Vehicle key positioning method and device, vehicle, storage medium

Abstract

This invention discloses a method and device for locating a vehicle key, a vehicle, and a storage medium. The method, belonging to the field of vehicle engineering, includes: acquiring the anchor positions of multiple anchor points on the vehicle, the particle positions of multiple initial particles, and the key signal detected by the multiple anchor points at the current moment; based on the key signal, the anchor positions of the multiple anchor points, and the particle positions of the multiple initial particles, selecting multiple target particles 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 (excluding the target particles) and the target position; and determining the target position based on the particle positions of the multiple target particles. This invention solves the technical problem of poor positioning performance for wireless car keys in related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle engineering, and more specifically, to a method and apparatus for locating a vehicle key, a vehicle, and a storage medium. Background Technology

[0002] In recent years, with the rapid development of intelligent connected vehicles, the level of vehicle intelligence and connectivity has been continuously improving, leading to higher requirements for in-vehicle and external communication technologies. Under this trend, wireless car keys, as an important component of vehicle intelligence, have been widely used in keyless entry and start systems for automobiles.

[0003] UWB (Ultra-Wideband) positioning technology utilizes extremely wide bandwidth to transmit signals, enabling it to provide accurate ranging information and thus achieve high-precision positioning. However, UWB's communication distance is limited, typically between 10 and 30 meters, which restricts its application in remote control scenarios. Furthermore, deploying a UWB positioning system requires multiple base stations within the vehicle, increasing overall complexity and cost. More importantly, traditional positioning algorithms, such as those based on signal time difference, are susceptible to measurement errors, reducing positioning accuracy.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a method and device for locating a vehicle key, a vehicle, and a storage medium, to at least solve the technical problem of poor positioning performance for wireless car keys in related technologies.

[0006] According to one aspect of the present invention, a method for locating a vehicle key is provided, comprising: acquiring 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 time, wherein the multiple anchor points are used to characterize anchor points deployed on the vehicle for determining the position of the vehicle key, and the multiple initial particles are used to characterize multiple particles deployed in a preset space for determining the position of the vehicle key; selecting multiple target particles from the multiple initial particles based on the key signals, 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 in the multiple initial particles (excluding 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 positions of multiple anchor points, and the particle positions of multiple initial particles, multiple target particles are selected from the multiple initial particles. This includes: determining the particle weights of different initial particles among the multiple initial particles based on the key signal, the anchor positions of multiple anchor points, and the particle positions of multiple initial particles, 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 positions; and selecting multiple target particles from the multiple initial particles based on the particle weights of different initial particles, wherein the particle weight of any one target particle is greater than the particle weight of any other particle, and the other particles are used to characterize the particles other than the multiple target particles among the multiple initial particles.

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

[0009] Furthermore, the multiple anchor points include: a main anchor point and multiple non-main anchor points, with the main anchor point deployed at the center of the vehicle; based on the initial position and the anchor point positions, 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, determining a first anchor point distance between the initial position and the main anchor point; based on the initial position and the positions of different non-main anchor points, determining a second anchor point distance between the initial position and different non-main anchor points; based on the difference between the second anchor point distance and the first anchor point distance, obtaining a third anchor point distance, and based on the sum of the third anchor point distance and a preset error, obtaining a fourth anchor point distance corresponding to different non-main anchor points; 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: determining a 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; determining a 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; obtaining a third particle distance based on the difference between the second particle distance and the first particle distance; and defining the third particle distance as the second distance difference.

[0011] Further, based on the key signal, the initial position of the vehicle key is obtained, including: based on the key signal, obtaining the position of the vehicle key at the previous moment from the vehicle location table, wherein the vehicle location table is used to store the positions of the vehicle key detected at different moments; in response to the successful acquisition of the previous moment position, determining the previous moment position as the initial position; in response to the failure to acquire the previous moment position, obtaining multiple times when the key signal was received at different anchor points, and determining the initial position based on the time difference between the multiple times.

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

[0013] Furthermore, the method also includes: in response to the failure to obtain the previous position, obtaining the center position of the vehicle and the maximum transmission distance of the signal 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 multiple initial particles, including: the device identifier for acquiring the vehicle key; determining the particle filtering method based on the device identifier; and filtering multiple target particles from multiple initial particles based on the particle weights of different initial particles according to the particle filtering method.

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

[0016] According to another aspect of the present invention, a vehicle key positioning device is also provided, comprising: a signal acquisition module, configured to acquire 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 the current moment, wherein the multiple anchor points are used to characterize anchor points deployed on the vehicle for determining the position of the vehicle key, and the multiple initial particles are used to characterize multiple particles deployed in a preset space for determining the position of the vehicle key; a particle selection module, configured to select multiple target particles from the multiple initial particles based on the key signals, 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 (excluding the multiple target particles) and the target position; and a position determination module, configured to determine the target position based on the particle positions of the multiple target particles.

[0017] According to another aspect of the present invention, a vehicle is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0018] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0020] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0021] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0022] In this embodiment of the invention, the method involves acquiring the anchor 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; based on the key signals, the anchor positions of the multiple anchor points, and the particle positions of the multiple initial particles, selecting multiple target particles from the multiple initial particles; and determining the target position based on the particle positions of the multiple target particles. By arranging multiple anchor points and constructing multiple initial particles on the vehicle body, the multiple anchor points can communicate wirelessly with the vehicle key. The positioning system can further acquire the positions of the multiple anchor points on the vehicle and, based on the time difference of the signals received by the multiple anchor points, select target particles that are closer to the actual position of the vehicle from the multiple initial particles to narrow down the range of the initial particles, thereby determining the position of the vehicle key. This achieves the goal of improving the accuracy of vehicle key positioning, thus realizing the technical effect of precise positioning of the vehicle key and solving the technical problem of poor positioning effect of wireless car keys in related technologies. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

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

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

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

[0027] Figure 4 This is a schematic diagram of a vehicle key positioning device according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[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 in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] Figure 1 This is a flowchart of a vehicle key positioning method according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps:

[0032] Step S102: 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 multiple anchor points at the current moment. The multiple anchor points are used to represent anchor points deployed on the vehicle to determine the position of the vehicle key, and the multiple initial particles are used to represent multiple particles deployed in a preset space to determine the position of the vehicle key.

[0033] The aforementioned anchor point can be an anchor point used to determine the location of the vehicle key. The aforementioned initial particle can be a particle used to determine the location of the vehicle key. The aforementioned key signal can be a signal continuously transmitted by the wireless car key; for example, the aforementioned key signal can be a star flash signal, but is not limited to this. The aforementioned preset space can be the space centered on the vehicle where the car key may exist.

[0034] In an optional embodiment, considering that the precise location of the aforementioned anchor points is crucial for the positioning of the vehicle key, as the vehicle key positioning system (hereinafter referred to as the positioning system) relies on the location information of the aforementioned anchor points to calculate the relative position of the vehicle key with respect to each anchor point, the positioning system can first obtain the anchor point positions of multiple anchor points on the vehicle. Furthermore, considering that the positioning system can employ a particle filtering algorithm for vehicle key positioning, this algorithm can estimate the most probable position of the key by generating multiple initial particles (each particle representing a possible position of the key) within the aforementioned preset space. Therefore, the positioning system can further obtain the particle positions of the aforementioned multiple initial particles. In addition, considering that the aforementioned key signal is continuously emitted by the wireless car key, and that the aforementioned anchor points can receive these signals and record the arrival time of the signals, and that time difference information is obtained by comparing the time it takes for different anchor points to receive the same signal, the positioning system can use the time difference information to calculate the position of the key relative to the anchor points. Combined with particle filtering optimization, a more accurate positioning result can be obtained. Therefore, the positioning system can also obtain the key signals detected by multiple anchor points at the current moment.

[0035] For example, suppose four Satellite Link Extension (SLE) anchor points are deployed on a vehicle, located on the left, right, left, and right sides of the front bumper, and a main anchor point at the center of the vehicle body. The positioning system can establish a three-dimensional Cartesian coordinate system with the vehicle's center of mass as the origin and record the positions of the anchor points within this system. Then, the positioning system can construct multiple initial particles, evenly distributed within the coordinate system, where each particle represents a hypothetical vehicle key location. The vehicle key, acting as a satellite signal transmitter, sends a satellite signal at fixed intervals. The anchor points receive the wireless key's signal and record the reception time. Subsequently, the anchor points can return the recorded information to the positioning system, enabling the system to obtain the key signal detected by the anchor points at the current moment.

[0036] Step S104: Based on the key signal, the anchor positions of multiple anchor points, and the particle positions of multiple initial particles, multiple target particles are selected from the multiple initial particles. Among them, 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 in the multiple initial particles (excluding the multiple target particles) and the target position.

[0037] The aforementioned target particles can refer to the particles selected from the initial particles in each iteration of the particle filtering algorithm that are more likely to represent the location of the vehicle key. The aforementioned target location can be the actual location of the vehicle key to be located. The aforementioned correlation can be the degree of matching between the particle location and the actual location of the key.

[0038] In an optional embodiment, considering that increasing the number of particles in the particle filtering algorithm can improve positioning accuracy but also increase computational load, the positioning system can, based on the key signal, the anchor positions of multiple anchor points, and the particle positions of multiple initial particles, select multiple particles with high correlation to the target position as target particles. Through this process, the positioning system can gradually approach the true position, improving positioning accuracy. Simultaneously, it can reduce the number of particles that need to be processed in subsequent steps, thereby reducing computational complexity and improving positioning performance.

[0039] For example, at the start of the positioning process, it can be assumed that the anchor point has received the signal sent by the vehicle key. The positioning system can evaluate each particle based on the received signal and the anchor point's 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's 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 two values, the closer the particle is to the target position. Based on this, the positioning system can determine which particles among the multiple particles have a high degree of matching with the target position, that is, select multiple target particles from multiple initial particles, which facilitates the subsequent determination of the specific location of the vehicle key.

[0040] Step S106: Determine the target position based on the particle positions of multiple target particles.

[0041] In an optional embodiment, considering the uncertainties that may exist during 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 multiple target particles to comprehensively consider the uncertainties, thereby improving the adaptability of the positioning system to environmental changes and thus 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 anchor point can continuously receive the signal sent by the vehicle key and iterate the theoretical TDOA value and the actual TDOA value. In each iteration, the positioning system can recalculate the weights of the multiple target particles and further filter out new target particles from the multiple target particles. As the iteration proceeds, the position estimation of the vehicle key will gradually become more accurate until the iteration result converges to the real-time position of the device.

[0043] In this embodiment of the invention, the method involves acquiring the anchor 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; based on the key signals, the anchor positions of the multiple anchor points, and the particle positions of the multiple initial particles, selecting multiple target particles from the multiple initial particles; and determining the target position based on the particle positions of the multiple target particles. By arranging multiple anchor points and constructing multiple initial particles on the vehicle body, the multiple anchor points can communicate wirelessly with the vehicle key. The positioning system can further acquire the positions of the multiple anchor points on the vehicle and, based on the time difference of the signals received by the multiple anchor points, select target particles that are closer to the actual position of the vehicle from the multiple initial particles to narrow down the range of the initial particles, thereby determining the position of the vehicle key. This achieves the goal of improving the accuracy of vehicle key positioning, thus realizing the technical effect of precise positioning of the vehicle key and solving the technical problem of poor positioning effect of wireless car keys in related technologies.

[0044] Furthermore, based on the key signal, the anchor positions of multiple anchor points, and the particle positions of multiple initial particles, multiple target particles are selected from the multiple initial particles. This includes: determining the particle weights of different initial particles among the multiple initial particles based on the key signal, the anchor positions of multiple anchor points, and the particle positions of multiple initial particles, 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 positions; and selecting multiple target particles from the multiple initial particles based on the particle weights of different initial particles, wherein the particle weight of any one target particle is greater than the particle weight of any other particle, and the other particles are used to characterize the particles other than the multiple target particles among the multiple initial particles.

[0045] The aforementioned particle weights can be used as an indicator to measure the degree of matching between each particle and the actual position of the vehicle key. The aforementioned other particles can refer to any particles in the initial set other than those selected as the target particle.

[0046] In one optional embodiment, considering that some of the initial particles are far from the actual location of the vehicle key, their reference value is low and they may even interfere with the calculations during the positioning process. To improve the efficiency and accuracy of vehicle key positioning, the positioning system can determine the particle weights of different initial particles based on the key signal, the anchor positions of multiple anchor points, and the particle positions of the initial particles. The particle weights directly reflect the correlation between the particle position and the target position. Specifically, for particles with higher weights, the particle's position may be closer to the actual location of the vehicle key, while for particles with lower weights, the particle's position does not match the position information reflected by the observation data and may be far from the actual location of the vehicle key. After determining the particle weights of the initial particles, the positioning system can select the particle with the higher weight as the target particle. By selecting the target particle, the positioning system can focus on the set of particles that are more likely to represent the target position, thereby improving computational efficiency and the accuracy of vehicle key positioning.

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

[0048] The initial position mentioned above can be a position obtained by making a preliminary estimate of the vehicle key's position at the start of the positioning process. The first distance difference mentioned above can refer to the distance difference between the initial position and different anchor points. The second distance difference mentioned above can refer to the distance difference between different initial particles and different anchor points.

[0049] In an alternative embodiment, considering that the positioning system does not have precise location information of the vehicle key at the start of positioning, the positioning system can estimate the initial position of the vehicle key using the key signal. This initial position can serve as the starting point for the particle filtering algorithm to generate an initial particle cloud. To compare the difference between the actual TDOA value and the TDOA value predicted based on the initial position, the positioning system can determine a first distance difference between the initial position and different anchor points based on the initial position and anchor point positions. Then, the positioning system can determine a second distance difference between different initial particles and different anchor points based on the anchor point positions and particle positions. Based on the aforementioned first and second distance differences, the positioning system can quantify the reasonableness of the particle position assumption, i.e., the degree of matching between the particle position and the actual position of the vehicle key, thereby determining the particle weights of different initial particles.

[0050] For example, we can assume that the positioning system has generated p particles uniformly distributed in a workspace centered on the vehicle, based on a particle filter, and deployed five star-shaped SLE anchor points on the vehicle, located at the vehicle's center, 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, respectively. Furthermore, the positioning system has established a three-dimensional Cartesian coordinate system with the vehicle's center of mass as the origin. The calculation method for the aforementioned first distance difference can be shown in the following formula:

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

[0052] In the formula, dd k,i Let α represent the first distance difference mentioned above. i+1 Let x be the position of the anchor point deployed at a location other than the vehicle center in three-dimensional Cartesian coordinates. k Let α1 be the position of the target node in three-dimensional Cartesian coordinates, and w be the position of the anchor point deployed at the center of the vehicle in three-dimensional Cartesian coordinates. i+1,1 To account for noise present during measurement, i = 1, ..., 4. The calculation method for the second distance difference mentioned above can be shown in the following formula:

[0053]

[0054] In the formula, This represents the second distance difference mentioned above. Let p represent the position of the initial particle in three-dimensional Cartesian coordinates, and k represent 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 weights of the different initial particles can be calculated as follows:

[0055]

[0056] In the formula, t represents the particle weights of the different initial particles mentioned above. k For different iteration numbers, the timestamps are used. The interpretations of other symbols in the formula are the same as in the previous formula and 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] Furthermore, the multiple anchor points include: a main anchor point and multiple non-main anchor points, with the main anchor point deployed at the center of the vehicle; based on the initial position and the anchor point positions, 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, determining a first anchor point distance between the initial position and the main anchor point; based on the initial position and the positions of different non-main anchor points, determining a second anchor point distance between the initial position and different non-main anchor points; based on the difference between the second anchor point distance and the first anchor point distance, obtaining a third anchor point distance, and based on the sum of the third anchor point distance and a preset error, obtaining a fourth anchor point distance corresponding to different non-main anchor points; the fourth anchor point distance corresponding to different non-main anchor points is determined as the first distance difference.

[0058] The aforementioned primary anchor point can be an anchor point deployed at the center of the vehicle. The aforementioned non-primary anchor points can be anchor points deployed at locations other than the center of the vehicle. The aforementioned first anchor point distance can be the distance between the aforementioned initial position and the primary anchor point. The aforementioned second anchor point distance can be the distance between the aforementioned initial position and different non-primary anchor points. The aforementioned third anchor point distance can be the difference between the aforementioned second anchor point distance and the first anchor point distance. The aforementioned fourth anchor point distance can be the sum of the third anchor point distance and a preset error. The aforementioned preset error can be an error estimate introduced during distance measurement calculation to account for the deviation between the actual measured value and the theoretical value.

[0059] In one alternative embodiment, considering that the main anchor point at the vehicle's center provides a stable reference point, helping to reduce the impact of the vehicle's structure on radio frequency signal propagation and providing a good geometric center for positioning calculations, a main anchor point can be deployed at the vehicle's center, and multiple non-main anchor points can be deployed at other non-vehicle center locations. At the start of positioning, the positioning system can determine 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. This first anchor point distance provides a distance estimate from the vehicle key to the vehicle's center. Then, the positioning system can determine 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 these multiple non-main anchor points, which are typically distributed around the vehicle. Calculating the second anchor point distance helps the positioning system build a more comprehensive three-dimensional spatial 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 and first anchor point distances. This third anchor point distance reflects the relative position information of the vehicle key with respect to the vehicle's center and the non-main anchor points. Subsequently, the positioning system can obtain the distances to the fourth anchor points corresponding to different non-primary anchor points based on the sum of the distance to the third anchor point and the preset error. These fourth anchor point distances are obtained by correcting for the preset error based on the distances to the third anchor point, thus more accurately reflecting the actual TDOA value. Finally, the positioning system can merge the fourth anchor point distances of all non-primary anchor points into a first distance difference, thereby integrating the measurement information of multiple non-primary anchor points into a comprehensive positioning reference. This allows the positioning system to estimate the location of the vehicle key more stably and accurately.

[0060] For example, we can assume the preset error is T. We can further assume the positioning system has acquired the initial position and, based on a particle filter, generated p particles uniformly distributed in a workspace centered on the vehicle. Simultaneously, a main anchor point (denoted as 'a') is deployed at the vehicle's center, and four non-main anchor points (denoted as 'b', 'c', 'd', 'e', ​​and 'c') are deployed on the left, right, left, and right sides of the front and rear bumpers, respectively. The anchor point on the left side of the front bumper is denoted as 'b', the anchor point on the right side as 'c', the anchor point on the left side of the rear bumper as 'd', and the anchor point on the right side of the rear bumper as 'e'. Based on the positions of these anchor points and particles, the positioning system establishes a three-dimensional Cartesian coordinate system with the vehicle's center of mass as the origin. At the start of positioning, the positioning system can calculate the first anchor point distance Da based on the initial position and the coordinates of the main anchor point a in the coordinate system. Then, based on the initial position and the coordinates of different non-main anchor points in the coordinate system, the positioning system can calculate the second anchor point distance, which 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, which 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 distances of the fourth anchor points corresponding to different non-primary anchor points based on the sum of the distance of the third anchor point and the preset error, and determine the distances of the fourth anchor points corresponding to different non-primary anchor points as the first distance difference. The above-mentioned fourth anchor point distances can be as follows: the distance of the third anchor point corresponding to anchor point b is Db-Da+T, the distance of the second anchor point corresponding to anchor point c is Dc-Da+T, the distance of the second anchor point corresponding to anchor point d is Dd-Da+T, and the distance of the second anchor point 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: determining a 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; determining a 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; obtaining a third particle distance based on the difference between the second particle distance and the first particle distance; and defining the third particle distance as the second distance difference.

[0062] The first particle distance mentioned above can be the distance between the different initial particles and the master anchor point. The second particle distance mentioned above can be the distance between the different initial particles and different non-master anchor points. The third particle distance mentioned above can 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 subsequent distance difference calculations, the positioning system can first determine a first particle distance between different initial particles and the main anchor point based on the particle positions and the main anchor point positions. To more accurately calculate the actual position of the vehicle key, the positioning system can calculate a second particle distance between different initial particles and different non-main anchor points based on the particle positions and the positions of different non-main anchor points. Subsequently, for each non-main anchor point, the positioning system can calculate the difference between the second particle distance and the first particle distance to obtain a third particle distance. This third particle distance indicates the relative position of the vehicle key with respect to each anchor point; therefore, the positioning system can determine this third particle distance as the second distance difference.

[0064] Further, based on the key signal, the initial position of the vehicle key is obtained, including: based on the key signal, obtaining the position of the vehicle key at the previous moment from the vehicle location table, wherein the vehicle location table is used to store the positions of the vehicle key detected at different moments; in response to the successful acquisition of the previous moment position, determining the previous moment position as the initial position; in response to the failure to acquire the previous moment position, obtaining multiple times when the key signal was received at different anchor points, and determining the initial position based on the time difference between the multiple times.

[0065] The vehicle location table mentioned above can be a table used to record the locations of vehicle keys detected in the past. The "previous location" mentioned above can refer to the exact location where the vehicle key was detected at the last successful location before the current time.

[0066] In an optional embodiment, considering that if the vehicle key has not moved significantly in a short period of time, its previous position may be very close to its current position, using the previous position as the initial position can reduce the search space of the algorithm, thereby improving positioning speed and accuracy. Therefore, the positioning system can pre-store the vehicle key's position information at various times in a vehicle location table. When positioning is required, the positioning system can retrieve the previous position of the vehicle key from the vehicle location table based on the key signal. If the positioning system successfully retrieves the previous position, it can determine it as the initial position, thereby reducing overall computational resource requirements and improving positioning efficiency. Furthermore, considering that when multiple anchor points receive the key signal, the time difference between the signal arrival at different anchor points is directly related to the key's position relative to these anchor points, analyzing these time differences can infer the key's possible relative position. Therefore, if the positioning system fails to retrieve the previous position, it can retrieve multiple times when different anchor points receive the key signal and determine the initial position based on the time differences between these times. For example, a positioning system can use time difference positioning technology to determine the initial position mentioned above. The calculation method for the initial position is as follows:

[0067]

[0068] In the formula, s represents the propagation speed of the starburst signal, and Δt ij This represents the difference between the time required for the signal to travel to node i and the time required for the signal to travel to node j, where x i y i z i and x j y j z j Let i and j represent the positions of anchor points i and j, where i,j = 1…N, and N represents the number of anchor points. x, y, and z represent the positions of the car key to be determined.

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

[0070] The aforementioned maximum displacement speed can refer to the maximum movement speed that the vehicle key can reach. The aforementioned maximum displacement distance can 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, considering that the positioning system can successfully obtain the exact location of the vehicle key at the previous moment, this indicates that the positioning system can acquire reliable historical positioning data, which can be used for more refined positioning prediction. Therefore, when the positioning system successfully obtains the aforementioned previous moment's location, it can further obtain the maximum displacement velocity of the vehicle key and 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 velocity. Then, the positioning system can construct a preset space based on the aforementioned maximum displacement distance and the previous moment's location, such that the preset space can confine 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 location 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 this time interval and the maximum displacement speed. Based on the maximum displacement distance and the previous moment's location, the positioning system can construct a cube centered on the previous moment's location with the maximum displacement distance as its side length as the preset space.

[0073] Specifically, the positioning system can use a resampling process to generate the aforementioned preset space. The resampling process can be represented by the following equation:

[0074]

[0075] In the formula, Let x be the position of the particle in three-dimensional Cartesian coordinates, k represent the iteration number, and x represent the position of the particle in three-dimensional Cartesian coordinates. k-1 This represents the position of the vehicle key at the previous moment, where U represents a uniform distribution, and R = [R x R y R z The resampling space is represented by ]. It can be assumed that the resampling ranges in the x-axis, y-axis, and z-axis directions in a three-dimensional Cartesian coordinate system are equal, i.e., 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 distribute them uniformly at the position x at the previous time step. k-1 Centered on a cube with a side length of 2×R=7 meters, this cube is the aforementioned preset space.

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

[0077] Furthermore, the method also includes: in response to the failure to obtain the previous position, obtaining the center position of the vehicle and the maximum transmission distance of the signal 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 aforementioned maximum transmission distance can refer to the maximum distance at which the vehicle key signal can be effectively transmitted to the anchor point.

[0079] In one optional embodiment, considering that the location information from 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 aforementioned preset space in another way to limit the positioning range of the vehicle key and avoid wasting computing power in areas that are too far away, have weak signals, or are inaccessible. Therefore, the positioning system can first obtain the center position of the vehicle and the maximum signal transmission distance between multiple anchor points and the vehicle key to ensure that the multiple anchor points can accurately receive the signals emitted by the vehicle key. This allows the positioning system to construct the aforementioned preset space based on the center position of the vehicle and the maximum transmission distance. Positioning the vehicle key within this preset space can reduce positioning errors caused by the key possibly exceeding a reasonable distance range, thereby improving the efficiency and accuracy of vehicle key positioning.

[0080] For example, the maximum transmission distance can be 100 meters. When the positioning system attempts to locate the key but cannot obtain the previous position, the positioning system can construct a cube with a side length of 100 meters centered on the vehicle's center position as a preset space. This provides a reasonable search range for the positioning system, ensuring that the positioning process can still be executed efficiently and accurately when historical data is lacking.

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

[0082] Furthermore, based on the particle weights of different initial particles, multiple target particles are selected from multiple initial particles, including: the device identifier for acquiring the vehicle key; determining the particle filtering method based on the device identifier; and filtering multiple target particles from multiple initial particles based on the particle weights of different initial particles according to the particle filtering method.

[0083] The aforementioned device identifier can be a unique identifier for each vehicle key. The aforementioned particle selection method can be a set of rules or algorithms used to select target particles from all initial particles based on their particle weights. For example, the aforementioned particle selection method can be a particle filtering algorithm, but it is not limited to this.

[0084] In one alternative embodiment, considering that there may be multiple wireless devices around the vehicle, the aforementioned multiple anchor points may receive signals sent by other devices, thereby interfering with the positioning process. Device identification can help the system recognize specific vehicle key signals, preventing the multiple anchor points from misreading signals from other wireless devices. Therefore, the positioning system can first obtain the device identification of the vehicle key to distinguish which signals are emitted 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 patterns, movement speeds, or communication characteristics, in order to accurately locate different types of vehicle keys, the positioning system can determine the initial particle selection method based on the device identification. Then, the positioning system can select multiple target particles from multiple initial particles according to the above particle selection method, based on the particle weights of different initial particles.

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

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

[0087] In an optional embodiment, considering that the particle weights reflect the degree of matching between different particle positions and actual observation data, a particle with a higher weight indicates that its position estimate is more likely to be close to the true position. Therefore, the positioning system can perform a weighted summation of the particle positions of different target particles based on their particle weights to obtain the first position value, thereby reducing the impact of noise and uncertainty factors on the positioning results. To detect outliers or weight biases in the weighted summation process and ensure that the positioning algorithm is not misled by potential weight imbalances, 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 the 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 can obtain the first position value by weighted summation of the particle positions of different target particles according to the following formula:

[0089]

[0090] In the formula, L represents the number of target examples. The interpretations of other symbols are the same as in the previous formula and will not be repeated here. After the positioning system calculates the first position value, it can further calculate the sum of the particle positions of different target particles according to the following formula, thereby obtaining the second position value:

[0091]

[0092] In this formula, the meanings of each symbol are the same as in the previous formula, and will not be repeated here. After the positioning system calculates the first position value and the second value, it can further calculate the target position value. The target position value can be calculated as follows:

[0093]

[0094] In the formula, x k The above target location values ​​are represented by symbols, and the meanings of each symbol are consistent with the aforementioned formulas, so they will not be repeated here. The positioning system can determine the target location of the vehicle key based on the target location values. It should be noted that the positioning system can resample the above initial nodes and repeat the above positioning steps to iterate the target location values, thereby more accurately determining the actual location of the vehicle key.

[0095] For ease of understanding, Figure 2 This is an optional vehicle topology diagram according to an embodiment of the present invention, such as... Figure 2As shown, this topology includes a wireless car key, which acts as the transmitter of the SLE signal and communicates with anchor points inside the vehicle by broadcasting a positioning signal. These anchor points include a primary anchor point and secondary anchor points. The primary anchor point is located at the center of the vehicle, typically installed on the vehicle's central axis, possibly in the center of the roof or the center of the vehicle's interior. The primary anchor point receives signals from the secondary anchor points and transmits the signal arrival time information to the body domain controller, enabling the body domain controller to calculate the positioning information. Figure 2 The diagram shows four anchor points, installed on the left and right sides of the front and rear bumpers respectively, serving as receivers of the SLE signal and receiving positioning signals from the wireless car key. The body domain controller, acting as an SLE module (G-node), is the core control unit of the vehicle's StarFlash SLE wireless ranging system. It receives time information from the main anchor points, processes this data, and uses a particle filter-based TDOA algorithm to calculate the three-dimensional position coordinates of the wireless car key. Furthermore, the body domain controller is responsible for making unlocking or locking decisions and sending corresponding commands to the door controllers and tailgate controller. The door controllers, including the driver's door controller, passenger's door controller, left rear door controller, and right rear door controller, act as SLE modules (T-nodes), receiving commands from the body domain controller and controlling the door's locking / locking status. The tailgate controller, similar to the door controllers, also acts as an SLE module (T-node), receiving commands from the body domain controller and controlling the tailgate's locking / locking status. Figure 2 The component connections in the diagram demonstrate the application of StarSignal SLE communication technology. All anchor points, door controllers, tailgate controllers, and body domain controllers communicate wirelessly via the StarSignal SLE wireless network. Signals emitted 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 location information to the body domain controller, which then performs positioning calculations and door control logic processing.

[0096] Figure 3 This is a detailed flowchart of a vehicle key positioning method according to an embodiment of the present invention, as shown below. Figure 3As shown, at the start of the localization process, the system first generates P particles evenly distributed throughout the space. Then, it calculates the weight of each particle in parallel and selects a target particle based on the weight. This target particle represents the particle closest to the actual location of the vehicle key. After selecting the target particles, the system performs a weighted average to obtain the target node position, i.e., the location of the target vehicle key. Having obtained the initial target node position, the system generates new particles based on the target particles to reflect potential positional changes of the target node. The generation of these new particles considers the dynamic characteristics of the target node, such as its speed and direction, ensuring that the localization algorithm can adapt to the movement of the target node. Subsequently, the system again calculates the weight of each particle in parallel and selects a target particle based on the weight. After selection, the system again performs a weighted average of the target particles to obtain the iterative target node position. Finally, the positioning system can determine whether the positioning is complete based on the iterative target node position. If the accuracy of the iterative target node position is high enough, the positioning ends. If the iterative target node position 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 target particles based on the weights, and perform a weighted average of the target particles to obtain the iterative target node position. The positioning system ends the positioning process until the iterative target node position meets the accuracy requirements.

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

[0098] The signal acquisition module 402 is 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. The multiple anchor points are used to represent the anchor points deployed on the vehicle to determine the position of the vehicle key, and the multiple initial particles are used to represent the multiple particles deployed in a preset space to determine the position of the vehicle key.

[0099] The particle selection module 404 is used to select multiple target particles from multiple initial particles based on the key signal, the anchor point positions of multiple anchor points and the particle positions of multiple initial particles. 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 in the multiple initial particles and the target position.

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

[0101] Furthermore, the particle selection module is also used to: determine the particle weights of different initial particles among multiple initial particles based on the key signal, the anchor positions of multiple anchor points, and the particle positions of multiple initial particles, 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 positions; and select multiple target particles from multiple initial particles based on the particle weights of different initial particles, wherein the particle weight of any one target particle is greater than the particle weight of any other particle, and the other particles are used to characterize the 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; and determine the particle weight 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, with the main anchor point deployed at the center of the vehicle; the particle selection module is also used to: determine 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; determine a 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 a third anchor point distance based on the difference between the second anchor point distance and the first anchor point distance, and obtain a fourth anchor point distance corresponding to different non-main anchor points based on the sum of the third anchor point distance and a preset error; and 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 position 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: obtain the position of the vehicle key at the previous moment from the vehicle location table based on the key signal, wherein the vehicle location table is used to store the positions of the vehicle key detected at different moments; in response to the successful acquisition of the previous moment position, determine the previous moment position as the initial position; in response to the failure to acquire the previous moment position, obtain multiple times when the key signal is received at different anchor points, 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 acquire the maximum displacement speed of the vehicle key in response to the successful acquisition of the previous position; 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 and current moments and the maximum displacement speed; and a first construction module, used to construct a preset space based on the maximum displacement distance and the previous position.

[0107] Furthermore, the device also includes: a second acquisition module, used to acquire the center position of the vehicle and the maximum transmission distance of signals between multiple anchor points and the vehicle key in response to the failure to acquire the position at the previous moment; and 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 the device identifier of the vehicle key; determine the particle selection method based on the device identifier; and select multiple target particles from multiple initial particles according to the particle selection method and the particle weights of different initial particles.

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

[0110] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0111] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0112] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0113] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0114] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0115] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

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

[0118] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0119] If the integrated unit is implemented as 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0120] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for locating a vehicle key, characterized in that, include: The anchor points on the vehicle are obtained, the particle positions of multiple initial particles are obtained, and the key signals detected by the multiple anchor points at the current moment are obtained. The multiple anchor points are used to represent anchor points deployed on the vehicle to determine the position of the vehicle key, and the multiple initial particles are used to represent multiple particles deployed in a preset space to determine 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, multiple target particles are selected from the multiple initial particles. 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 in the multiple initial particles (excluding the multiple target particles) and the target position. The target position is determined based on the particle positions of the plurality of target particles; The method further includes: obtaining the previous position of the vehicle key from a vehicle location table based on the key signal, wherein the vehicle location table is used to store the positions of the vehicle key detected at different times; in response to successfully obtaining the previous position, obtaining the maximum displacement velocity 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 velocity; and constructing the preset space in the form of a cube with the previous position as the center and the maximum displacement distance as the side length based on the maximum displacement distance and the previous position. Determining the target position based on the particle positions of the plurality of target particles includes: weighted summation of the particle positions of different target particles based on their particle weights to obtain a first position value; obtaining a second position value based on the sum of the particle positions of different target particles; obtaining a target position value based on the quotient of the first position value and the second position value; determining whether the target position value meets the accuracy requirement; in response to the target position value meeting the accuracy requirement, determining the target position of the vehicle key based on the target position value; in response to the target position value not meeting the accuracy requirement, generating a plurality of new particles based on the plurality of target particles, determining the plurality of new particles as a plurality of initial particles, repeatedly executing the vehicle key positioning method to obtain a new target position value, and determining the target position of the vehicle key based on the new target position value.

2. The method according to claim 1, characterized in that, Based on the key signal, the anchor positions of the multiple anchor points, and the particle positions of the multiple initial particles, multiple target particles are selected from the multiple initial particles, including: Based on the key signal, the anchor positions of the multiple anchor points, and the particle positions of the multiple initial particles, the 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 the different initial particles, multiple target particles are selected from the multiple initial particles, wherein the particle weight of any one target particle is greater than the particle weight of any other particle, and the other particles are used to characterize the particles other than the multiple target particles in the multiple initial particles.

3. The method according to claim 2, characterized in that, Based on the key signal, the anchor positions of the multiple anchor points, and the particle positions of the multiple initial particles, the particle weights of different initial particles among the multiple initial particles are determined, including: Based on the key signal, the initial position of the vehicle key is obtained; Based on the initial position and the anchor point position, determine the first distance difference between the initial position and different anchor points. Based on the anchor point position and the particle position, determine the second distance difference between different initial particles and different anchor points; The particle weights of the different initial particles are determined based on the first distance difference and the second distance difference.

4. The method according to claim 3, characterized in that, The plurality of anchor points includes: a main anchor point and a plurality of non-main anchor points, wherein the main anchor point is deployed at the center of the vehicle; determining a first distance difference between the initial position and the anchor point positions based on the initial position includes: Based on the initial position and the position of the main anchor point, determine the first anchor point distance between the initial position and the main anchor point; Based on the initial position and the positions of different non-main anchor points, determine the second anchor point distance between the initial position and the different non-main anchor points; The distance to the third anchor point is obtained based on the difference between the distance to the second anchor point and the distance to the first anchor point. The distance to the fourth anchor point corresponding to different non-main anchor points is obtained based on the sum of the distance to the third anchor point and the preset error. The distance between the fourth anchor points 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, 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, determine the first particle distance between different initial particles and the main anchor point; Based on the particle position and the positions of different non-master anchor points, the second particle distance between different initial particles and different non-master anchor points is determined. The distance to the third particle is obtained based on the difference between the distance to the second particle and the distance to the first particle; The distance to the third particle is determined as the second distance difference.

6. The method according to claim 3, characterized in that, Based on the key signal, the initial position of the vehicle key is obtained, including: Based on the key signal, the previous position of the vehicle key at the previous moment is obtained from the vehicle location table; In response to the successful acquisition of the previous position, the previous position is determined as the initial position; In response to the failure to obtain the previous position, multiple times when the key signal was received at different anchor points are obtained, and the initial position is determined based on the time difference between the multiple times.

7. The method according to claim 1, characterized in that, The method further includes: In response to the failure to obtain the previous position, the center position of the vehicle and the maximum transmission distance of the signal between the plurality of anchor points and the vehicle key are obtained. The preset space is constructed based on the center position of the vehicle and the maximum transmission distance.

8. The method according to claim 2, characterized in that, Based on the particle weights of the different initial particles, multiple target particles are selected from the plurality of initial particles, including: The device identifier for obtaining the vehicle key; The particle screening method is determined based on the device identifier; According to the particle screening method, the multiple target particles are screened from the multiple initial particles based on the particle weights of the different initial particles.

9. A vehicle key positioning device, characterized in that, include: The signal acquisition module is used to acquire the anchor point positions of multiple anchor points on the vehicle, the particle positions of multiple initial particles, and the key signal detected by the multiple anchor points at the current moment. The multiple anchor points are used to represent anchor points deployed on the vehicle to determine the position of the vehicle key, and the multiple initial particles are used to represent multiple particles deployed in a preset space to determine the position of the vehicle key. The particle selection module is used to select 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 in the multiple initial particles (excluding the multiple target particles) and the target position. A position determination module is used to determine the target position based on the particle positions of the plurality of target particles; The signal acquisition module is further configured to: obtain the previous position of the vehicle key from the vehicle location table based on the key signal; store the positions of the vehicle key detected at different times; in response to successful acquisition of the previous position, obtain the maximum displacement speed of the vehicle key; obtain the maximum displacement distance of the vehicle key based on the product of the time difference between the previous and current times and the maximum displacement speed; and construct the preset space in the form of a cube with the previous position as the center and the maximum displacement distance as the side length, based on the maximum displacement distance and the previous position. The position determination module is further configured to: sum the particle positions of different target particles based on their particle weights to obtain a first position value; sum the particle positions of different target particles to obtain a second position value; obtain a target position value based on the quotient of the first position value and the second position value; determine whether the target position value meets the accuracy requirement; if the target position value meets the accuracy requirement, determine the target position of the vehicle key based on the target position value; if the target position value does not meet the accuracy requirement, generate multiple new particles based on the multiple target particles, determine the multiple new particles as multiple initial particles, repeat the vehicle key positioning method to obtain a new target position value, and determine the target position of the vehicle key based on the new target position value.

10. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 8.

11. 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, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 8.

Images