Dual-mode digital key positioning method and device, positioning equipment and storage medium

Abstract

The embodiment of the present invention relates to the field of digital key positioning technology, and discloses a dual-mode digital key positioning method and device, positioning equipment and storage medium. The method includes: obtaining the positioning information of the digital key by the BLE and UWB dual-mode anchor points at a preset position on the vehicle; obtaining the Bluetooth judgment result according to RSSI_BLE, and when there is a valid UWB signal, obtaining the UWB judgment result according to multiple judgment conditions based on the positioning information; when there is no valid UWB signal, counting the UWB signal loss duration and obtaining the UWB judgment result at the last moment before the UWB signal is lost; obtaining the compensation judgment result according to TimeLostUWB, Bluetooth judgment result and AreaLastValidUWB. The positioning information collected by the dual-mode single anchor point combined with the combination of multi-dimensional judgment conditions can achieve good positioning performance while reducing costs.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of digital key positioning, and in particular to a dual-mode digital key positioning method and apparatus, a positioning device, and a storage medium. Background Art

[0002] Ultra Wide Band (UWB) digital key technology has gradually emerged in recent years. As an advanced wireless communication technology, UWB can achieve high-precision positioning and data transmission. Compared with traditional Bluetooth Low Energy (BLE) technology, UWB has obvious advantages in signal penetration and anti-interference capabilities, making it widely used in smart devices such as car keys. UWB digital keys can not only provide a faster unlocking experience, but also effectively improve security, prevent illegal intrusions through precise positioning, and enhance user convenience and security.

[0003] At present, mainstream UWB digital keys require 4 to 6 UWB anchor points to be installed on the vehicle to achieve a good user experience, and the installation cost is high. Existing UWB single-anchor digital keys use UWB-AOA (Angle of Arrival) technology for positioning. The AOA antenna requires a more complex design to support multi-channel reception and directional measurement. This complexity leads to higher production costs.

[0004] In the actual usage scenarios of digital keys, NLOS (Non-Line-of-Sight) environments are relatively common. For example, the most common human body occlusion may cause the UWB signal to be completely lost and unable to be positioned, resulting in functional errors such as locking in the PE area. Summary of the invention

[0005] The embodiments of the present invention provide a dual-mode digital key positioning method and apparatus, a positioning device and a storage medium, which perform positioning by utilizing BLE and UWB dual-mode anchor points, aiming to reduce costs while ensuring positioning performance.

[0006] In a first aspect, an embodiment of the present invention provides a dual-mode digital key positioning method, comprising: obtaining positioning information of a digital key by a BLE and UWB dual-mode anchor point at a preset position on a vehicle; the positioning information comprises: a Bluetooth received signal strength indicator value RSSI_BLE, a UWB ranging value Dist, and a UWB received power RxPower;

[0007] Obtain a Bluetooth determination result according to the RSSI_BLE;

[0008] When there is a valid UWB signal, obtain a UWB judgment result according to the positioning information using multiple judgment conditions; the execution order of the multiple judgment conditions is executed in descending order of the priority of the parameters included therein; among them, the priorities of the Dist, RxPower, and RSSI_BLE decrease in turn;

[0009] When there is no valid UWB signal, count the UWB signal loss duration TimeLostUWB and obtain the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost;

[0010] Obtain a compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result, and the AreaLastValidUWB;

[0011] Generate corresponding vehicle control instructions according to the UWB judgment result and the compensation judgment result.

[0012] As an embodiment, the UWB judgment result includes that the digital key is inside the vehicle, in the mixed zone, or outside the vehicle; the obtaining of the UWB judgment result according to the positioning information using multiple judgment conditions includes:

[0013] Judge whether it is outside the vehicle according to multiple judgment conditions including the UWB ranging value and / or the UWB received power;

[0014] If not, then judge whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, the UWB received power, and the RSSI_BLE;

[0015] If not, then judge that it is in the mixed zone.

[0016] As an embodiment, the judging whether it is outside the vehicle according to multiple judgment conditions including the UWB ranging value and / or the UWB received power includes:

[0017] Judge whether Dist>INCAR_DIST_TH1 is satisfied. If so, then judge that it is outside the vehicle. If not,

[0018] then judge whether RxPower<INCAR_POWER_TH1 is satisfied. If so, then judge that it is outside the vehicle. If not, then judge whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, the UWB received power, and the RSSI_BLE; where INCAR_DIST_TH1 is the preset first UWB ranging value threshold for judging inside and outside the vehicle; INCAR_POWER_TH1 is the preset first UWB received power threshold for judging inside and outside the vehicle.

[0019] As an embodiment, determining whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, UWB received power, and RSSI_BLE includes:

[0020] Determine whether Dist < INCAR_DIST_TH2 is satisfied. If so, determine that it is inside the vehicle. If not,

[0021] Then determine whether Dist < INCAR_DIST_TH3 and RxPower > INCAR_POWER_TH1 are satisfied. If so, determine that it is inside the vehicle. If not,

[0022] Then determine whether Dist < INCAR_DIST_TH4 and RSSI_BLE > INCAR_RSSIBLE_TH2 are satisfied. If so, determine that it is inside the vehicle. If not, determine that it is in the mixed zone; where

[0023] INCAR_DIST_TH2 < INCAR_DIST_TH3 < INCAR_DIST_TH4 < INCAR_DIST_TH1, INCAR_RSSIBLE_TH2 < INCAR_RSSIBLE_TH1; INCAR_DIST_TH2 is the second preset UWB ranging value threshold for determining inside and outside the vehicle, INCAR_DIST_TH3 is the third preset UWB ranging value threshold for determining inside and outside the vehicle, INCAR_DIST_TH4 is the fourth preset UWB ranging value threshold for determining inside and outside the vehicle, and INCAR_RSSIBLE_TH2 is the second preset Bluetooth RSSI threshold for determining inside and outside the vehicle.

[0024] As an embodiment, obtaining the UWB judgment result according to the positioning information using multiple judgment conditions further includes:

[0025] When the UWB judgment result is outside the vehicle, identify the target area outside the vehicle according to the multiple UWB ranging value thresholds for judging the outside area.

[0026] As an embodiment, the areas outside the vehicle include: PE area, LOCK area, WELCOME area, and CONNECT area. Identifying the target area outside the vehicle according to the multiple UWB ranging value thresholds for judging the outside area includes:

[0027] Determine whether Dist < PE_DIST_TH is satisfied. If so, determine that it is in the PE area. If not,

[0028] Then determine whether Dist < LOCK_DIST_TH is satisfied. If so, determine that it is in the LOCK area. If not,

[0029] Then determine whether Dist < WEL_DIST_TH is satisfied. If so, it is determined to be in the WELCOME area. If not, it is determined to be in the CONNECT area.

[0030] Among them, PE_DIST_TH, LOCK_DIST_TH and WEL_DIST_TH are respectively the UWB ranging value thresholds for judging the area outside the vehicle corresponding to the PE area, the LOCK area and the WELCOME area.

[0031] As an embodiment, the Bluetooth determination result includes: a mixed zone, a PE zone, a LOCK zone, a WELCOME zone or a CONNECT zone;

[0032] The compensation judgment result is obtained according to the TimeLostUWB, the Bluetooth judgment result and the AreaLastValidUWB, including:

[0033] If TimeLostUWB>TIME_LOST_UWB_TH is satisfied, then determine whether it is in the PE or LOCK area based on whether AreaFromBLE is PE and whether RSSI_BLE>PE_RSSIBLE_TH2; where TimeLostUWB is the duration of UWB signal loss, TIME_LOST_UWB_TH is the UWB signal loss duration threshold, AreaFromBLE is the Bluetooth judgment result, and PE_RSSIBLE_TH2 is the Bluetooth RSSI threshold in the PE area.

[0034] As an embodiment, the obtaining of the compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result and the AreaLastValidUWB further includes:

[0035] If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, then determine whether AreaLastValidUWB is the area outside the vehicle far away from PE and AreaFromBLE is a mixed area. If so, determine whether the current moment is entering PE or the mixed area based on TimeLostUWB and the first preset speed. If so, determine that it is in the PE area, if not, determine that it is in the LOCK area; wherein the first preset speed is set according to the normal walking speed; wherein AreaLastValidUWB is the UWB judgment result that is valid at the last moment before the UWB signal is lost.

[0036] As an embodiment, the obtaining of the compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result and the AreaLastValidUWB further includes:

[0037] If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, determine whether AreaLastValidUWB is PE or LOCK. If so, count the RSSI_BLE trend during the duration of UWB signal loss, and determine whether the target area outside the vehicle is reached at the current moment based on TimeLostUWB, the second preset speed, and the RSSI_BLE trend during the duration of UWB signal loss.

[0038] As an embodiment, the obtaining of the compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result and the AreaLastValidUWB further includes:

[0039] If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, determine whether AreaLastValidUWB is PE or a closer area outside the vehicle, and AreaFromBLE is WELCOME or a farther area outside the vehicle. If so, determine the target area outside the vehicle based on TimeLostUWB and the third preset speed.

[0040] As an embodiment, the area outside the vehicle includes: a PE area, a LOCK area, a WELCOME area, and a CONNECT area, and the Bluetooth determination result includes: a target area inside the vehicle, a mixed area, and outside the vehicle;

[0041] The obtaining of a Bluetooth determination result according to the RSSI_BLE includes:

[0042] Determine whether RSSI_BLE > INCAR_RSSIBLE_TH1 is satisfied. If so, determine that it is located inside the vehicle. If not, identify the target area corresponding to the digital key according to the boundary RSSI thresholds corresponding to the mixed area and each area outside the vehicle; wherein, INCAR_RSSIBLE_TH1 is the preset first Bluetooth RSSI threshold for judging inside and outside the vehicle.

[0043] As an embodiment, the positioning information further includes: a channel impulse response CIR of the UWB anchor point; and the method further includes:

[0044] Perform NLOS identification according to the CIR, and compensate the UWB ranging value under NLOS;

[0045] In the step of using multiple judgment conditions to judge whether a UWB judgment result is obtained according to the positioning information, the UWB judgment result is obtained according to the compensated UWB ranging value.

[0046] As an embodiment, the method further includes:

[0047] Performing static detection according to the sliding standard deviation of the UWB ranging value;

[0048] Correct the current judgment result based on the static detection result and historical judgment result;

[0049] Generate corresponding vehicle control instructions based on the corrected judgment results.

[0050] In a second aspect, an embodiment of the present invention provides a dual-mode digital key positioning device, comprising:

[0051] An acquisition module is used to obtain the positioning information of the BLE and UWB dual-mode anchor points at a preset position on the vehicle for the digital key; the positioning information includes: Bluetooth received signal strength indicator value RSSI_BLE, UWB ranging value Dist, and UWB receiving power RxPower;

[0052] A BLE determination module, used to obtain a Bluetooth determination result according to the RSSI_BLE;

[0053] A UWB judgment module, for obtaining a UWB judgment result by adopting multiple judgment conditions according to the positioning information when a valid UWB signal exists; the execution order of the multiple judgment conditions is executed in descending order according to the priority of the parameters contained therein; wherein the priorities of Dist, RxPower and RSSI_BLE decrease in sequence;

[0054] A statistics module, used for counting the UWB signal loss duration TimeLostUWB and obtaining the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost when there is no valid UWB signal;

[0055] A compensation judgment module, used to obtain a compensation judgment result according to the TimeLostUWB, Bluetooth judgment result and AreaLastValidUWB;

[0056] A control module is used to generate a corresponding vehicle control instruction according to the UWB judgment result and the compensation judgment result.

[0057] In a third aspect, an embodiment of the present invention provides a positioning device, including a memory and a processor;

[0058] The memory is used to store computer programs; the processor is used to read the computer program in the memory and implement the dual-mode digital key positioning method as described above when executing the program.

[0059] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dual-mode digital key positioning method as described in the first aspect.

[0060] Compared with the prior art, the technical solution provided by the embodiment of the present invention has at least the following positive effects:

[0061] In the technical solution of the embodiment of the present invention, a Bluetooth judgment result is obtained according to the Bluetooth received signal strength indicator value RSSI_BLE. When there is a valid UWB signal, a UWB judgment result is obtained by adopting multiple judgment conditions according to the UWB ranging value Dist, the UWB received power RxPower and the Bluetooth received signal strength indicator value RSSI_BLE. The execution order of the multiple judgment conditions is executed in descending order according to the priority of the parameters contained therein, and the priorities of Dist, RxPower and RSSI_BLE decrease in turn, that is, the UWB ranging value Dist is preferentially used for judgment, and RxPower is used at the same time. ower and RSSI_BLE assist in judgment, making the positioning more accurate and secure. When there is no valid UWB signal, the UWB signal loss duration TimeLostUWB is counted and the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost is obtained. The compensation judgment result is obtained according to TimeLostUWB, Bluetooth judgment result and AreaLastValidUWB, so as to enhance the robustness in NLOS environment. Therefore, high-precision positioning can be achieved by integrating UWB and BLE dual-mode positioning information, and cost can be saved at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 An example diagram of the layout of a single anchor point for BLE and UWB dual-mode on a vehicle body provided in an embodiment of the present invention;

[0064] Figure 2 A schematic diagram of the process of the dual-mode digital key positioning method provided in the first embodiment of the present invention;

[0065] Figure 3 It is a partial flow chart of an embodiment of the dual-mode digital key positioning method of the present invention when the UWB signal is valid;

[0066] Figure 4 A partial flow chart of a dual-mode digital key positioning method in an embodiment of the present invention when a UWB signal is lost;

[0067] Figure 5A schematic diagram of an out-of-vehicle automatic unlocking test route of the dual-mode digital key positioning method of the present invention;

[0068] Figure 6 A schematic diagram of the structure of a dual-mode digital key positioning device provided in Embodiment 2 of the present invention;

[0069] Figure 7 This is a schematic diagram of the structure of a positioning device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0070] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0071] The following describes the dual-mode digital key positioning method and apparatus, positioning device and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the background technology that the UWB single-anchor digital key solution is technically complex, has high implementation costs, and has a relatively high overall cost of the UWB multi-anchor digital key, the present application provides a dual-mode digital key positioning method. In this method, the positioning information of the digital key is obtained by obtaining the BLE and UWB dual-mode anchor points at preset positions on the vehicle. The positioning information includes: Bluetooth received signal strength indicator value RSSI_BLE, UWB ranging value Dist, and UWB receiving power RxPower. The Bluetooth judgment result is obtained based on RSSI_BLE. When there is a valid UWB signal, the UWB judgment result is obtained based on multiple judgment conditions according to the positioning information. The execution order of the multiple judgment conditions is executed in descending order according to the priority of the parameters contained therein, Dist, RxPower, and RxPower. The priorities of ower and RSSI_BLE decrease in sequence, that is, the UWB ranging value Dist is used for judgment first, and RxPower and RSSI_BLE are used for auxiliary judgment, so that the positioning accuracy is higher and the security is stronger; when there is no valid UWB signal, the UWB signal loss duration TimeLostUWB is counted and the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost is obtained, and the compensation judgment result is obtained according to TimeLostUWB, Bluetooth judgment result and AreaLastValidUWB, so as to enhance the robustness in the NLOS environment. Therefore, high-precision positioning can be achieved by integrating UWB and BLE dual-mode positioning information, and cost can be saved at the same time.

[0072] Figure 1 This is a schematic diagram of the layout of the BLE and UWB dual-mode single anchor points on the vehicle in the dual-mode digital key positioning method provided in the embodiment of the present application. Figure 1As shown, the installation position of the single anchor point 100 is below the front rearview mirror in the vehicle. Other installation positions can also be selected according to the structural characteristics and needs of the vehicle, and there is no excessive restriction on this.

[0073] Figure 2 The flowchart of the dual-mode digital key positioning method provided by the embodiment of the present invention can be applied to PEPS (Passive Entry Passive Start). The method can be executed by a dual-mode digital key positioning device provided by the embodiment of the present invention, which can be implemented in software and / or hardware and configured in the vehicle-side positioning device. Figure 2 As shown, the dual-mode digital key positioning method of the present application includes the following steps:

[0074] Step 201: Obtain positioning information of the digital key from the BLE and UWB dual-mode anchor points at a preset position on the vehicle.

[0075] The positioning information includes: Bluetooth received signal strength indicator value RSSI_BLE, UWB ranging value Dist, and UWB received power RxPower.

[0076] When a user carries a BLE / UWB dual-mode digital key (such as a mobile phone) in or near a vehicle, the dual-mode anchor point on the vehicle body receives the Bluetooth and UWB signals of the digital key respectively and obtains their respective positioning information and then sends it to the positioning device, which can be the digital key module on the vehicle.

[0077] Step 202: Obtain a Bluetooth determination result according to RSSI_BLE.

[0078] The Bluetooth judgment results include: the digital key is located in the target area inside the vehicle, in the mixed area, or outside the vehicle.

[0079] The mixed area is the area between PE and PS. Due to the limitation of positioning accuracy, the area that cannot be clearly defined as inside or outside the car, such as the area within 10cm inside and outside the window, is defined as the PE / PS area. The area outside the car may include: PE (Passive Entry) area, LOCK area, WELCOME area and CONNECT area. When the Bluetooth judgment result is inside the car, the vehicle can be started. When the Bluetooth judgment result is outside the car, the target area where the digital key is located is further identified. The target area can be any one of the PE, LOCK, WELCOME, and CONNECT areas. Among them, when the digital key is in the PE area, the vehicle can be allowed to start, when the digital key is in the LOCK area, the vehicle is locked, and when the digital key is in the WELCOME area, the vehicle can be controlled to perform a preset welcome operation. When the digital key enters the CONNECT area, BLE establishes and maintains a connection with the vehicle, and when the digital key leaves the CONNECT area, it can be disconnected from the vehicle. It can be understood that this embodiment does not make specific restrictions on the division of vehicle control functions in the area outside the vehicle.

[0080] Specifically, step 202 may include obtaining a Bluetooth judgment result according to RSSI_BLE: judging whether RSSI_BLE> INCAR_RSSIBLE_TH1 is satisfied, if so, judging that the key is located inside the vehicle, if not, identifying the target area corresponding to the digital key according to the boundary RSSI thresholds corresponding to the various areas outside the vehicle. Among them, INCAR_RSSIBLE_TH1 is a preset first Bluetooth RSSI threshold for judging inside and outside the vehicle, and INCAR_RSSIBLE_TH1 is used to identify the situation of being located inside the vehicle according to RSSI_BLE. INCAR_RSSIBLE_TH1 may be obtained by pre-calibration. INCAR_RSSIBLE_TH1 may be determined according to the minimum value of RSSI_BLE when the digital key is located inside the vehicle and the maximum value of RSSI_BLE when the digital key is located within a predetermined range outside the vehicle in the calibration data. It can be understood that this embodiment does not impose excessive restrictions on the setting method and size of INCAR_RSSIBLE_TH1, as long as it can strictly and accurately identify the situation of the digital key being located inside the vehicle. Similarly, the boundary RSSI thresholds corresponding to the mixed area and each area outside the vehicle (PE, LOCK, WELCOM) can be obtained.

[0081] According to the boundary RSSI thresholds corresponding to various areas outside the vehicle, the target area corresponding to the digital key is identified. For example, when RSSI_BLE>PE_RSSIBLE_TH1, it is judged as the PE area, when RSSI_BLE>LOCK_RSSIBLE_TH, it is judged as the LOCK area, when RSSI_BLE>WEL_RSSIBLE_TH, it is judged as the CONNECT area, otherwise, it is judged as the CONNECT area. The thresholds required for Bluetooth judgment can be obtained in a known manner, which will not be repeated here.

[0082] Through step 202 , a Bluetooth determination result AreaFromBLE=one of PS, PE / PS, PE, LOCK, WELCOME or CONNECT can be obtained.

[0083] Step 203: When there is a valid UWB signal, multiple judgment conditions are used according to the positioning information to obtain a UWB judgment result.

[0084] The execution order of multiple judgment conditions is from high to low according to the priority of the parameters contained therein, wherein the priorities of Dist, RxPower and RSSI_BLE decrease in sequence.

[0085] The UWB judgment result includes a target area located inside the vehicle, in a mixed area, or outside the vehicle.

[0086] Step 203 may include: determining whether the vehicle is located outside the vehicle according to multiple determination conditions including UWB ranging value and / or UWB receiving power, if so, that is, when the UWB determination result is outside the vehicle, continuing to determine the target area outside the vehicle according to multiple vehicle area determination UWB ranging value thresholds, if not, that is, when it is determined that the vehicle is not located outside the vehicle according to multiple determination conditions including UWB ranging value and / or UWB receiving power, continuing to determine whether the vehicle is located inside the vehicle according to multiple determination conditions including UWB ranging value, UWB receiving power and one or more of RSSI_BLE, if so, that is, when it is determined that the vehicle is located inside the vehicle, setting the positioning result AreaFlag=PS, if not, at this time, determining that the vehicle is located in the mixed area PE / PS, setting AreaFlag=PE / PS. The above multiple determination conditions formed in a manner of giving priority to UWB positioning information obtain the vehicle inside and outside determination results, so that the vehicle inside and outside can be determined quickly and accurately.

[0087] In step 203, determining whether it is outside the vehicle according to multiple judgment conditions including UWB ranging values and / or UWB received power may include: determining whether Dist>INCAR_DIST_TH1 is satisfied. If so, it is determined that it is outside the vehicle. If not, it is determined whether RxPower<INCAR_POWER_TH1 is satisfied. If so, it is determined that it is outside the vehicle. If not, it is determined whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, UWB received power, and RSSI_BLE. Among them, INCAR_DIST_TH1 is the first preset UWB ranging value threshold for determining inside and outside the vehicle; INCAR_POWER_TH1 is the first preset UWB received power threshold for determining inside and outside the vehicle. INCAR_DIST_TH1 is used to identify the situation where the digital key is outside the vehicle. INCAR_DIST_TH1 can be obtained in a similar way to INCAR_RSSIBLE_TH1, which will not be elaborated here. By screening and identifying the situation where the digital key is outside the vehicle according to different judgment conditions such as UWB ranging values and UWB received power in sequence, it is possible to accurately and quickly determine inside and outside the vehicle. It can be understood that the present application does not overly limit the order of multiple judgment steps based on different judgment conditions such as UWB ranging values and UWB received power.

[0088] In step 203, determining whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, UWB received power, and RSSI_BLE may include: determining whether it is inside the vehicle according to multiple UWB ranging value thresholds. Specifically, determining whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, UWB received power, and RSSI_BLE may include: determining whether Dist < INCAR_DIST_TH2 is satisfied. If so, it is determined that it is inside the vehicle. If not, it is determined whether Dist<INCAR_DIST_TH3 and RxPower> INCAR_POWER_TH1 are satisfied. If so, it is determined that it is inside the vehicle. If not, it is determined whether Dist<INCAR_DIST_TH4 and RSSI_BLE>INCAR_RSSIBLE_TH2 are satisfied. If so, it is determined that it is inside the vehicle. If not, it is determined that it is in the PE / PS area. Among them, INCAR_DIST_TH2<INCAR_DIST_TH3, and INCAR_DIST_TH3<INCAR_DIST_TH4<INCAR_DIST_TH1, INCAR_RSSIBLE

[0089] _TH2 < INCAR_RSSIBLE_TH1; INCAR_DIST_TH2 is the preset second UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, INCAR_DIST_TH3 is the preset third UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, INCAR_DIST_TH4 is the preset fourth UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, and INCAR_RSSIBLE_TH2 is the preset second Bluetooth RSSI threshold for in-vehicle and out-of-vehicle judgment. The acquisition methods of the ranging value threshold, received power threshold, and RSSI_BLE threshold involved in the step of judging whether it is inside the vehicle according to multiple UWB ranging value thresholds can all refer to the aforementioned threshold acquisition methods, or be pre-calibrated by other means, which will not be elaborated here. By making multiple judgments through multiple gradually increasing ranging value thresholds and gradually screening out the situation where the digital key is inside the vehicle, and by combining the UWB ranging value with the UWB received power and RSSI_BLE, comprehensive judgment from different dimensions can more precisely identify different situations where the digital key is inside the vehicle, improving the accuracy of digital key recognition. It should be noted that this application does not limit the execution order of the step of judging whether it is outside the vehicle according to the UWB ranging value and / or UWB received power and the step of judging whether it is inside the vehicle according to the UWB ranging value, UWB received power, and RSSI_BLE. In some examples, other orders can also be adopted.

[0090] The target area outside the vehicle identified according to the multiple UWB ranging value thresholds for out-of-vehicle area judgment in step 203 may include: judging whether Dist < PE_DIST_TH is satisfied. If so, it is judged to be in the PE area. If not, it is judged whether Dist < LOCK_DIST_TH is satisfied. If so, it is judged to be in the LOCK area. If not, it is judged whether Dist < WEL_DIST_TH is satisfied. If so, it is judged to be in the WELCOME area. If not, it is judged to be in the CONNECT area. Among them, PE_DIST_TH, LOCK_DIST_TH, and WEL_DIST_TH are the UWB ranging value thresholds for out-of-vehicle area judgment corresponding to the PE area, LOCK area, and WELCOME area respectively. These UWB ranging value thresholds for different out-of-vehicle area judgments can be obtained in a similar manner to the aforementioned thresholds, which will not be elaborated here.

[0091] It is worth mentioning that the positioning information may also include: the channel impulse response CIR (Channel Impulse Response, CIR for short) of the UWB anchor point. The dual-mode digital key positioning method of this embodiment may also include: performing NLOS identification according to the CIR, and compensating the UWB ranging value under NLOS. Step 203 uses multiple judgment conditions to determine whether a UWB judgment result is obtained based on the positioning information, and obtains the UWB judgment result based on the compensated UWB ranging value, so that an accurate judgment result can be obtained based on the precise UWB ranging value. Known technologies can be used for NLOS identification and NLOS compensation, which will not be repeated here.

[0092] Step 204: When there is no valid UWB signal, the UWB signal loss duration TimeLostUWB is counted and the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost is obtained.

[0093] In step 203, the UWB determination results are stored to obtain historical UWB determination results, and AreaLastValidUWB is the most recent UWB determination result in the historical UWB determination results.

[0094] Step 205: Obtain a compensation determination result according to TimeLostUWB, the Bluetooth determination result, and AreaLastValidUWB.

[0095] Since the NLOS environment (such as common human body occlusion) may cause the UWB signal to be completely lost, the compensation judgment result is obtained by comprehensively judging the Bluetooth judgment result obtained in this judgment process and the UWB judgment result that is valid at the last moment before the UWB signal is lost, which can improve the robustness in the NLOS environment.

[0096] Specifically, the following situations may be included in the analysis and determination of the location of the digital key based on the TimeLostUWB, Bluetooth determination results, and AreaLastValidUWB:

[0097] 1. If TimeLostUWB>TIME_LOST_UWB_TH is satisfied, then determine whether it is in the PE or LOCK area based on whether AreaFromBLE is PE and whether RSSI_BLE>PE_RSSIBLE_TH2 is satisfied. Among them, TimeLostUWB is the duration of UWB signal loss, TIME_LOST_UWB_TH is the threshold of UWB signal loss duration, AreaFromBLE is the Bluetooth judgment result, and PE_RSSIBLE_TH is the Bluetooth RSSI threshold of the PE area. TIME_LOST_UWB_TH is used as the upper limit of the duration of UWB signal loss. If TimeLostUWB>TIME_LOST_UWB_TH, AreaLastValidUWB can be ignored. AreaLastValidUWB is the valid UWB judgment result at the last moment before the UWB signal is lost. If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, the compensation judgment result can be obtained according to AreaLastValidUWB. The specific judgment strategies for the four situations here are as follows and will not be elaborated here.

[0098] 2. If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, then determine whether AreaLastValidUWB is an area outside the vehicle far from PE and AreaFromBLE is PE / PS. If so, determine whether the current moment is in PE or PE / PS according to TimeLostUWB and the first preset speed. If so, determine that it is in the PE area. If not, determine that it is in the LOCK area. The first preset speed is set according to the normal walking speed. If AreaLastValidUWB is an area outside the vehicle far from PE and AreaFromBLE is PE / PS, it can be inferred that the digital key may move from the WELCOME or CONNECT area far from PE to PE. The moving distance within the UWB signal loss duration can be calculated according to TimeLostUWB and the normal walking speed. When the distance can reach the area corresponding to AreaFromBLE from the area outside the vehicle corresponding to AreaLastValidUWB, it is determined that the current moment has reached the PE area. At this time, an unlocking command can be generated to control the vehicle to unlock. Otherwise, it can be determined that it is in the LOCK area, and the locked state can be maintained at this time.

[0099] 3. If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, then determine whether AreaLastValidUWB is PE or LOCK. If so, then count the RSSI_BLE trend during the UWB signal loss duration, and determine whether the target area outside the vehicle has been reached at the current moment based on TimeLostUWB, the second preset speed, and the RSSI_BLE trend during the UWB signal loss duration. If there is a gradual downward trend in RSSI_BLE during the UWB signal loss duration and it is inferred that the target area outside the vehicle can be reached from the PE area, such as the WELCOME area, based on TimeLostUWB and the second preset speed, then it is determined to be in the WELCOME area.

[0100] 4. If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, then determine whether AreaLastValidUWB is PE or a closer area outside the vehicle, and AreaFromBLE is WELCOME or a farther area outside the vehicle. If so, determine the target area outside the vehicle based on TimeLostUWB and the third preset speed. If AreaLastValidUWB is PE or a closer area outside the vehicle and AreaFromBLE is WELCOME or a farther area outside the vehicle, there is a possibility that the digital key is moving from the PE area to the WELCOME area. Then, based on TimeLostUWB and the third preset speed, estimate whether the distance moved is consistent with the possibility of moving from the PE area to the WELCOME area, thereby determining the target area at the current moment.

[0101] Step 206: Generate a corresponding vehicle control instruction according to the UWB judgment result and the compensation judgment result.

[0102] A person skilled in the art can generate corresponding vehicle control instructions according to the position of the digital key so that the vehicle can perform corresponding operations, which will not be repeated here.

[0103] In one example, the dual-mode digital key positioning method further includes: performing static detection according to the sliding standard deviation of the UWB ranging value, correcting the judgment result at the current moment according to the static detection result and the historical judgment result, generating a corresponding vehicle control instruction according to the UWB judgment result and the compensation judgment result, and generating a corresponding vehicle control instruction according to the corrected judgment result. By correcting the current UWB judgment result or the compensation judgment result, it is possible to prevent the judgment result from changing suddenly and reduce misjudgment.

[0104] See also Figure 3 , Figure 4 The following is a detailed description of an example of a dual-mode digital key positioning method, which includes the following steps:

[0105] Step 1: Get RSSI_BLE, UWB ranging value, and RxPower.

[0106] Step 2: Get the Bluetooth judgment result based on RSSI_BLE. The Bluetooth judgment result includes: the digital key is located in the vehicle, mixed area, PE, LOCK, WELCOME or CONNECT area.

[0107] Specifically, determine whether it is inside the car based on RSSI_BLE. When RSSI_BLE>INCAR_RSSIBLE_TH1, it is determined to be inside the car. When it is not inside the car, obtain the corresponding judgment results according to the preset boundary RSSI thresholds of PE / PS, PE, LOCK, and WELCOME areas. For example, when RSSI_BLE>PE_RSSIBLE_TH, judge that AreaFromBLE=PE, and finally obtain the Bluetooth judgment result AreaFromBLE, whose value can be PS, PE / PS, PE, LOCK, WELCOME, CONNECT, and enter Step 3.

[0108] Step 3: Is there a valid UWB ranging value? If yes, go to Step 4; if not, go to Step 23.

[0109] A known method may be used to determine whether a valid ranging value exists according to CIR (Channel Impulse Response) information of UWB, which will not be described in detail here.

[0110] Step 4: Perform static detection based on the sliding standard deviation of Dist and obtain the static detection result StaticFlag.

[0111] When StaticFlag=TRUE, it indicates that the digital key is in a static state. When StaticFlag=FAUSE, it indicates that the digital key is in motion. The static detection result can be used to correct the positioning result later.

[0112] Step 5: Determine whether the UWB signal is LOS. If it is LOS, go to Step 7; if it is NLOS, go to Step 6.

[0113] Step 6: Perform NLOS compensation on the UWB ranging value Dist.

[0114] In Step 5 and Step 6, known methods can be used for NLOS detection and NLOS compensation respectively, which will not be described here. After compensating for Dist under NLOS, enter Step 7.

[0115] Step 7: Determine whether Dist > INCAR_DIST_TH1 is satisfied. If not, go to Step 8; if so, go to Step 9.

[0116] Perform in-vehicle and out-of-vehicle judgment based on the UWB ranging value of LOS or the compensated UWB ranging value. If Dist > INCAR_DIST_TH1 is not satisfied, execute Step 8 to continue with in-vehicle and out-of-vehicle judgment through other conditions. If Dist > INCAR_DIST_TH1 is satisfied, it is determined to be inside the vehicle.

[0117] Step 8: Determine whether RxPower < INCAR_POWER_TH1. If so, go to Step 9; if not, go to Step 10.

[0118] Step 7 and Step 8 respectively use the UWB ranging value and the UWB received power to perform in-vehicle and out-of-vehicle judgment. While giving priority to judgment accuracy, it can try its best to identify inside and outside the vehicle.

[0119] Step 9: Set InOutFlag = OutCar and go to Step 16.

[0120] InOutFlag is the result of in-vehicle and out-of-vehicle judgment. InOutFlag = OutCar indicates that the digital key is outside the vehicle. In Step 9, the result of this UWB judgment is outside the vehicle, and then continue to judge the target area outside the vehicle.

[0121] Step 10: Determine whether Dist < INCAR_DIST_TH2. If not, go to Step 11; if so, go to Step 12.

[0122] If Dist < INCAR_DIST_TH2, it is determined to be inside the vehicle. If Dist < INCAR_DIST_TH2 is not satisfied, continue to use other conditions to judge whether it is inside the vehicle.

[0123] Step 11: Determine whether Dist < INCAR_DIST_TH3 and RxPower > INCAR_POWER_TH1. If so, go to Step 12; if not, go to Step 13.

[0124] If Dist < INCAR_DIST_TH3 and RxPower > INCAR_POWER_TH1 are satisfied, it is determined to be inside the vehicle. If not, continue to use other conditions to judge whether it is inside the vehicle.

[0125] Step 12: Set InOutFlag = InCar and go to Step 44.

[0126] InOutFlag = InCar indicates that the digital key is inside the vehicle.

[0127] Step 13: Whether Dist < INCAR_DIST_TH4 and RSSI_BLE > INCAR_RSSIBLE_TH2. If so, go to Step 12; if not, go to Step 14.

[0128] If Dist < INCAR_DIST_TH4 and RSSI_BLE > INCAR_RSSIBLE_TH2 are satisfied, it is judged that the key is inside the vehicle; if not, it is judged that the key is in the PEPS area.

[0129] Step 14: Set InOutFlag = Mix and go to Step 15.

[0130] Step 15: Set AreaFlag = PEPS and go to Step 45.

[0131] AreaFlag = PEPS indicates that the digital key is in the PE / PS area.

[0132] Based on the result that the Bluetooth determination is outside the vehicle, Steps 7 to 15 determine whether the key is inside or outside the vehicle through multiple judgment conditions, making the judgment result more accurate based on more precise UWB positioning information.

[0133] Step 16: Judge whether Dist < PE_DIST_TH. If so, go to Step 17; if not, go to Step 18.

[0134] Step 17: Set AreaFlag = PE and go to Step 45.

[0135] AreaFlag = PE indicates that the digital key is in the PE area.

[0136] Step 18: Judge whether Dist < LOCK_DIST_TH. If so, go to Step 19; if not, go to Step 20.

[0137] Step 19: Set AreaFlag = LOCK and go to Step 45.

[0138] AreaFlag = LOCK indicates that the digital key is in the locking area.

[0139] Step 20: Judge whether Dist < WEL_DIST_TH. If so, go to Step 21; if not, go to Step 22.

[0140] Step 21: Set AreaFlag = WELCOME and go to Step 45.

[0141] AreaFlag = WELCOME indicates that the digital key is located in the welcome area.

[0142] Step 22: Set AreaFlag = CONNECT and go to Step 45.

[0143] AreaFlag = CONNECT indicates that the digital key is located in the connection area.

[0144] Steps 16 to 22 further derive the target area when the digital key is outside the vehicle. Thus, the UWB judgment result when the UWB ranging value is valid can be obtained. By storing the UWB judgment result, the Bluetooth judgment result when the UWB signal is lost can be corrected based on the historical UWB judgment result.

[0145] Step 23: Count the UWB signal loss duration TimeLostUWB and AreaLastValidUWB.

[0146] AreaLastValidUWB is the area value determined by UWB at the last moment before the UWB signal is lost.

[0147] Step 24: Determine whether TimeLostUWB>TIME_LOST_UWB_TH is satisfied. If so, proceed to Step 25; if not, proceed to Step 30.

[0148] Step 25: Determine whether AreaFromBLE=PE is satisfied. If so, proceed to Step 26; if not, proceed to Step 29.

[0149] Step 26: Determine if RSSI_BLE > PE_RSSIBLE_TH2. If so, proceed to Step 27. If not, proceed to Step 28.

[0150] If the UWB signal is lost for a long time, and the Bluetooth judgment result is PE at this time, the corresponding unlocking operation is performed. Because the UWB signal should be received in the PE area, but it has not been received at this time, in order to avoid the Bluetooth judgment result being a misjudgment, the PE_RSSIBLE_TH2 threshold is further used for judgment in Step. PE_RSSIBLE_TH2 is stricter than the judgment condition in Step to improve the reliability of Bluetooth judgment of PE and improve the security of unlocking.

[0151] Step 27: Set AreaFlag = PE and go to Step 45.

[0152] AreaFlag is the positioning result of this positioning. AreaFlag = PE means that the digital key is located in the PE area.

[0153] After the location in the PE area is determined based on the Bluetooth judgment result and the UWB judgment result, the process proceeds to step 45 to perform consistency judgment on the positioning result.

[0154] Step 28: Set AreaFlag = LOCK and proceed to Step 45.

[0155] Step 29: Set AreaFlag = AreaFromBLE and go to Step 45.

[0156] The Bluetooth determination result is used as the positioning result, and the vehicle control command is generated according to the value of AreaFlag.

[0157] Step 30: Determine whether AreaLastValidUWB is an area outside the vehicle far away from PE, and AreaFromBLE = PE / PS; if so, proceed to Step 31; if not, proceed to Step 33.

[0158] Areas outside the vehicle away from PE include the WELCOME area and the CONNECT area.

[0159] Since AreaLastValidUWB satisfies the condition that it is a WELCOME or CONNNECT area far away from PE and AreaFromBLE = PE / PS, it can be inferred that the digital key may move from WELCOME to PE / PS area.

[0160] Step 31: Estimate the possibility that the current time is PE or PE / PS according to TimeLostUWB and the first preset speed.

[0161] According to TimeLostUWB and the first preset speed (such as the average walking speed of the user), the moving distance of the digital key during the UWB signal loss duration is estimated. If the moving distance matches the distance required to reach the PE / PS area from the WELCOME or CONNECT area far away from the PE, the possibility of inferring that the current moment is PE or PE / PS is true, otherwise, the possibility is false. Set CheckFlag to indicate the possibility, and set CheckFlag = TRUE / FALSE according to the inference result.

[0162] Step 32: Determine whether CheckFlag = TRUE. If so, proceed to Step 27. If CheckFlag = FALSE, proceed to Step 28.

[0163] Step 33: Determine whether AreaLastValidUWB is PE or LOCK. If so, go to Step 34; if not, go to Step 39.

[0164] Step 34: Estimate the possibility that the current time is WELCOME or further away based on TimeLostUWB and the second preset speed.

[0165] If AreaLastValidUWB is PE or LOCK, estimate the moving distance of the digital key within TimeLostUWB according to TimeLostUWB and the second preset speed (such as the slow walking speed of an adult), and then determine whether the distance matches the distance required to reach the WELCOME or farther area outside the vehicle from PE or LOCK. If so, set CheckFlag = TRUE, if not, set CheckFlag = FALSE and enter Step 35.

[0166] Step 35: Determine whether CheckFlag = TRUE. If so, go to Step 36. Otherwise, go to Step 29.

[0167] Step 36: Count the RSSI_BLE trend during the UWB signal loss period.

[0168] That is, the RSSI_BLE trend from the moment the UWB signal is lost to the current moment is counted, and then the process goes to Step 37.

[0169] Step 37: Determine whether RSSI_BLE has a gradual downward trend and the difference > RSSI_DIFF_TH. When RSSI_BLE gradually decreases from the moment the UWB signal is lost to the current moment, it is determined that RSSI_BLE has a gradual downward trend, and the difference of RSSI_BLE decrease during the UWB signal loss duration is calculated. The RSSI_BLE difference can be equal to the difference between RSSI_BLE at the moment of UWB loss and RSSI_BLE at the current moment. How to set RSSI_DIFF_TH. When RSSI_BLE has a gradual downward trend and the difference > RSSI_DIFF_TH, go to Step 38. When RSSI_BLE does not have a gradual downward trend or does not meet the difference > RSSI_DIFF_TH, go to Step 29.

[0170] Step 38: Set AreaFlag = WELCOME and go to Step 45.

[0171] Step 39: Determine whether AreaLastValidUWB is PE or closer, and whether AreaFromBLE is WELCOME or farther. If so, go to Step 40; if not, go to Step 42.

[0172] If AreaLastValidUWB is PE or closer and AreaFromBLE is WELCOME or farther, it can be inferred that the digital key moves from PE to WELCOME.

[0173] Step 40: Estimate the possibility that the current time is WELCOME or further away based on TimeLostUWB and the third preset speed.

[0174] Specifically, it can be inferred whether the current moment may be WELCOME or farther according to TimeLostUWB and a third preset speed (such as the average speed of an adult walking fast), and CheckFlag = TRUE / FALSE is obtained, and the process goes to Step 41.

[0175] Step 41: Determine whether CheckFlag = TRUE. If so, proceed to Step 42; otherwise, proceed to Step 43.

[0176] Step 42: Set AreaFlag = AreaFromBLE and go to Step 45.

[0177] Step 43: Set AreaFlag = LOCK and proceed to Step 45.

[0178] Step 44: Set AreaFlag = PS and go to Step 45.

[0179] Step 45: Correct the current AreaFlag according to the StaticFlag and the historical AreaFlag.

[0180] Use StaticFlag and historical AreaFlag to correct the value of the current AreaFlag and perform trend detection to prevent abnormal jumps in the judgment results.

[0181] Step 46: Execute the preset vehicle control operation according to AreaFlag.

[0182] According to the embodiment of the present invention, the vehicle start-up permission test and the vehicle automatic unlocking function test were respectively performed, and the test results are as follows:

[0183] In-vehicle and out-of-vehicle judgment test: When the digital key is placed in the front row of the car, the vehicle can be started 100% successfully; the test scenarios include holding the digital key, placing the digital key on the seat, under the windshield, in the tester's pocket, under the seat, in the armrest box, in the left and right door side pockets, and other comprehensive LOS / NLOS usage scenarios. In addition, in the full-scene test of the whole vehicle including the trunk, the vehicle's successful start rate is also higher than that of a simple BLE digital key. Compared with using only BLE for in-vehicle and out-of-vehicle judgment, by adding a UWB anchor point, the coverage and stability of in-vehicle and out-of-vehicle judgment are greatly improved, ensuring the safety of the vehicle, while achieving a good balance between cost and user experience.

[0184] Automatic unlocking test outside the vehicle: Perform round trip test around the vehicle. The test route is as follows: Figure 5 There are 12 test routes in total. The tester is required to automatically unlock the car when approaching the vehicle and automatically lock the car when leaving the vehicle. There is no restriction on the placement of the digital key, which can be held in hand or placed in a pocket. After testing, all routes can be automatically unlocked 100% successfully, among which the automatic unlocking distance is between 0 and 2 meters from the vehicle, and the automatic locking distance is between 6 and 10 meters from the vehicle.

[0185] Compared with the prior art, the dual-mode digital key positioning method of the embodiment of the present invention adopts multiple judgment conditions to obtain the UWB judgment result according to the UWB ranging value Dist, the UWB receiving power RxPower and the Bluetooth receiving signal strength indicator value RSSI_BLE when there is a valid UWB signal. The execution order of the multiple judgment conditions is executed in descending order according to the priority of the parameters contained therein, and the priority of Dist, RxPower and RSSI_BLE decreases in turn, that is, the UWB ranging value Dist is preferentially used for judgment, and RxPower and RSSI_BLE are used for auxiliary judgment, so that the positioning accuracy is higher and the security is stronger; when there is no valid UWB signal, the UWB signal loss time TimeLostUWB is counted and the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost is obtained, and the compensation judgment result is obtained according to TimeLostUWB, the Bluetooth judgment result and AreaLastValidUWB, so as to enhance the robustness in the NLOS environment. Therefore, high-precision positioning is achieved by integrating the UWB and BLE dual-mode positioning information, and costs can also be saved.

[0186] Embodiment 2 of the present invention provides a dual-mode digital key positioning device, which is configured in a digital key positioning device at a vehicle terminal. Figure 6As shown, the determination device 600 includes: an acquisition module 602 , a BLE determination module 604 , a UWB determination module 606 , a statistical module 608 , a compensation determination module 610 and a control module 612 .

[0187] The acquisition module 602 is used to acquire the positioning information of the BLE and UWB dual-mode anchor points at the preset position on the vehicle for the digital key. The positioning information includes: Bluetooth received signal strength indicator value RSSI_BLE, UWB ranging value Dist, and UWB receiving power RxPower.

[0188] The BLE determination module 604 is used to obtain a Bluetooth determination result according to RSSI_BLE.

[0189] The UWB judgment module 606 is used to obtain a UWB judgment result by adopting multiple judgment conditions according to the positioning information when there is a valid UWB signal; the execution order of the multiple judgment conditions is executed in descending order according to the priority of the parameters contained therein; among them, the priorities of Dist, RxPower and RSSI_BLE decrease in sequence.

[0190] The statistical module 608 is used for counting the UWB signal loss duration TimeLostUWB and obtaining the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost when there is no valid UWB signal.

[0191] The compensation determination module 610 is used to obtain a compensation determination result according to TimeLostUWB, the Bluetooth determination result and AreaLastValidUWB.

[0192] The control module 612 is used to generate corresponding vehicle control instructions according to the UWB judgment result and the compensation judgment result.

[0193] Optionally, the UWB judgment module 606 includes a UWB outside-vehicle judgment submodule and a UWB inside-vehicle judgment submodule. The UWB outside-vehicle judgment submodule is specifically used to judge whether it is located outside the vehicle according to multiple judgment conditions including UWB ranging value and / or UWB receiving power; if not, the UWB inside-vehicle judgment submodule is triggered, and the UWB inside-vehicle judgment submodule is used to judge whether it is located inside the vehicle according to multiple judgment conditions including one or more of UWB ranging value, UWB receiving power and RSSI_BLE; if not, it is judged to be located in the mixed area.

[0194] Optionally, the UWB vehicle exterior judgment submodule is specifically used to judge whether Dist>INCAR_DIST_TH1 is satisfied. If so, it is judged to be outside the vehicle. If not,

[0195] Then, it is judged whether RxPower < INCAR_POWER_TH1 is satisfied. If so, it is judged that the device is outside the vehicle. If not, the in-vehicle UWB judgment sub-module is triggered; where INCAR_DIST_TH1 is the first UWB ranging value threshold for in-vehicle and out-of-vehicle judgment; INCAR_POWER_TH1 is the first UWB received power threshold for in-vehicle and out-of-vehicle judgment.

[0196] Optionally, the in-vehicle UWB judgment sub-module is specifically configured to: judge whether Dist < INCAR_DIST_TH2 is satisfied. If so, it is judged that the device is inside the vehicle. If not,

[0197] Then, it is judged whether Dist < INCAR_DIST_TH3 and RxPower > INCAR_POWER_TH1 are satisfied. If so, it is judged that the device is inside the vehicle. If not,

[0198] Then, it is judged whether Dist < INCAR_DIST_TH4 and RSSI_BLE > INCAR_RSSIBLE_TH2 are satisfied. If so, it is judged that the device is inside the vehicle. If not, it is judged that the device is in the PE / PS area; where

[0199] INCAR_DIST_TH2 < INCAR_DIST_TH3 < INCAR_DIST_TH4 < INCAR_DIST_TH1, INCAR_RSSIBLE_TH2 < INCAR_RSSIBLE_TH1; INCAR_DIST_TH2 is the second UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, INCAR_DIST_TH3 is the third UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, INCAR_DIST_TH4 is the fourth UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, and INCAR_RSSIBLE_TH2 is the second Bluetooth RSSI threshold for in-vehicle and out-of-vehicle judgment.

[0200] Optionally, the UWB judgment module 606 further includes: an out-of-vehicle area judgment sub-module, configured to identify the target area outside the vehicle according to the multiple out-of-vehicle area judgment UWB ranging value thresholds when the UWB judgment result is out-of-vehicle.

[0201] Optionally, the vehicle outside area judgment submodule is used to: judge whether Dist < PE_DIST_TH is satisfied, if so, judge that it is located in the PE area, if not, judge whether Dist < LOCK_DIST_TH is satisfied, if so, judge that it is located in the LOCK area, if not, judge whether Dist < WEL_DIST_TH is satisfied, if so, judge that it is located in the WELCOME area, if not, judge that it is located in the CONNECT area; wherein, PE_DIST_TH, LOCK_DIST_TH and WEL_DIST_TH are respectively the UWB ranging value thresholds for judging the vehicle outside area corresponding to the PE area, LOCK area and WELCOME area.

[0202] Optionally, the Bluetooth judgment result includes: a mixed area, a PE area, a LOCK area, a WELCOME area or a CONNECT area; the compensation judgment module 610 is used for: if TimeLostUWB>TIME_LOST_UWB_TH is satisfied, then according to whether AreaFromBLE is PE and whether RSSI_BLE>PE_RSSIBLE_TH2 is satisfied, it is judged whether it is located in the PE or LOCK area; wherein, TimeLostUWB is the duration of UWB signal loss, TIME_LOST_UWB_TH is the UWB signal loss duration threshold, AreaFromBLE is the Bluetooth judgment result, and PE_RSSIBLE_TH is the Bluetooth RSSI threshold of the PE area.

[0203] Optionally, the compensation determination module 610 is further configured to:

[0204] If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, then determine whether AreaLastValidUWB is the area outside the vehicle far away from PE and AreaFromBLE is PE / PS. If so, determine whether the current moment is entering PE or PE / PS based on TimeLostUWB and the first preset speed. If so, determine that it is in the PE area. If not, determine that it is in the LOCK area. The first preset speed is set according to the normal walking speed. AreaLastValidUWB is the UWB judgment result that is valid at the last moment before the UWB signal is lost.

[0205] Optionally, the compensation determination module 610 is further configured to:

[0206] If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, determine whether AreaLastValidUWB is PE or LOCK. If so, count the RSSI_BLE trend during the duration of UWB signal loss, and determine whether the target area outside the vehicle is reached at the current moment based on TimeLostUWB, the second preset speed, and the RSSI_BLE trend during the duration of UWB signal loss.

[0207] Optionally, the compensation determination module 610 is further configured to:

[0208] If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, determine whether AreaLastValidUWB is PE or a closer area outside the vehicle, and AreaFromBLE is WELCOME or a farther area outside the vehicle. If so, determine the target area outside the vehicle based on TimeLostUWB and the third preset speed.

[0209] Optionally, the Bluetooth judgment result includes: target areas inside the vehicle, in the mixed area, and outside the vehicle. The BLE judgment module 604 is used to judge whether RSSI_BLE > INCAR_RSSIBLE_TH1 is satisfied. If so, it is judged to be inside the vehicle. If not, the target area corresponding to the digital key is identified according to the boundary RSSI thresholds corresponding to the mixed area and each area outside the vehicle; wherein INCAR_RSSIBLE_TH1 is a preset first Bluetooth RSSI threshold for judging inside and outside the vehicle.

[0210] Optionally, the judging device 600 may further include a NLOS compensation module for performing NLOS identification according to the channel impulse response CIR of the UWB anchor point and compensating the UWB ranging value under NLOS. Accordingly, the UWB judging module 606 is used to obtain a UWB judgment result according to the compensated UWB ranging value.

[0211] Optionally, the judgment device 600 may further include a static detection module, which is used to perform static detection according to the sliding standard deviation of the UWB ranging value; and to correct the judgment result at the current moment according to the static detection result and the historical judgment result.

[0212] The control module 608 is used to generate corresponding vehicle control instructions according to the UWB judgment result and the compensation judgment result.

[0213] Compared with the prior art, the dual-mode digital key positioning device of the embodiment of the present invention adopts multiple judgment conditions to obtain the UWB judgment result according to the UWB ranging value Dist, the UWB receiving power RxPower and the Bluetooth receiving signal strength indicator value RSSI_BLE when there is a valid UWB signal. The execution order of the multiple judgment conditions is executed in descending order according to the priority of the parameters contained therein, and the priority of Dist, RxPower and RSSI_BLE decreases in turn, that is, the UWB ranging value Dist is preferentially used for judgment, and RxPower and RSSI_BLE are used for auxiliary judgment, so that the positioning accuracy is higher and the security is stronger; when there is no valid UWB signal, the UWB signal loss time TimeLostUWB is counted and the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost is obtained, and the compensation judgment result is obtained according to TimeLostUWB, the Bluetooth judgment result and AreaLastValidUWB, so as to enhance the robustness in the NLOS environment. Therefore, high-precision positioning is achieved by integrating the UWB and BLE dual-mode positioning information, and costs can be saved at the same time.

[0214] Figure 7 This is a schematic diagram of the structure of a positioning device provided in Embodiment 3 of the present invention. The positioning device 70 includes a memory 71 and a processor 72;

[0215] The memory 71 is used to store computer programs; the processor 72 is used to read the computer programs in the memory 71 and implement the dual-mode digital key positioning method as described in the above-mentioned embodiment when executing the program.

[0216] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computer processor, it is used to execute the technical solution of any method embodiment.

[0217] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the methods described in each embodiment of the present invention.

[0218] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0219] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A dual-mode digital key positioning method, characterized in that: Including: Obtaining the positioning information of the digital key by the BLE and UWB dual-mode anchor points at a preset position on the vehicle; The positioning information includes: Bluetooth Received Signal Strength Indicator value RSSI_BLE, UWB ranging value Dist, and UWB received power RxPower; Obtaining a Bluetooth judgment result based on the RSSI_BLE; When there is a valid UWB signal, obtaining a UWB judgment result according to the positioning information using multiple judgment conditions; the execution order of the multiple judgment conditions is executed in descending order of the priority of the parameters included therein; among them, the priorities of the Dist, RxPower, and RSSI_BLE decrease in sequence; When there is no valid UWB signal, counting the UWB signal loss duration TimeLostUWB and obtaining the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal loss; Obtaining a compensation judgment result based on the TimeLostUWB, Bluetooth judgment result, and AreaLastValidUWB; Generating a corresponding vehicle control command according to the UWB judgment result and the compensation judgment result.

2. The dual-mode digital key positioning method according to claim 1, characterized in that: The UWB judgment result includes that the digital key is inside the vehicle, in the mixed area, or outside the vehicle; obtaining the UWB judgment result according to the positioning information using multiple judgment conditions includes: Judging whether it is outside the vehicle according to multiple judgment conditions including the UWB ranging value and / or the UWB received power; If not, judging whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, UWB received power, and RSSI_BLE; If not, judging that it is in the mixed area.

3. The dual-mode digital key positioning method according to claim 2, characterized in that: The judging whether it is outside the vehicle according to multiple judgment conditions including the UWB ranging value and / or the UWB received power includes: Judging whether Dist>INCAR_DIST_TH1 is satisfied. If so, judging that it is outside the vehicle. If not, judging whether RxPower<INCAR_POWER_TH1 is satisfied. If so, judging that it is outside the vehicle. If not, judging whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, UWB received power, and RSSI_BLE; where INCAR_DIST_TH1 is the preset first UWB ranging value threshold for judging inside and outside the vehicle; INCAR_POWER_TH1 is the preset first UWB received power threshold for judging inside and outside the vehicle.

4. The dual-mode digital key positioning method according to claim 3, characterized in that: The judging whether it is inside the vehicle according to multiple judgment conditions including one or more of the UWB ranging value, UWB received power, and RSSI_BLE includes: Judging whether Dist < INCAR_DIST_TH2 is satisfied. If so, judging that it is inside the vehicle. If not, judging whether Dist<INCAR_DIST_TH3 and RxPower> INCAR_POWER_TH1 are satisfied. If so, judging that it is inside the vehicle. If not, Then, it is determined whether Dist < INCAR_DIST_TH4 and RSSI_BLE > INCAR_RSSIBLE_TH2 are satisfied. If so, it is determined that the device is inside the vehicle; if not, it is determined that the device is in the mixed zone. Among them, INCAR_DIST_TH2 < INCAR_DIST_TH3 < INCAR_DIST_TH4 < INCAR_DIST_TH1, and INCAR_RSSIBLE_TH2 < INCAR_RSSIBLE_TH1; INCAR_DIST_TH2 is the second preset UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, INCAR_DIST_TH3 is the third preset UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, INCAR_DIST_TH4 is the fourth preset UWB ranging value threshold for in-vehicle and out-of-vehicle judgment, and INCAR_RSSIBLE_TH2 is the second preset Bluetooth RSSI threshold for in-vehicle and out-of-vehicle judgment.

5. The dual-mode digital key positioning method according to claim 4, characterized in that: The obtaining of the UWB judgment result by using multiple judgment conditions based on the positioning information further includes: When the UWB judgment result is out of the vehicle, the target area outside the vehicle is identified according to the multiple out-of-vehicle area judgment UWB ranging value thresholds.

6. The dual-mode digital key positioning method according to claim 5, characterized in that: The areas outside the vehicle include: the PE area, the LOCK area, the WELCOME area, and the CONNECT area. The identifying of the target area outside the vehicle according to the multiple out-of-vehicle area judgment UWB ranging value thresholds includes: Determining whether Dist < PE_DIST_TH is satisfied. If so, it is determined that the device is in the PE area; if not, Then determining whether Dist < LOCK_DIST_TH is satisfied. If so, it is determined that the device is in the LOCK area; if not, Then determining whether Dist < WEL_DIST_TH is satisfied. If so, it is determined that the device is in the WELCOME area; if not, it is determined that the device is in the CONNECT area; Among them, PE_DIST_TH, LOCK_DIST_TH, and WEL_DIST_TH are the UWB ranging value thresholds for out-of-vehicle area judgment corresponding to the PE area, the LOCK area, and the WELCOME area respectively.

7. The dual-mode digital key positioning method according to claim 1, characterized in that: The Bluetooth judgment result includes: the mixed zone, the PE area, the LOCK area, the WELCOME area, or the CONNECT area; The obtaining of the compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result, and the AreaLastValidUWB includes: If TimeLostUWB > TIME_LOST_UWB_TH is satisfied, then it is determined whether the device is in the PE area or the LOCK area according to whether AreaFromBLE is PE and whether RSSI_BLE > PE_RSSIBLE_TH2 is satisfied; where TimeLostUWB is the duration of UWB signal loss, TIME_LOST_UWB_TH is the UWB signal loss duration threshold, AreaFromBLE is the Bluetooth judgment result, and PE_RSSIBLE_TH2 is the Bluetooth RSSI threshold for the PE area.

8. The dual-mode digital key positioning method according to claim 7, characterized in that: The method of obtaining a compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result and the AreaLastValidUWB further includes: If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, then determine whether AreaLastValidUWB is the area outside the vehicle far away from PE and AreaFromBLE is a mixed area. If so, determine whether the current moment is entering PE or the mixed area based on TimeLostUWB and the first preset speed. If so, determine that it is in the PE area, if not, determine that it is in the LOCK area; wherein the first preset speed is set according to the normal walking speed; wherein AreaLastValidUWB is the UWB judgment result that is valid at the last moment before the UWB signal is lost.

9. The dual-mode digital key positioning method according to claim 8, characterized in that: The method of obtaining a compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result and the AreaLastValidUWB further includes: If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, determine whether AreaLastValidUWB is PE or LOCK. If so, count the RSSI_BLE trend during the duration of UWB signal loss, and determine whether the target area outside the vehicle is reached at the current moment based on TimeLostUWB, the second preset speed, and the RSSI_BLE trend during the duration of UWB signal loss.

10. The dual-mode digital key positioning method according to claim 9, characterized in that: The method of obtaining a compensation judgment result according to the TimeLostUWB, the Bluetooth judgment result and the AreaLastValidUWB further includes: If TimeLostUWB>TIME_LOST_UWB_TH is not satisfied, determine whether AreaLastValidUWB is PE or a closer area outside the vehicle, and AreaFromBLE is WELCOME or a farther area outside the vehicle. If so, determine the target area outside the vehicle based on TimeLostUWB and the third preset speed.

11. The dual-mode digital key positioning method according to claim 1, characterized in that: The areas outside the vehicle include: PE area, LOCK area, WELCOME area and CONNECT area, and the Bluetooth judgment result includes: target areas inside the vehicle, mixed area and outside the vehicle; The obtaining of a Bluetooth determination result according to the RSSI_BLE includes: Determine whether RSSI_BLE > INCAR_RSSIBLE_TH1 is satisfied. If so, determine that it is located inside the vehicle. If not, identify the target area corresponding to the digital key according to the boundary RSSI thresholds corresponding to the mixed area and each area outside the vehicle; wherein, INCAR_RSSIBLE_TH1 is the preset first Bluetooth RSSI threshold for judging inside and outside the vehicle.

12. The dual-mode digital key positioning method according to claim 1, characterized in that: The positioning information also includes: a channel impulse response CIR of the UWB anchor point; the method also includes: Perform NLOS identification according to the CIR, and compensate the UWB ranging value under NLOS; In the step of using multiple judgment conditions to judge whether a UWB judgment result is obtained according to the positioning information, the UWB judgment result is obtained according to the compensated UWB ranging value.

13. The dual-mode digital key positioning method according to any one of claims 1 to 12, characterized in that: The method further comprises: Performing static detection according to the sliding standard deviation of the UWB ranging value; Correct the current judgment result based on the static detection result and historical judgment result; Generate corresponding vehicle control instructions based on the corrected judgment results.

14. A dual-mode digital key positioning device, characterized in that: include: An acquisition module is used to obtain positioning information of the digital key from the BLE and UWB dual-mode anchor points at preset positions on the vehicle; The positioning information includes: Bluetooth received signal strength indicator value RSSI_BLE, UWB ranging value Dist, UWB receiving power RxPower; A BLE determination module, used to obtain a Bluetooth determination result according to the RSSI_BLE; A UWB judgment module, for obtaining a UWB judgment result by adopting multiple judgment conditions according to the positioning information when a valid UWB signal exists; the execution order of the multiple judgment conditions is executed in descending order according to the priority of the parameters contained therein; wherein the priorities of Dist, RxPower and RSSI_BLE decrease in sequence; A statistics module, used for counting the UWB signal loss duration TimeLostUWB and obtaining the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal is lost when there is no valid UWB signal; A compensation judgment module, used to obtain a compensation judgment result according to the TimeLostUWB, Bluetooth judgment result and AreaLastValidUWB; A control module is used to generate a corresponding vehicle control instruction according to the UWB judgment result and the compensation judgment result.

15. A positioning device, characterized in that: including a memory and a processor; A memory for storing computer programs; the processor is used to read the computer program in the memory and implement the dual-mode digital key positioning method as described in any one of claims 1-13 when executing the program.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the dual-mode digital key positioning method as described in any one of claims 1-13 is implemented.

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