Vehicle key positioning method and device, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle key positioning method and device, electronic equipment and a vehicle. The method comprises the following steps: in response to determining that a key is connected with at least two antennas arranged on a vehicle, obtaining the receiving duration of a communication signal transmitted by the key received by each antenna; and determining a transmitting angle of the key relative to each antenna according to the receiving duration, and determining a target position of the key relative to the vehicle based on at least two transmitting angles. Thus, the target position of the key relative to the vehicle is the accurate position determined based on the emission angles of the key relative to the at least two antennas, the target position of the key relative to the vehicle is more accurate than the estimated key position, the problem of inaccurate key positioning can be avoided, and accurate implementation of the key function is ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a vehicle key positioning method, device, electronic equipment and vehicle. Background Art

[0002] With the development of the vehicle industry, the key can be located by using the signal strength of the key received by the vehicle. However, locating the key by signal strength is prone to inaccurate positioning, which in turn leads to the problem that the key function cannot be accurately realized.

[0003] In view of this, how to avoid inaccurate positioning of the key by signal strength has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to provide a vehicle key positioning method, device, electronic device and vehicle to solve the problem of inaccurate positioning that occurs easily when positioning the key by signal strength in the prior art.

[0005] Based on the above purpose, the first aspect of the present disclosure provides a vehicle key positioning method, the method comprising:

[0006] In response to determining that the key is connected to at least two antennas provided on the vehicle, obtaining a reception time length of each antenna receiving a communication signal transmitted by the key;

[0007] The transmission angle of the key relative to each antenna is determined according to the reception duration, and the target position of the key relative to the vehicle is determined based on at least two transmission angles.

[0008] Based on the same inventive concept, the second aspect of the present disclosure proposes a vehicle key positioning device, comprising:

[0009] an acquisition module, configured to, in response to determining that the key is connected to at least two antennas provided on the vehicle, acquire a reception time length of each antenna receiving a communication signal transmitted by the key;

[0010] The determination module is configured to determine a transmission angle of the key relative to each antenna according to the reception duration, and determine a target position of the key relative to the vehicle based on at least two transmission angles.

[0011] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0012] Based on the same inventive concept, a fourth aspect of the present disclosure proposes a vehicle, which includes the positioning device for the vehicle key described in the second aspect or the electronic device described in the third aspect.

[0013] From the above, it can be seen that the present disclosure provides a method, device, electronic device and vehicle for positioning a vehicle key. When the key establishes a connection with at least two antennas provided on the vehicle, the reception time of each antenna receiving the communication signal transmitted by the key is obtained. The transmission angle of the key relative to each antenna is determined according to the reception time, and the target position of the key relative to the vehicle is determined based on the at least two transmission angles. In this way, the target position of the key relative to the vehicle is a precise position determined based on the transmission angle of the key relative to at least two antennas. The target position of the key relative to the vehicle is more accurate than the estimated key position, which can avoid the problem of inaccurate key positioning, thereby ensuring the accurate implementation of the key function. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings to be used in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A flowchart of a method for locating a vehicle key according to an embodiment of the present disclosure;

[0016] Figure 2 is a schematic diagram of an angle of arrival positioning algorithm according to an embodiment of the present disclosure;

[0017] Figure 3 It is a schematic diagram of positioning a Bluetooth key based on two antennas on a vehicle according to an embodiment of the present disclosure;

[0018] Figure 4 It is a flow chart of a Bluetooth key positioning method based on an arrival angle according to an embodiment of the present disclosure;

[0019] Figure 5 It is a structural schematic diagram of a positioning device for a vehicle key according to an embodiment of the present disclosure;

[0020] Figure 6 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0022] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] Based on the description of the background technology, Bluetooth technology is currently the most widely used short-range low-cost wireless connection technology. For vehicles equipped with mobile Bluetooth digital keys, most of them are activated by mobile phone application software (Application, referred to as APP) provided by the vehicle manufacturer, and the unlocking and starting functions of the vehicle are realized through the low-power Bluetooth (Bluetooth LowEnergy, referred to as BLE) communication capability of the mobile phone. The modules on the vehicle side that realize the Bluetooth key function are divided into many schemes, among which the Bluetooth positioning of the multi-node Bluetooth key solution is realized by the received signal strength (Received Signal Strength Indication, referred to as RSSI) is more common.

[0024] In related technologies, since low-power Bluetooth BLE positioning mostly uses signal strength RSSI positioning, RSSI positioning is a way to estimate the distance based on the attenuation of the signal strength between two devices during the transmission distance. Positioning accuracy (1-5 meters) is very sensitive to multipath and interference, and is affected by the mobile phone model and vehicle environment. It is easy to have positioning drift or inaccurate positioning, resulting in failure to unlock, failure to start, and being able to unlock at a long distance (beyond the set unlocking area).

[0025] As mentioned above, how to avoid inaccurate positioning of the key by signal strength has become an important research issue.

[0026] Based on the above description, if Figure 1 As shown, the vehicle key positioning method proposed in this embodiment includes:

[0027] Step 101, in response to determining that a key is connected to at least two antennas provided on a vehicle, obtaining a reception time length of a communication signal transmitted by the key at each antenna.

[0028] In specific implementation, the key is a vehicle accessory used to unlock the vehicle. Among them, the key includes: a physical key, a remote control key, a Bluetooth digital key and a mobile phone terminal. In this embodiment, the key is preferably a Bluetooth digital key. At least two Bluetooth antennas are provided on the vehicle, and the at least two Bluetooth antennas provided on the vehicle are used to receive communication signals sent by the Bluetooth digital key. The communication signal refers to a Bluetooth communication signal.

[0029] Specifically, when a communication connection is established between the Bluetooth digital key and at least two Bluetooth antennas provided on the vehicle, the reception time length of the Bluetooth communication signal transmitted by the Bluetooth digital key by each Bluetooth antenna is obtained.

[0030] For example, the at least two antennas provided on the vehicle include: a first antenna and a second antenna. When the key establishes a connection with the first antenna and the second antenna provided on the vehicle, a first receiving duration of the communication signal transmitted by the key is obtained by the first antenna, and a second receiving duration of the communication signal transmitted by the key is obtained by the second antenna.

[0031] Step 102: determining a transmission angle of the key relative to each antenna according to the reception duration, and determining a target position of the key relative to the vehicle based on at least two transmission angles.

[0032] In a specific implementation, the transmission angle of the key relative to each antenna is determined according to the reception time of the communication signal transmitted by the key received by each antenna, and the target position of the key relative to the vehicle is determined based on at least two transmission angles.

[0033] For example, at least two antennas provided on the vehicle include: a first antenna and a second antenna. A first transmission angle of the key relative to the first antenna is determined based on a first reception duration of a communication signal transmitted by the key received by the first antenna. A second transmission angle of the key relative to the second antenna is determined based on a second reception duration of a communication signal transmitted by the key received by the second antenna. A target position of the key relative to the vehicle is determined based on the first transmission angle and the second transmission angle.

[0034] Through the above embodiment, when the key establishes a connection with at least two antennas provided on the vehicle, the reception time length of each antenna receiving the communication signal transmitted by the key is obtained. The transmission angle of the key relative to each antenna is determined according to the reception time length, and the target position of the key relative to the vehicle is determined based on the at least two transmission angles. In this way, the target position of the key relative to the vehicle is a precise position determined based on the transmission angle of the key relative to at least two antennas. The target position of the key relative to the vehicle is more accurate than the estimated key position, which can avoid the problem of inaccurate key positioning, thereby ensuring the accurate realization of the key function.

[0035] In some embodiments, step 102 includes:

[0036] Step 1021, determining the phase difference of the communication signal according to the reception duration.

[0037] Step 1022: Determine the transmission angle of the key relative to each antenna according to the phase difference.

[0038] Step 1023: Determine the target position of the key relative to the vehicle based on at least two emission angles and the distance between two adjacent antennas.

[0039] In specific implementation, the phase difference of the communication signal is determined according to the reception time of each antenna receiving the communication signal transmitted by the key. Based on the arrival angle positioning algorithm, the transmission angle of the key relative to each antenna is determined according to the phase difference of the communication signal. The target position of the key relative to the vehicle is determined according to the transmission angle of the key relative to at least two antennas.

[0040] For example, at least two antennas provided on the vehicle include: a first antenna and a second antenna. A first phase difference is determined according to a first reception duration, and a first transmission angle of the key relative to the first antenna is determined according to the first phase difference. A second phase difference is determined according to a second reception duration, and a second transmission angle of the key relative to the second antenna is determined according to the second phase difference. Based on the first transmission angle, the second transmission angle, and the distance between the first antenna and the second antenna, a target position of the key relative to the vehicle is determined.

[0041] Figure 2 FIG. 1 is a schematic diagram of an angle of arrival positioning algorithm according to an embodiment of the present disclosure. Figure 2 As shown in the figure, the Angle of Arrival (AoA) algorithm is a method that uses antenna arrays and phase differences to estimate the angle of arrival. The transmitter uses a single antenna to transmit communication signals, and the receiver has at least two built-in antenna arrays. When the communication signal passes, the different angles received by each antenna cause a phase difference, and the direction of the communication signal is calculated.

[0042] The Angle of Arrival (AoA) positioning algorithm uses the Bluetooth device to identify the arrival direction of the transmitting node signal, thereby calculating the relative angle or direction between the receiver and the transmitter, thereby improving the accuracy of the positioning function and the positioning accuracy (theoretically within 1 meter) to better determine the correct key position to achieve the corresponding unlocking or starting function.

[0043] Through the above scheme, the transmission angle of the key relative to each antenna can be accurately obtained according to the phase difference of the communication signal through the arrival angle positioning algorithm. Compared with estimating the key position based on the signal strength, based on at least two transmission angles and the distance between two adjacent antennas, the target position of the key relative to the vehicle can be accurately located, thereby ensuring the accurate implementation of the key function and avoiding the problems of being unable to unlock or start the car due to inaccurate key positioning, and being able to unlock the car at a long distance (beyond the set unlocking area).

[0044] In some embodiments, step 1021 includes:

[0045] Step 1021A, determining the frequency of the communication signal.

[0046] Step 1021B, determining the phase difference of the communication signal according to the reception duration and the frequency.

[0047] In specific implementation, the phase difference of the communication signal is determined according to the reception duration and frequency. The specific formula is as follows:

[0048]

[0049] in, is the phase difference of the communication signal, f is the frequency of the communication signal, and Δt is the reception time length of each antenna receiving the communication signal transmitted by the key.

[0050] The phase difference of the communication signal is determined based on the reception time and the frequency of the communication signal. The communication signal is a Bluetooth communication signal, and the frequency f of the communication signal is generally 2.45 GHz. Expressed in radians, the reception duration Δt is in nanoseconds (ns).

[0051] Through the above scheme, according to the reception time and the frequency of the communication signal, the phase difference of the communication signal can be determined more accurately. By determining the phase difference of the communication signal, the transmission angle of the key relative to each antenna can be determined according to the phase difference.

[0052] In some embodiments, step 1022 includes:

[0053] Step 1022A, determining the wavelength of the communication signal.

[0054] Step 1022B: determine the distance between two adjacent antennas among the at least two antennas.

[0055] Step 1022C: Determine the transmission angle of the key relative to each antenna based on the phase difference, the wavelength, and the distance between the two adjacent antennas.

[0056] In specific implementation, the transmission angle of the key relative to each antenna is determined according to the phase difference, wavelength, and the distance between two adjacent antennas. The specific formula is as follows:

[0057]

[0058] Wherein, λ is the transmission angle of the key relative to each antenna, λ is the wavelength of the communication signal, is the phase difference of the communication signal, and d is the distance between the two adjacent antennas.

[0059] The angle of arrival positioning algorithm determines the transmission angle of the key relative to each antenna based on the phase difference, wavelength and distance between two adjacent antennas of the communication signal. The transmission angle θ is the angle between the key and the antenna when the communication signal reaches the antenna from the key. The wavelength λ of the communication signal is inversely proportional to the frequency f of the communication signal.

[0060] Through the above scheme, the emission angle of the key relative to each antenna can be determined more accurately according to the phase difference, wavelength and the distance between two adjacent antennas. By determining the emission angle, the target position of the key relative to the vehicle can be determined according to the emission angle. The phase difference is determined according to the frequency of the communication signal, and the emission angle of the key relative to each antenna can be obtained according to the phase difference. In this way, after obtaining the frequency of the communication signal, the emission angle of the key relative to each antenna can be determined according to the frequency of the communication signal, thereby determining the target position of the key relative to the vehicle, without having to obtain a large amount of data to locate the key, while reducing the amount of calculation.

[0061] In some embodiments, step 1023 includes:

[0062] Step 10231, determining antenna position coordinates of at least two antennas in the constructed coordinate system.

[0063] Step 10232, based on the at least two emission angles, the distance between the two adjacent antennas and the antenna position coordinates, determine the key position coordinates of the key in the coordinate system, and convert the key position coordinates into the target position of the key relative to the vehicle.

[0064] In specific implementation, the key position coordinates in the coordinate system are determined by a geometric positioning method (e.g., triangulation positioning method) based on at least two emission angles, the distance between two adjacent antennas, and the antenna position coordinates. The two-dimensional target position of the key relative to the vehicle can be determined by two antennas, and the three-dimensional target position of the key relative to the vehicle can be determined by three antennas.

[0065] In practical applications, due to factors such as multipath effects and environmental interference, there may be errors in the measurement and calculation process. Therefore, signal processing and algorithm optimization can be used to improve the key positioning accuracy.

[0066] Through the above scheme, through the geometric positioning method, based on at least two emission angles, the distance between two adjacent antennas and the antenna position coordinates, the key position coordinates can be accurately determined, thereby achieving precise positioning of the key and ensuring accurate implementation of the key function.

[0067] In some embodiments, the at least two antennas provided on the vehicle include: a first antenna and a second antenna; step 10232 includes:

[0068] Step 102321, based on the first transmission angle of the key relative to the first antenna, the second transmission angle of the key relative to the second antenna, the distance between the first antenna and the second antenna, the first antenna position coordinates and the second antenna position coordinates, determine the first two-dimensional key position coordinates of the key in the first plane of the coordinate system.

[0069] Step 102322, converting the first two-dimensional key position coordinates into a two-dimensional target position of the key relative to the vehicle.

[0070] In specific implementation, by constructing a coordinate system, the first antenna position coordinates and the second antenna position coordinates are determined on the first plane of the coordinate system, assuming that the first two-dimensional key position coordinates are (x, y). A first key coordinate relationship is constructed based on the first antenna position coordinates and the first emission angle, and a second key coordinate relationship is constructed based on the second antenna position coordinates, the second emission angle, and the distance between the first antenna and the second antenna. The first key coordinate relationship and the second key coordinate relationship are solved to obtain the first two-dimensional key position coordinates of the key in the first plane of the coordinate system. The first two-dimensional key position coordinates are converted into a two-dimensional target position of the key relative to the vehicle.

[0071] Figure 3 FIG. 1 is a schematic diagram of positioning a Bluetooth key based on two antennas on a vehicle according to an embodiment of the present disclosure. Figure 3 As shown, a first antenna A and a second antenna B are provided on the vehicle, and the first antenna position coordinates of the first antenna A are (x A ,y A)=(0,0), the second antenna position coordinate is (x B ,y B )=(10,0), assuming that the first two-dimensional key position coordinate is (x,y).

[0072] After the first antenna A and the second antenna B receive the communication signal sent by the key, the first antenna A's first receiving time Δt1 and the second antenna B's second receiving time Δt2 are determined. According to the formula Calculate the first phase difference and the second phase difference According to the formula The first transmission angle θ1 and the second transmission angle θ2 are calculated respectively. The first transmission angle of the key relative to the first antenna is The second transmission angle of the key relative to the second antenna

[0073]

[0074] A first key coordinate relationship is constructed based on the first antenna position coordinates and the first transmission angle.

[0075]

[0076] A second key coordinate relationship is constructed based on the second antenna position coordinates, the second transmission angle, and the distance between the first antenna and the second antenna.

[0077]

[0078] The first key coordinate relationship and the second key coordinate relationship are solved to obtain the first two-dimensional key position coordinate (x, y) = (5, 5) of the key in the first plane of the coordinate system. The two-dimensional target position of the key relative to the vehicle is that the angle between the key and the first antenna on the vehicle is 45°, the lateral distance is 5m, and the longitudinal distance is 5m.

[0079] Through the above scheme, the two antennas, the first antenna and the second antenna on the vehicle, can accurately locate the two-dimensional target position of the key. A first key coordinate relationship is constructed based on the first antenna position coordinates and the first emission angle, and a second key coordinate relationship is constructed based on the second antenna position coordinates, the second emission angle, and the distance between the first antenna and the second antenna. According to the two key coordinate relationships, the first two-dimensional key position coordinates of the key in the first plane can be accurately obtained.

[0080] In some embodiments, the at least two antennas provided on the vehicle further include: a third antenna; and after step 102322, further including:

[0081] Step 102322A, determines the second two-dimensional key position coordinates of the key in the second plane of the coordinate system based on the first emission angle of the key relative to the first antenna, the third emission angle of the key relative to the third antenna, the distance between the first antenna and the third antenna, the first antenna position coordinates and the third antenna position coordinates; wherein the first plane and the second plane are two planes perpendicular to each other.

[0082] Step 102322B, based on the two-dimensional target position and the second two-dimensional key position coordinates, determine the three-dimensional target position of the key relative to the vehicle.

[0083] In a specific implementation, the first plane and the second plane are two planes perpendicular to each other. For example, the first plane is a horizontal plane, and the second plane is a vertical plane.

[0084] Specifically, the first two-dimensional key position coordinate and the second two-dimensional key position coordinate are processed comprehensively to obtain the three-dimensional key position coordinate, and the three-dimensional key position coordinate is converted into the three-dimensional target position of the key relative to the vehicle.

[0085] For example, a first antenna A, a second antenna B, and a third antenna C are provided on the vehicle. The first two-dimensional key position coordinates (x, y) of the key in the horizontal plane of the coordinate system are determined based on the first antenna and the second antenna. The second two-dimensional key position coordinates (x, z) of the key in the vertical plane of the coordinate system are determined based on the first antenna and the third antenna. The first two-dimensional key position coordinates (x, y) and the second two-dimensional key position coordinates (x, z) are comprehensively processed to obtain the three-dimensional key position coordinates (x, y, z). The three-dimensional key position coordinates are converted into the three-dimensional target position of the key relative to the vehicle.

[0086] In addition, the third antenna can also be used to calibrate the first two-dimensional key position coordinates to make the obtained two-dimensional target position more accurate.

[0087] Specifically, the third two-dimensional key position coordinate (x1, y1) of the key in the first plane of the coordinate system is determined based on the first antenna and the second antenna. The fourth two-dimensional key position coordinate (x2, y2) of the key in the first plane of the coordinate system is determined based on the first antenna and the third antenna, and the fifth two-dimensional key position coordinate (x3, y3) of the key in the first plane of the coordinate system is determined based on the second antenna and the third antenna. The first deviation coefficient between the third two-dimensional key position coordinate (x1, y1) and the fourth two-dimensional key position coordinate (x2, y2) is determined, the second deviation coefficient between the third two-dimensional key position coordinate (x1, y1) and the fifth two-dimensional key position coordinate (x3, y3) is determined, and the third deviation coefficient between the fourth two-dimensional key position coordinate (x2, y2) and the fifth two-dimensional key position coordinate (x3, y3) is determined. The minimum deviation coefficient is determined from the first deviation coefficient, the second deviation coefficient and the third deviation coefficient, and the two two-dimensional key position coordinates corresponding to the minimum deviation coefficient are averaged to obtain the target two-dimensional key position coordinate, and the target two-dimensional key position coordinate is converted into the two-dimensional target position of the key relative to the vehicle.

[0088] For example, if the first deviation coefficient is the minimum deviation coefficient, the third two-dimensional key position coordinate (x1, y1) and the fourth two-dimensional key position coordinate (x2, y2) are averaged to obtain the target two-dimensional key position coordinate, and the target two-dimensional key position coordinate is converted into the two-dimensional target position of the key relative to the vehicle. Alternatively, if the second deviation coefficient is the minimum deviation coefficient, the third two-dimensional key position coordinate (x1, y1) and the fifth two-dimensional key position coordinate (x3, y3) are averaged to obtain the target two-dimensional key position coordinate, and the target two-dimensional key position coordinate is converted into the two-dimensional target position of the key relative to the vehicle. Alternatively, if the third deviation coefficient is the minimum deviation coefficient, the fourth two-dimensional key position coordinate (x2, y2) and the fifth two-dimensional key position coordinate (x3, y3) are averaged to obtain the target two-dimensional key position coordinate, and the target two-dimensional key position coordinate is converted into the two-dimensional target position of the key relative to the vehicle.

[0089] Through the above scheme, the three antennas of the first antenna, the second antenna and the third antenna on the vehicle can accurately locate the three-dimensional target position of the key. The first two-dimensional key position coordinates of the key in the first plane and the second two-dimensional key position coordinates of the key in the second plane are comprehensively processed to accurately obtain the three-dimensional key position coordinates. In addition, the first two-dimensional key position coordinates can also be calibrated by the third antenna on the vehicle, so that the two-dimensional target position is more accurate.

[0090] Through the above embodiment, when the key establishes a connection with at least two antennas provided on the vehicle, the reception time length of each antenna receiving the communication signal transmitted by the key is obtained. The transmission angle of the key relative to each antenna is determined according to the reception time length, and the target position of the key relative to the vehicle is determined based on the at least two transmission angles. In this way, the target position of the key relative to the vehicle is a precise position determined based on the transmission angle of the key relative to at least two antennas. The target position of the key relative to the vehicle is more accurate than the estimated key position, which can avoid the problem of inaccurate key positioning, thereby ensuring the accurate realization of the key function.

[0091] It should be noted that the embodiments of the present disclosure may be further described in the following manner:

[0092] Figure 4 FIG. 1 is a flow chart of a method for locating a Bluetooth key based on an angle of arrival according to an embodiment of the present disclosure. Figure 4 As shown, the Bluetooth key positioning method based on the arrival angle includes:

[0093] Step 201: The Bluetooth key establishes a secure connection.

[0094] Step 202: Bluetooth antenna array signal reception.

[0095] The receiver (car side) has multiple Bluetooth antennas that simultaneously receive signals from the same transmitting source (the mobile phone side of the Bluetooth digital key). Due to the different positions of the antennas in the car side, the same signal will show a time difference on the Bluetooth antenna. At least two (but usually more) receiving antennas are required. These antennas are distributed in a certain geometric layout, which can be a straight line, a circle, or a more complex shape. These antennas are used to capture different signals from the same signal source.

[0096] Step 203: Measure the time difference of arrival at different antennas and convert it into the phase difference of the signal.

[0097] Phase difference calculation formula:

[0098] in, is the phase difference of the signal (radians), f is the frequency of the signal, the signal frequency is 2.45 GHz, and Δt is the time difference measured between different antennas (unit, ns).

[0099] Step 204, calculating the signal arrival angle according to the phase difference.

[0100] Use trigonometric functions to calculate the angle of arrival of the signal. The formula is as follows:

[0101]

[0102] Where θ is the angle at which the signal arrives at the antenna and d is the distance between adjacent antennas.

[0103] Step 205, the Bluetooth key position is obtained after data correction.

[0104] With the angle of the signal received by each antenna, geometric positioning methods (such as triangulation) can be used to determine the location of the signal source. Usually, at least two independent angle measurements are required to solve a two-dimensional position, and three or more angle measurements can solve a three-dimensional position. In practical applications, due to factors such as multipath effects and environmental interference, the measurement and calculation process may have errors. Therefore, various signal processing and algorithm optimization are needed to improve positioning accuracy.

[0105] Through the above embodiments, combined with the user's car use scenario, a Bluetooth key positioning method is added to improve the positioning accuracy and thus improve the user's car experience, get rid of the limitations of only using traditional RSSI signal strength for positioning, and complete the optimization and experience of Bluetooth key positioning accuracy. In addition, by measuring the angle of arrival, BLE AOA can achieve meter-level or even sub-meter-level positioning accuracy. Using BLE technology, tags or mobile devices can operate in low-power mode to extend battery life. Compared with other high-precision positioning technologies, such as ultra-wideband technology (Ultra Wide Band, referred to as UWB), BLE AOA has a lower hardware cost.

[0106] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0107] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0108] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a positioning device for a vehicle key.

[0109] refer to Figure 5 , the vehicle key positioning device comprises:

[0110] The acquisition module 301 is configured to, in response to determining that the key is connected to at least two antennas provided on the vehicle, acquire a reception time length of each antenna receiving a communication signal transmitted by the key;

[0111] The determination module 302 is configured to determine a transmission angle of the key relative to each antenna according to the reception duration, and determine a target position of the key relative to the vehicle based on at least two transmission angles.

[0112] In some embodiments, the determining module 302 includes:

[0113] a phase difference determining unit, configured to determine the phase difference of the communication signal according to the reception duration;

[0114] a transmission angle determination unit, configured to determine a transmission angle of the key relative to each antenna according to the phase difference;

[0115] The target position determination unit is configured to determine the target position of the key relative to the vehicle based on at least two emission angles and a distance between two adjacent antennas.

[0116] In some embodiments, the phase difference determining unit includes:

[0117] a frequency determination subunit, configured to determine the frequency of the communication signal;

[0118] The phase difference determination subunit is configured to determine the phase difference of the communication signal according to the reception duration and the frequency.

[0119] In some embodiments, the emission angle determination unit includes:

[0120] a wavelength determination subunit, configured to determine the wavelength of the communication signal;

[0121] a distance determination subunit, configured to determine a distance between two adjacent antennas of the at least two antennas;

[0122] The emission angle determination subunit is configured to determine the emission angle of the key relative to each antenna according to the phase difference, the wavelength and the distance between the two adjacent antennas.

[0123] In some embodiments, the target position determination unit includes:

[0124] An antenna position coordinate determination subunit, configured to determine antenna position coordinates of at least two antennas in the constructed coordinate system;

[0125] The target position determination subunit is configured to determine the key position coordinates of the key in the coordinate system based on the at least two emission angles, the distance between the two adjacent antennas and the antenna position coordinates, and convert the key position coordinates into the target position of the key relative to the vehicle.

[0126] In some embodiments, the at least two antennas provided on the vehicle include: a first antenna and a second antenna;

[0127] The target position determination subunit is specifically configured as follows:

[0128] Determine first two-dimensional key position coordinates of the key in a first plane of a coordinate system based on a first transmission angle of the key relative to the first antenna, a second transmission angle of the key relative to the second antenna, a distance between the first antenna and the second antenna, a first antenna position coordinate, and a second antenna position coordinate;

[0129] The first two-dimensional key position coordinate is converted into a two-dimensional target position of the key relative to the vehicle.

[0130] In some embodiments, the at least two antennas provided on the vehicle further include: a third antenna;

[0131] After converting the first two-dimensional key position coordinates into the two-dimensional target position of the key relative to the vehicle, the target position determination subunit is further specifically configured as follows:

[0132] Determine a second two-dimensional key position coordinate of the key in a second plane of the coordinate system based on a first transmission angle of the key relative to the first antenna, a third transmission angle of the key relative to the third antenna, a distance between the first antenna and the third antenna, a first antenna position coordinate, and a third antenna position coordinate; wherein the first plane and the second plane are two planes perpendicular to each other;

[0133] Based on the two-dimensional target position and the second two-dimensional key position coordinates, a three-dimensional target position of the key relative to the vehicle is determined.

[0134] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0135] The device of the above embodiment is used to implement the corresponding vehicle key positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0136] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle key positioning method described in any of the above embodiments is implemented.

[0137] Figure 6 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0138] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0139] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0140] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0141] The communication interface 1040 is used to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB (Universal Serial Bus), network cable, etc.), or through a wireless mode (such as mobile network, WIFI (Wireless Fidelity, wireless network communication technology), etc.).

[0142] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0143] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0144] The electronic device of the above embodiment is used to implement the corresponding vehicle key positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0145] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle key positioning method described in any of the above embodiments.

[0146] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0147] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle key positioning method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0148] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides a vehicle, including a vehicle key positioning device, or an electronic device, or a storage medium in the above-mentioned embodiments, and the vehicle equipment implements the vehicle key positioning method described in any of the above embodiments.

[0149] The vehicle of the above-mentioned embodiment is used to implement the vehicle key positioning method described in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0150] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0151] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0152] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0153] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present disclosure. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for locating a vehicle key, characterized in that: The method comprises: In response to determining that the key is connected to at least two antennas provided on the vehicle, obtaining a reception time length of each antenna receiving a communication signal transmitted by the key; The transmission angle of the key relative to each antenna is determined according to the reception duration, and the target position of the key relative to the vehicle is determined based on at least two transmission angles.

2. The method according to claim 1, characterized in that: Determining the transmission angle of the key relative to each antenna according to the reception duration, and determining the target position of the key relative to the vehicle based on at least two transmission angles, includes: Determining a phase difference of the communication signal according to the reception duration; Determining a transmission angle of the key relative to each antenna according to the phase difference; Based on at least two transmission angles and a distance between two adjacent antennas, a target position of the key relative to the vehicle is determined.

3. The method according to claim 2, characterized in that Determining the phase difference of the communication signal according to the reception duration includes: determining a frequency of the communication signal; The phase difference of the communication signal is determined according to the reception duration and the frequency.

4. The method according to claim 2, characterized in that: The step of determining the transmission angle of the key relative to each antenna according to the phase difference comprises: determining a wavelength of the communication signal; Determining a distance between two adjacent antennas of the at least two antennas; The emission angle of the key relative to each antenna is determined according to the phase difference, the wavelength and the distance between the two adjacent antennas.

5. The method according to claim 2, characterized in that: The determining the target position of the key relative to the vehicle based on at least two emission angles and the distance between two adjacent antennas includes: determining antenna position coordinates of at least two antennas in the constructed coordinate system; Based on the at least two emission angles, the distance between the two adjacent antennas and the antenna position coordinates, the key position coordinates of the key in the coordinate system are determined, and the key position coordinates are converted into a target position of the key relative to the vehicle.

6. The method according to claim 5, characterized in that The at least two antennas provided on the vehicle include: a first antenna and a second antenna; The determining the key position coordinates of the key in the coordinate system based on the at least two emission angles, the distance between the two adjacent antennas, and the antenna position coordinates, and converting the key position coordinates into a target position of the key relative to the vehicle, comprises: Determine first two-dimensional key position coordinates of the key in a first plane of a coordinate system based on a first transmission angle of the key relative to the first antenna, a second transmission angle of the key relative to the second antenna, a distance between the first antenna and the second antenna, a first antenna position coordinate, and a second antenna position coordinate; The first two-dimensional key position coordinate is converted into a two-dimensional target position of the key relative to the vehicle.

7. The method according to claim 6, characterized in that The at least two antennas provided on the vehicle further include: a third antenna; After converting the first two-dimensional key position coordinates into a two-dimensional target position of the key relative to the vehicle, the method further includes: Determine a second two-dimensional key position coordinate of the key in a second plane of the coordinate system based on a first transmission angle of the key relative to the first antenna, a third transmission angle of the key relative to the third antenna, a distance between the first antenna and the third antenna, a first antenna position coordinate, and a third antenna position coordinate; wherein the first plane and the second plane are two planes perpendicular to each other; Based on the two-dimensional target position and the second two-dimensional key position coordinates, a three-dimensional target position of the key relative to the vehicle is determined.

8. A vehicle key positioning device, characterized in that: include: an acquisition module, configured to, in response to determining that the key is connected to at least two antennas provided on the vehicle, acquire a reception time length of each antenna receiving a communication signal transmitted by the key; The determination module is configured to determine a transmission angle of the key relative to each antenna according to the reception duration, and determine a target position of the key relative to the vehicle based on at least two transmission angles.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: A positioning device for a vehicle key comprising the vehicle key according to claim 8 or an electronic device according to claim 9.

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