embodiment, taking into account the uncertainty factors that may exist in the positioning process, such as the random movement of the target in a dynamic environment, the positioning result based on a single particle may not be accurate enough. In order to improve the accuracy of the positioning result, the positioning system can analyze the particle positions of the above-mentioned multiple target particles to comprehensively consider the above-mentioned uncertainty factors, thereby improving the positioning system's ability to adapt to environmental changes, and further improving the stability and accuracy of calculating the target position.

[0042] For example, in order to determine the specific location of the vehicle key, the above-mentioned anchor point can continuously receive the signal sent by the vehicle key and iterate the above-mentioned theoretical TDOA value and the actual TDOA value. In each iteration, the positioning system can recalculate the weights of the above-mentioned multiple target particles and further select new target particles from the above-mentioned multiple target particles. As the iteration proceeds, the location estimate of the vehicle key will gradually become more accurate until the above-mentioned iteration results converge to the real-time position of the device.

[0043] In an embodiment of the present invention, the anchor point positions of multiple anchor points on the vehicle, the particle positions of multiple initial particles, and the key signals detected by the multiple anchor points at the current moment are obtained; based on the key signals, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, multiple target particles are screened out from the multiple initial particles; based on the particle positions of the multiple target particles, the target position is determined. By arranging multiple anchor points on the vehicle body and constructing multiple initial particles, the multiple anchor points and the vehicle key can communicate wirelessly. The positioning system can further obtain the positions of the multiple anchor points on the vehicle, and can screen out target particles closer to the actual position of the vehicle from the multiple initial particles based on the time difference of the signals received by the multiple anchor points, so as to narrow the range of the initial particles, thereby determining the position of the vehicle key, thereby achieving the purpose of improving the accuracy of the vehicle key positioning, thereby realizing the technical effect of accurately positioning the vehicle key, and further solving the technical problem of poor positioning effect of wireless vehicle keys in the related art.

[0044] Furthermore, based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, multiple target particles are screened out from the multiple initial particles, including: based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, particle weights of different initial particles among the multiple initial particles are determined, wherein the particle weights of different initial particles are used to reflect the correlation between the particle positions of different initial particles and the target position; based on the particle weights of different initial particles, multiple target particles are selected from the multiple initial particles, wherein the particle weight of any target particle is greater than the particle weight of any other particle, and the other particles are used to characterize particles other than the multiple target particles among the multiple initial particles.

[0045] The particle weight may be an indicator for measuring the degree of matching between each particle and the actual position of the vehicle key. The other particles may refer to particles other than the target particles selected in the initial particles.

[0046] In an optional embodiment, considering that some of the above-mentioned multiple initial particles are far away from the actual position of the vehicle key, the reference value of these particles is low, and they may even interfere with the calculation in the positioning process. In order to improve the efficiency and accuracy of vehicle key positioning, the positioning system can determine the particle weights of different initial particles in the multiple initial particles based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles. The height of the above-mentioned particle weight directly reflects the correlation between the particle position and the target position. Specifically, for particles with higher weights, the position of the particle may be closer to the actual position of the vehicle key, while for particles with lower weights, the position of the particle does not match the position information reflected by the observation data and may be far away from the actual position of the vehicle key. After determining the particle weights of the above-mentioned multiple initial particles, the positioning system can select particles with higher particle weights as the above-mentioned target particles. Through the selection of the above-mentioned target particles, the positioning system can focus on the particle set that is more likely to represent the target position, thereby improving the calculation efficiency and improving the accuracy of vehicle key positioning.

[0047] Furthermore, based on the key signal, the anchor point positions of multiple anchor points and the particle positions of multiple initial particles, the particle weights of different initial particles among the multiple initial particles are determined, including: based on the key signal, obtaining the initial position of the vehicle key; based on the initial position and the anchor point position, determining the first distance difference between the initial position and different anchor points; based on the anchor point position and the particle position, determining the second distance difference between different initial particles and different anchor points; based on the first distance difference and the second distance difference, determining the particle weights of different initial particles.

[0048] The initial position may be a position obtained by preliminarily estimating the position of the vehicle key at the beginning of positioning. The first distance difference may refer to the distance difference between the initial position and different anchor points. The second distance difference may refer to the distance difference between different initial particles and different anchor points.

[0049] In an optional embodiment, considering that the positioning system does not have the precise location information of the vehicle key at the beginning of positioning, the positioning system can estimate the initial position of the vehicle key through the key signal, and this initial position can be used as the starting point of the particle filter algorithm to generate the initial particle cloud. In order to compare the difference between the actual TDOA value and the TDOA value predicted based on the initial position, the positioning system can determine the first distance difference between the initial position and different anchor points based on the initial position and the anchor point position, and then the positioning system can determine the second distance difference between different initial particles and different anchor points based on the anchor point position and the particle position. Based on the above first distance difference and second distance difference, the positioning system can quantify the rationality of the particle position assumption, that is, the degree of match between the particle position and the actual position of the vehicle key, thereby determining the particle weights of different initial particles.

[0050] For example, it can be assumed that the positioning system has generated p particles uniformly distributed in the workspace centered on the vehicle based on the particle filter, and deployed five Star Flash SLE anchor points on the vehicle, which are located at the center of the vehicle, the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper, and the right side of the rear bumper. In addition, the positioning system has established a three-dimensional Cartesian coordinate system with the center of mass of the vehicle as the origin of the coordinate system. The calculation method of the above first distance difference can be shown as follows:

[0051] dd k,i =||α i+1 -x k ||-||α1-x k ||+w i+1,1 .

[0052] In the formula, dd k,i represents the first distance difference mentioned above, α i+1 is the position of the anchor point deployed at a non-vehicle center position in three-dimensional Cartesian coordinates, x k is the position of the target node in three-dimensional Cartesian coordinates, α1 is the position of the anchor point deployed at the center of the vehicle in three-dimensional Cartesian coordinates, and w i+1,1 is the noise present during measurement, i=1, ..., 4. The calculation method of the second distance difference can be shown as follows:

[0053]

[0054] In the formula, represents the second distance difference mentioned above, is the position of the initial particle in three-dimensional Cartesian coordinates, p represents the total number of particles, and k represents the number of iterations. Based on the above formula, the positioning system can accurately calculate the first distance difference and the second distance difference. The particle weight calculation method of the above different initial particles can be shown as follows:

[0055]

[0056] In the formula, represents the particle weights of the above different initial particles, t k is the timestamp under different iteration times, and the interpretation of other symbols in the formula is consistent with the above formula, which will not be repeated here. The positioning system can calculate the particle weight of each initial particle based on the first distance difference and the second distance difference according to the above formula.

[0057] Further, the multiple anchor points include: a main anchor point and multiple non-main anchor points, the main anchor point is deployed at the center position of the vehicle; based on the initial position and the anchor point position, a first distance difference between the initial position and different anchor points is determined, including: based on the initial position and the position of the main anchor point, a first anchor point distance between the initial position and the main anchor point is determined; based on the initial position and the positions of different non-main anchor points, a second anchor point distance between the initial position and different non-main anchor points is determined; based on the difference between the second anchor point distance and the first anchor point distance, a third anchor point distance is obtained, and based on the sum of the third anchor point distance and a preset error, a fourth anchor point distance corresponding to different non-main anchor points is obtained; and the fourth anchor point distance corresponding to different non-main anchor points is determined as the first distance difference.

[0058] The main anchor point may be an anchor point deployed at a central position of the vehicle. The non-main anchor point may be an anchor point deployed at a non-central position of the vehicle. The first anchor point distance may be a distance between the initial position and the main anchor point. The second anchor point distance may be a distance between the initial position and different non-main anchor points. The third anchor point distance may be a difference between the second anchor point distance and the first anchor point distance. The fourth anchor point distance may be a sum of the third anchor point distance and a preset error. The preset error may be an error estimate introduced to consider the deviation between an actual measurement value and a theoretical value when calculating the distance measurement.

[0059] In an optional embodiment, considering that the main anchor point at the center of the vehicle can provide a stable reference point, it helps to reduce the impact of the vehicle body structure on the propagation of radio frequency signals, and provides a good geometric center for positioning calculation. Therefore, a main anchor point can be deployed at the center of the vehicle, and multiple non-main anchor points can be deployed at other locations other than the center of the vehicle. At the beginning of positioning, the positioning system can determine the first anchor point distance between the initial position and the main anchor point based on the initial position and the position of the main anchor point. The first anchor point distance provides an estimated distance value from the vehicle key to the center of the vehicle. Then, the positioning system can determine the second anchor point distance between the initial position and different non-main anchor points based on the initial position and the positions of different non-main anchor points. The multiple non-main anchor points are usually distributed around the vehicle. Calculating the second anchor point distance can help the positioning system build a more comprehensive three-dimensional space model, thereby improving the accuracy of vehicle key positioning. Subsequently, the positioning system can obtain a third anchor point distance based on the difference between the second anchor point distance and the first anchor point distance. The third anchor point distance reflects the relative position information between the vehicle key and the non-main anchor point relative to the center of the vehicle. After that, the positioning system can obtain the fourth anchor point distances corresponding to different non-main anchor points based on the sum of the third anchor point distance and the preset error. The fourth anchor point distance is obtained by correcting the third anchor point distance by taking into account the preset error, which can more accurately reflect the actual TDOA value. Finally, the positioning system can merge the fourth anchor point distances of all non-main anchor points into the first distance difference to fuse the measurement information of multiple non-main anchor points into a comprehensive positioning reference, so that the positioning system can estimate the location of the vehicle key more stably and accurately.

[0060] For example, it can be assumed that the above preset error is T, and it can be further assumed that the positioning system has obtained the above initial position, and based on the particle filter, it has generated p particles uniformly distributed in the working space centered on the vehicle, and at the same time deployed a Star Flash SLE main anchor point on the vehicle, located at the center of the vehicle, denoted as a, and deployed four Star Flash SLE non-main anchor points, located on the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper and the right side of the rear bumper of the vehicle, respectively, and the anchor point located on the left side of the front bumper is denoted as b, the anchor point located on the right side of the front bumper is denoted as c, the anchor point located on the left side of the rear bumper is denoted as d, and the anchor point located on the right side of the rear bumper is denoted as e. The positioning system can establish a three-dimensional Cartesian coordinate system based on the positions of the above anchor points and particles, with the center of mass of the vehicle as the origin of the coordinate system. At the beginning of positioning, the positioning system can calculate the first anchor point distance Da based on the above initial position and the coordinates of the main anchor point a in the above coordinate system. Then, the positioning system can calculate the second anchor point distance based on the above initial position and the coordinates of different non-main anchor points in the above coordinate system. The second anchor point distance can be as follows: the second anchor point distance corresponding to anchor point b is Db, the second anchor point distance corresponding to anchor point c is Dc, the second anchor point distance corresponding to anchor point d is Dd, and the second anchor point distance corresponding to anchor point e is De. After completing the above calculations, the positioning system can obtain the third anchor point distance based on the difference between the second anchor point distance and the first anchor point distance. The third anchor point distance can be as follows: the third anchor point distance corresponding to anchor point b is Db-Da, the second anchor point distance corresponding to anchor point c is Dc-Da, the second anchor point distance corresponding to anchor point d is Dd-Da, and the second anchor point distance corresponding to anchor point e is De-Da. The positioning system can obtain the fourth anchor point distance corresponding to different non-main anchor points based on the sum of the third anchor point distance and the preset error, and determine the fourth anchor point distance corresponding to different non-main anchor points as the first distance difference. The above-mentioned fourth anchor point distance can be as follows: the third anchor point distance corresponding to anchor point b is Db-Da+T, the second anchor point distance corresponding to anchor point c is Dc-Da+T, the second anchor point distance corresponding to anchor point d is Dd-Da+T, and the second anchor point distance corresponding to anchor point e is De-Da+T.

[0061] Furthermore, based on the anchor point position and the particle position, a second distance difference between different initial particles and different anchor points is determined, including: based on the particle position and the position of the main anchor point, determining the first particle distance between different initial particles and the main anchor point; based on the particle position and the positions of different non-main anchor points, determining the second particle distance between different initial particles and different non-main anchor points; based on the difference between the second particle distance and the first particle distance, obtaining a third particle distance; and determining the third particle distance as the second distance difference.

[0062] The first particle distance may be the distance between the different initial particles and the main anchor point. The second particle distance may be the distance between the different initial particles and the different non-main anchor points. The third particle distance may be the difference between the second particle distance and the first particle distance.

[0063] In an optional embodiment, considering that the distance between the initial particle and the main anchor point is the basis for the subsequent distance difference calculation, the positioning system can first determine the first particle distance between different initial particles and the main anchor point based on the particle position and the position of the main anchor point. In order to more accurately calculate the actual position of the vehicle key, the positioning system can calculate the second particle distance between different initial particles and different non-main anchor points based on the particle position and the positions of different non-main anchor points. Subsequently, for each non-main anchor point, the positioning system can respectively calculate the difference between the second particle distance and the first particle distance, thereby obtaining a third particle distance, and the third particle distance indicates the relative position of the vehicle key relative to each anchor point. Therefore, the positioning system can determine the third particle distance as the second distance difference.

[0064] Furthermore, based on the key signal, the initial position of the vehicle key is obtained, including: based on the key signal, obtaining the previous moment position of the vehicle key from a vehicle position table, wherein the vehicle position table is used to store the positions of the vehicle key detected at different moments; in response to successfully obtaining the previous moment position, determining the previous moment position as the initial position; in response to failing to obtain the previous moment position, obtaining multiple times when different anchor points receive the key signal, and determining the initial position based on the time difference between the multiple times.

[0065] The vehicle position table may be a table for recording vehicle key positions detected in the past. The previous moment position may refer to the exact position at which the vehicle key was detected at the last successful positioning moment before the current moment.

[0066] In an optional embodiment, considering that if the vehicle key does not move significantly in a short period of time, the position of the vehicle key at the previous moment may be very close to the current position, using the position at the previous moment as the initial position can reduce the search space of the algorithm, thereby improving the positioning speed and accuracy. Therefore, the positioning system can store the position information of the vehicle key at each moment in the mulberry vehicle position table in advance, and when positioning is required, the positioning system can obtain the previous moment position of the vehicle key at the previous moment from the vehicle position table based on the key signal. If the positioning system successfully obtains the above-mentioned previous moment position, the positioning system can determine the previous moment position as the initial position, thereby reducing the overall computing resource requirements and improving the positioning efficiency. Further considering that when multiple anchor points receive the key signal, the time difference of the signal reaching different anchor points is directly related to the position of the key relative to these anchor points, and by analyzing these time differences, the relative position of the key can be inferred. Therefore, if the positioning system does not successfully obtain the above-mentioned previous moment position, the positioning system can obtain multiple times when different anchor points receive the key signal, and determine the initial position based on the time difference between the multiple times. For example, the positioning system may use a time difference positioning technology to determine the above initial position, and the calculation method of the above initial position may be as shown in the following formula:

[0067]

[0068] Where s represents the propagation speed of star flash signal, Δt ij represents the difference between the time required for the signal to be transmitted to the i node and the time required for the signal to be transmitted to the j node, where x i ,y i 、z i and x j ,y j 、z j represents the positions of anchor points i and j, where i and j satisfy i, j = 1 ... N, where N represents the number of anchor points. x, y, z represent the positions of the car key to be determined.

[0069] Furthermore, the method also includes: in response to successfully obtaining the position at the previous moment, obtaining the maximum displacement speed of the vehicle key; obtaining the maximum displacement distance of the vehicle key based on the product of the time difference between the previous moment and the current moment and the maximum displacement speed; and constructing a preset space based on the maximum displacement distance and the position at the previous moment.

[0070] The maximum displacement speed may refer to the maximum movement speed that the vehicle key may reach. The maximum displacement distance may refer to the product of the time difference between the previous moment and the current moment and the maximum displacement speed.

[0071] In an optional embodiment, when the positioning system can successfully obtain the exact position of the vehicle key at the previous moment, it indicates that the positioning system can obtain reliable historical positioning data, which can be used to make more precise positioning predictions. Therefore, when the positioning system successfully obtains the position at the previous moment, the positioning system can further obtain the maximum displacement speed of the vehicle key, and can calculate the maximum displacement distance of the vehicle key based on the product of the time difference between the previous moment and the current moment and the maximum displacement speed. Then, the positioning system can construct a preset space based on the maximum displacement distance and the position at the previous moment, so that the preset space can limit the initial particles within a certain range, thereby improving the efficiency and accuracy of vehicle key positioning.

[0072] For example, the positioning system has successfully obtained the position of the vehicle key at the previous moment. Considering that the vehicle key may be carried by a person, the positioning system can set the maximum displacement speed to 3 meters per second. Assuming that the time interval between the previous moment and the current moment is 0.5 seconds, the positioning system can calculate the maximum displacement distance of the vehicle key as 3.5 meters based on the product of the time interval and the above maximum displacement speed. Based on the above maximum displacement distance and the previous moment position, the positioning system can construct a cube with the previous moment position as the center and the maximum displacement distance as the side length as the above preset space.

[0073] Specifically, the positioning system can use a resampling process to generate the above preset space. The resampling process can be shown as follows:

[0074]

[0075] In the formula, is the position of the particle in three-dimensional Cartesian coordinates, k represents the number of iterations, x k-1 represents the position of the vehicle key at the previous moment, U represents uniform distribution, R = [R x R y R z ] represents the resampling space. It can be assumed that the resampling ranges in the x-axis, y-axis, and z-axis directions in the three-dimensional Cartesian coordinate system are equal, that is, R x =R y =R z =R, in this example, R = 3.5, which is the maximum displacement distance of the vehicle key. The positioning system can generate new particles based on the approximate posterior probability density function and evenly distribute them at the position x at the previous moment. k-1 The cube is centered at R and has a side length of 2×R=7 meters, which is the above-mentioned preset space.

[0076] It should be noted that the above-mentioned specific values ​​such as maximum displacement speed and time interval are only for illustrative purposes. The staff can set them according to actual needs and will not be elaborated here.

[0077] Furthermore, the method also includes: in response to a failure to obtain the position at a previous moment, obtaining the center position of the vehicle and the maximum transmission distance of signals between multiple anchor points and the vehicle key; and constructing a preset space based on the center position of the vehicle and the maximum transmission distance.

[0078] The above-mentioned maximum transmission distance may refer to the maximum distance over which the vehicle key signal can be effectively transmitted to the anchor point.

[0079] In an optional embodiment, considering that the location information at the previous moment is the basis for the positioning algorithm to predict and update, when this information is missing, the positioning system needs to construct the above-mentioned preset space in another way to limit the positioning range of the vehicle key and avoid the positioning system from wasting computing power in areas that are too far away, have weak signals or cannot be reached. Therefore, the positioning system can first obtain the center position of the vehicle and the maximum transmission distance of the signal between multiple anchor points and the vehicle key to ensure that the above-mentioned multiple anchor points can accurately receive the signal sent by the vehicle key, so that the positioning system can construct the above-mentioned preset space based on the center position of the vehicle and the maximum transmission distance. The positioning system locates the vehicle key in the preset space, which can reduce the positioning error caused by the key possibly exceeding the reasonable distance range, thereby improving the efficiency and accuracy of the vehicle key positioning.

[0080] For example, the above-mentioned maximum transmission distance may be 100 meters. When the positioning system attempts to locate the key but cannot obtain the position at the previous moment, the positioning system may construct a cube with a side length of 100 meters and the center of the vehicle as the center as a preset space, thereby providing a reasonable search range for the positioning system and ensuring that the positioning process of the positioning system can still be executed efficiently and accurately in the absence of historical data.

[0081] It should be noted that the above-mentioned specific values ​​such as the maximum transmission distance are only for illustrative purposes. The staff can set them according to actual needs and will not be elaborated here.

[0082] Furthermore, based on the particle weights of different initial particles, multiple target particles are selected from the multiple initial particles, including: obtaining a device identification of the vehicle key; determining a particle screening method based on the device identification; and screening multiple target particles from the multiple initial particles based on the particle weights of different initial particles according to the particle screening method.

[0083] The device identification may be a unique identification of each vehicle key. The particle screening method may be a set of rules or algorithms for selecting target particles from all initial particles according to their particle weights. For example, the particle screening method may be a particle filter algorithm, but is not limited thereto.

[0084] In an optional embodiment, considering that there may be multiple wireless devices around the vehicle, the above-mentioned multiple anchor points may receive signals sent by other devices, thereby interfering with the positioning process, and the device identification can help the system identify specific vehicle key signals to avoid the above-mentioned multiple anchor points from misreading signals of other wireless devices. Therefore, the positioning system can first obtain the device identification of the vehicle key to distinguish which signals are sent by the vehicle key, thereby improving the accuracy of subsequent vehicle key positioning. Further considering that different types of vehicle keys may have different usage modes, moving speeds or communication characteristics, in order to accurately locate different types of vehicle keys, the positioning system can determine the above-mentioned initial particle screening method based on the device identification. Then, the positioning system can screen multiple target particles from multiple initial particles based on the particle weights of different initial particles according to the above-mentioned particle screening method.

[0085] Furthermore, based on the particle positions of multiple target particles, the target position is determined, including: based on the particle weights of different target particles, performing weighted summation on the particle positions of different target particles to obtain a first position value; based on the sum of the particle positions of different target particles, obtaining a second position value; based on the quotient of the first position value and the second position value, obtaining a target position value; and determining the target position of the vehicle key based on the target position value.

[0086] The first position value may be a value obtained by weighted summation based on the particle weights of different target particles, which reflects the positioning system's preliminary estimate of the vehicle key position. The second position value may be the sum of the particle positions of the different target particles. The target position value may be the quotient of the first position value and the second position value.

[0087] In an optional embodiment, considering that the above-mentioned particle weights reflect the degree of match between the positions of different particles and the actual observation data, particles with higher weights indicate that their position estimates are more likely to be close to the true position. Therefore, the positioning system can perform weighted summation of the particle positions of different target particles based on the particle weights of different target particles, thereby obtaining the above-mentioned first position value to reduce the impact of noise and uncertainty factors on the positioning results. In order to detect outliers or weight deviations in the weighted summation process and ensure that the positioning algorithm is not misled by potential weight imbalance, the positioning system can obtain a second position value based on the sum of the particle positions of different target particles. Finally, the positioning system can obtain a target position value based on the quotient of the first position value and the second position value, and determine the target position of the vehicle key based on the target position value.

[0088] For example, the positioning system may perform weighted summation on the particle positions of different target particles according to the following formula to obtain the first position value:

[0089]

[0090] In the formula, L is the number of target examples, and the interpretations of other symbols in the formula are consistent with the above formula and will not be repeated here. After the positioning system calculates the first position value, the sum of the particle positions of different target particles can be further calculated according to the following formula to obtain the second position value:

[0091]

[0092] In the formula, the meaning of each symbol is consistent with the above formula and will not be repeated here. After the positioning system calculates the above first position value and the second value, the above target position value can be further calculated. The calculation method of the target position value can be shown as follows:

[0093]

[0094] In the formula, x k represents the above target position value, and the interpretation of each symbol is consistent with the above formula and will not be repeated here. The positioning system can determine the target position of the vehicle key based on the target position value. It should be noted that the positioning system can resample the above initial node and repeat the above positioning steps to iterate the above target position value, thereby more accurately determining the actual position of the vehicle key.

[0095] For ease of understanding, Figure 2 is an optional vehicle topology diagram according to an embodiment of the present invention, such as Figure 2As shown, the topology includes a wireless car key as the transmitter of the SLE signal, which communicates with the anchor point in the car by broadcasting the positioning signal. The above anchor points include a master anchor point and a slave anchor point, wherein the master anchor point is located at the center of the vehicle, usually installed on the central axis of the vehicle, which may be the center of the roof or the center of the interior of the vehicle. The master anchor point is responsible for receiving the signal from the slave anchor point and transmitting the signal arrival time information to the body domain controller so that the body domain controller can calculate the positioning information. Figure 2 Four slave anchor points are shown in the figure, which are installed on the left and right sides of the front bumper and the left and right sides of the rear bumper respectively. They serve as the receiving end of the SLE signal and receive the positioning signal sent by the wireless car key. The body domain controller, as an SLE module (G node), is the core control unit of the vehicle's Star Flash SLE wireless ranging system. It is used to receive time information from the master anchor point and process this data. At the same time, it uses the TDOA algorithm based on particle filtering to calculate the three-dimensional position coordinates of the wireless car key. In addition, the body domain controller is also responsible for making decisions on unlocking or locking, and sending corresponding instructions to the door controller and tailgate controller. The door controller includes the main driving door controller, the passenger door controller, the left rear door controller and the right rear door controller. The above controllers serve as SLE modules (T nodes) to receive instructions from the body domain controller and control the locking state of the door. The tailgate controller, similar to the door controller, also serves as an SLE module (T node) to receive instructions from the body domain controller and control the locking state of the tailgate. Figure 2 The component connection relationship in the figure shows the application of Star Flash SLE communication technology. All anchor points, door controllers, tailgate controllers and body domain controllers communicate with each other through the Star Flash SLE wireless network. The signals sent by the car key are received by all slave anchor points. The master anchor point receives the location information sent by each slave anchor point and transmits the above location information to the body domain controller, which performs positioning calculations and door control logic processing.

[0096] Figure 3 is a detailed flow chart of a vehicle key positioning method according to an embodiment of the present invention, such as Figure 3As shown, at the beginning of positioning, the positioning system first generates P particles in the entire space and distributes them evenly, then calculates the weight of each particle in parallel, and selects the target particle according to the weight. The target particle represents the particle that is closer to the real position of the vehicle key. After completing the selection of the target particles, the positioning system can perform weighted averaging on the target particles to obtain the target node position, that is, the position of the target vehicle key. After obtaining the preliminary target node position, the positioning system can generate new particles based on the target particles to reflect the possible position changes of the target node. The generation of the new particles takes into account the dynamic characteristics of the target node, such as the moving speed and direction, to ensure that the positioning algorithm can adapt to the movement of the target node. Subsequently, the positioning system can calculate the weight of each particle in parallel again, and select the target particle according to the weight. After the selection is completed, the positioning system can perform weighted averaging on the target particles again to obtain the iterated target node position. Finally, the positioning system can determine whether the positioning is completed based on the target node position after the iteration. If the accuracy of the target node position after the iteration is high enough, the positioning is completed. If the target node position after the iteration still cannot meet the accuracy requirements, the positioning system will repeat the following steps: generate new particles based on the target particles, calculate the weight of each particle in parallel, select the target particles according to the weight, and perform weighted averaging on the target particles to obtain the target node position after the iteration. Until the target node position after the iteration meets the accuracy requirements, the positioning system ends the positioning.

[0097] According to an embodiment of the present invention, an embodiment of a vehicle key positioning device is provided. It should be noted that the device can be used to execute the above vehicle key positioning method. The specific implementation and application scenario are the same as those of the above embodiment and will not be described in detail here. Figure 4 is a schematic diagram of a vehicle key positioning device according to an embodiment of the present invention. Figure 4 As shown, the device comprises:

[0098] The signal acquisition module 402 is used to obtain the anchor point positions of multiple anchor points on the vehicle, the particle positions of multiple initial particles, and the key signals detected by the multiple anchor points at the current moment, wherein the multiple anchor points are used to represent the anchor points deployed on the vehicle for determining the position of the vehicle key, and the multiple initial particles are used to represent the multiple particles deployed in a preset space for determining the position of the vehicle key.

[0099] The particle selection module 404 is used to screen out multiple target particles from the multiple initial particles based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, wherein the correlation between the particle position of any target particle and the target position of the vehicle key is greater than the correlation between the particle position of any other particle among the multiple initial particles except the multiple target particles and the target position.

[0100] The position determination module 406 is used to determine the target position based on the particle positions of the multiple target particles.

[0101] Furthermore, the particle selection module is also used to: determine the particle weights of different initial particles among the multiple initial particles based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, wherein the particle weights of the different initial particles are used to reflect the correlation between the particle positions of the different initial particles and the target position; based on the particle weights of the different initial particles, select multiple target particles from the multiple initial particles, wherein the particle weight of any target particle is greater than the particle weight of any other particle, and the other particles are used to characterize particles other than the multiple target particles among the multiple initial particles.

[0102] Furthermore, the particle selection module is also used to: obtain the initial position of the vehicle key based on the key signal; determine the first distance difference between the initial position and different anchor points based on the initial position and the anchor point position; determine the second distance difference between different initial particles and different anchor points based on the anchor point position and the particle position; determine the particle weights of different initial particles based on the first distance difference and the second distance difference.

[0103] Furthermore, the multiple anchor points include: a main anchor point and multiple non-main anchor points, and the main anchor point is deployed at the center position of the vehicle; the particle selection module is also used to: determine the first anchor point distance between the initial position and the position of the main anchor point based on the initial position and the position of the main anchor point; determine the second anchor point distance between the initial position and different non-main anchor points based on the initial position and the positions of different non-main anchor points; obtain the third anchor point distance based on the difference between the second anchor point distance and the first anchor point distance, and obtain the fourth anchor point distance corresponding to different non-main anchor points based on the sum of the third anchor point distance and the preset error; determine the fourth anchor point distance corresponding to different non-main anchor points as the first distance difference.

[0104] Furthermore, the particle selection module is also used to: determine the first particle distance between different initial particles and the main anchor point based on the particle position and the position of the main anchor point; determine the second particle distance between different initial particles and different non-main anchor points based on the particle position and the positions of different non-main anchor points; obtain the third particle distance based on the difference between the second particle distance and the first particle distance; and determine the third particle distance as the second distance difference.

[0105] Furthermore, the particle selection module is also used to: based on the key signal, obtain the previous moment position of the vehicle key from the vehicle position table, wherein the vehicle position table is used to store the positions of the vehicle key detected at different moments; in response to successfully obtaining the previous moment position, determine the previous moment position as the initial position; in response to failing to obtain the previous moment position, obtain multiple times when different anchor points receive the key signal, and determine the initial position based on the time difference between the multiple times.

[0106] Furthermore, the device also includes: a first acquisition module, used to obtain the maximum displacement speed of the vehicle key in response to successfully obtaining the position at the previous moment; a first calculation module, used to obtain the maximum displacement distance of the vehicle key based on the product of the time difference between the previous moment and the current moment and the maximum displacement speed; a first construction module, used to construct a preset space based on the maximum displacement distance and the position at the previous moment.

[0107] Furthermore, the device also includes: a second acquisition module, used to obtain the center position of the vehicle and the maximum transmission distance of signals between multiple anchor points and the vehicle key in response to a failure to obtain the position at the previous moment; a second construction module, used to construct a preset space based on the center position of the vehicle and the maximum transmission distance.

[0108] Furthermore, the particle selection module is also used to: obtain a device identification of the vehicle key; determine a particle screening method based on the device identification; and screen multiple target particles from multiple initial particles based on particle weights of different initial particles according to the particle screening method.

[0109] Furthermore, the position determination module is also used to: based on the particle weights of different target particles, perform weighted summation of the particle positions of different target particles to obtain a first position value; based on the sum of the particle positions of different target particles, obtain a second position value; based on the quotient of the first position value and the second position value, obtain a target position value; and determine the target position of the vehicle key based on the target position value.

[0110] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0111] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0112] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0113] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0114] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0115] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0118] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0120] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for locating a vehicle key, characterized in that: include: Acquire anchor point positions of a plurality of anchor points on the vehicle, particle positions of a plurality of initial particles, and key signals detected by the plurality of anchor points at a current moment, wherein the plurality of anchor points are used to represent anchor points deployed on the vehicle for determining the position of the vehicle key, and the plurality of initial particles are used to represent a plurality of particles deployed in a preset space for determining the position of the vehicle key; Based on the key signal, the anchor point positions of the multiple anchor points and the particle positions of the multiple initial particles, a plurality of target particles are screened out from the multiple initial particles, wherein the correlation between the particle position of any one of the target particles and the target position of the vehicle key is greater than the correlation between the particle position of any other particle among the multiple initial particles except the multiple target particles and the target position; The target position is determined based on the particle positions of the plurality of target particles.

2. The method according to claim 1, characterized in that Based on the key signal, the anchor point positions of the plurality of anchor points and the particle positions of the plurality of initial particles, a plurality of target particles are screened out from the plurality of initial particles, comprising: Determining particle weights of different initial particles among the multiple initial particles based on the key signal, the anchor point positions of the multiple anchor points, and the particle positions of the multiple initial particles, wherein the particle weights of the different initial particles are used to reflect the correlation between the particle positions of the different initial particles and the target position; Based on the particle weights of the different initial particles, a plurality of target particles are selected from the plurality of initial particles, wherein the particle weight of any one of the target particles is greater than the particle weight of any other particle, and the other particles are used to characterize particles in the plurality of initial particles except the plurality of target particles.

3. The method according to claim 2, characterized in that Determining particle weights of different initial particles in the plurality of initial particles based on the key signal, the anchor point positions of the plurality of anchor points, and the particle positions of the plurality of initial particles includes: Based on the key signal, obtaining an initial position of the vehicle key; Based on the initial position and the anchor point position, determine a first distance difference between the initial position and different anchor points Determining second distance differences between different initial particles and different anchor points based on the anchor point position and the particle position; Based on the first distance difference and the second distance difference, particle weights of the different initial particles are determined.

4. The method according to claim 3, characterized in that The plurality of anchor points include: a main anchor point and a plurality of non-main anchor points, the main anchor point being deployed at a center position of the vehicle; and determining a first distance difference between the initial position and different anchor points based on the initial position and the anchor point positions, comprising: Determining a first anchor point distance between the initial position and the main anchor point based on the initial position and the position of the main anchor point; Determining a second anchor point distance between the initial position and the different non-main anchor points based on the initial position and the positions of the different non-main anchor points; Obtaining a third anchor point distance based on a difference between the second anchor point distance and the first anchor point distance, and obtaining a fourth anchor point distance corresponding to different non-main anchor points based on a sum of the third anchor point distance and a preset error; The fourth anchor point distance corresponding to the different non-main anchor points is determined as the first distance difference.

5. The method according to claim 4, characterized in that Determining second distance differences between different initial particles and different anchor points based on the anchor point position and the particle position includes: Determining first particle distances between different initial particles and the main anchor point based on the particle position and the position of the main anchor point; Determining second particle distances between different initial particles and different non-primary anchor points based on the particle positions and positions of different non-primary anchor points; Obtaining a third particle distance based on a difference between the second particle distance and the first particle distance; The third particle distance is determined as the second distance difference.

6. The method according to claim 3, characterized in that Based on the key signal, obtaining the initial position of the vehicle key includes: Based on the key signal, obtaining the position of the vehicle key at a previous moment from a vehicle position table, wherein the vehicle position table is used to store the positions of the vehicle key detected at different moments; In response to successfully acquiring the previous moment position, determining the previous moment position as the initial position; In response to a failure in acquiring the previous moment position, a plurality of times when different anchor points receive the key signal are acquired, and the initial position is determined based on a time difference between the plurality of times.

7. The method according to claim 6, characterized in that The method further comprises: In response to successfully acquiring the previous moment position, acquiring the maximum displacement speed of the vehicle key; Obtaining a maximum displacement distance of the vehicle key based on the product of a time difference between the previous moment and the current moment and the maximum displacement speed; The preset space is constructed based on the maximum displacement distance and the position at the previous moment.

8. The method according to claim 7, characterized in that The method further comprises: In response to a failure in acquiring the previous moment position, acquiring a center position of the vehicle and a maximum transmission distance of a signal between the plurality of anchor points and the vehicle key; The preset space is constructed based on the central position of the vehicle and the maximum transmission distance.

9. The method according to claim 2, characterized in that: Selecting a plurality of target particles from the plurality of initial particles based on the particle weights of the different initial particles includes: Obtaining a device identification of the vehicle key; determining a particle screening method based on the device identification; According to the particle screening method, the plurality of target particles are screened from the plurality of initial particles based on the particle weights of the different initial particles.

10. The method according to claim 1, characterized in that Determining the target position based on the particle positions of the plurality of target particles comprises: Based on the particle weights of different target particles, weighted summation is performed on the particle positions of different target particles to obtain a first position value; A second position value is obtained based on the sum of the particle positions of different target particles; Obtaining a target position value based on a quotient of the first position value and the second position value; A target position of the vehicle key is determined based on the target position value.

11. A vehicle key positioning device, characterized in that: include: a signal acquisition module, configured to acquire the anchor point positions of a plurality of anchor points on the vehicle, the particle positions of a plurality of initial particles, and the key signals detected by the plurality of anchor points at the current moment, wherein the plurality of anchor points are used to represent the anchor points deployed on the vehicle for determining the position of the vehicle key, and the plurality of initial particles are used to represent the plurality of particles deployed in a preset space for determining the position of the vehicle key; a particle selection module, configured to select a plurality of target particles from the plurality of initial particles based on the key signal, the anchor point positions of the plurality of anchor points, and the particle positions of the plurality of initial particles, wherein the correlation between the particle position of any target particle and the target position of the vehicle key is greater than the correlation between the particle position of any other particle among the plurality of initial particles except the plurality of target particles and the target position; The position determination module is used to determine the target position based on the particle positions of the multiple target particles.

12. A vehicle, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 10 when running.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 10.

14. A computer program product, characterized in that It comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 10.

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