Multi-sensor fusion positioning method and device of vehicle, vehicle and storage medium

Abstract

The invention relates to a multi-sensor fusion positioning method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps: dividing a Bluetooth signal of the vehicle into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a starting area; when it is detected that the user moves in the Bluetooth signal range circle, UWB ranging is started to measure the distance between the user and the vehicle, and whether a UWB ranging signal meets a preset normal condition or not is judged according to the distance; if the UWB ranging signal meets a preset normal condition, a capacitance door handle sensor signal is triggered, unlocking and locking operation of the vehicle is executed, otherwise, Bluetooth multi-anchor-point signal positioning is started, a positioning area is generated, and the unlocking and locking operation of the vehicle is executed according to the positioning area. Therefore, the problem that in the related technology, UWB positioning is independently relied on, many user scenes cannot cover the UWB positioning, and therefore unlocking and locking / starting of the vehicle by a user cannot be normally carried out is solved.

Description

Technical Field

[0001] The present application relates to the field of high-precision positioning technology, and in particular to a multi-sensor fusion positioning method, device, vehicle and storage medium for a vehicle. Background Art

[0002] With the development of technology, traditional mechanical keys are gradually replaced by electronic keys, and the latest trend is to use smartphones or other portable electronic devices as virtual keys. These virtual keys use wireless technologies such as Bluetooth low energy, near field communication, and ultra-wideband to interact with vehicles.

[0003] Among the related technologies, the mobile phone key contactless technology mainly relies on the Bluetooth and UWB sensors on the mobile phone. The mobile phone Bluetooth is used for communication authentication, and the UWB sensor is used for ranging and positioning.

[0004] However, in the related art, the sole reliance on UWB positioning fails to cover many user scenarios, so that users cannot open, lock, or start the vehicle normally, which urgently needs to be improved. Summary of the invention

[0005] The present application provides a vehicle multi-sensor fusion positioning method, device, vehicle and storage medium to solve the problems in the related technology that UWB power consumption is large, and the startup and use time of general equipment and vehicle end will not exceed 10 minutes. If the user does not perform unlocking and starting operations for a long time, when the user intends to operate the vehicle, UWB cannot accurately and timely identify the user's intention, the UWB sensor is not used at the right time, and if it is in a dormant state, the unlocking / starting cannot be performed normally; the UWB sensor is blocked by the owner's body or other objects, and the signal is lost.

[0006] The first aspect of the present application provides a multi-sensor fusion positioning method for a vehicle, comprising the following steps: dividing the Bluetooth signal of the vehicle into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a start area; when a user is detected moving within the Bluetooth signal range circle, starting ultra-wideband UWB ranging to measure the distance between the user and the vehicle, and judging whether the UWB ranging signal meets a preset normal condition based on the distance; if the UWB ranging signal meets the preset normal condition, triggering a capacitive door handle sensor signal to execute an unlocking operation of the vehicle, otherwise starting Bluetooth multi-anchor signal positioning to generate a positioning area to execute an unlocking operation of the vehicle based on the positioning area.

[0007] Optionally, in one embodiment of the present application, before dividing the vehicle's Bluetooth signal into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a starting area, it also includes: when it is detected that the user is approaching the vehicle, connecting the mobile phone Bluetooth to the vehicle to generate Bluetooth interaction data; determining the vehicle owner identity authentication result based on the Bluetooth interaction data.

[0008] Optionally, in one embodiment of the present application, when it is detected that the user is moving within the range of the Bluetooth signal, ultra-wideband UWB ranging is started to measure the distance between the user and the vehicle, including: when it is detected that the user is moving within the range of the Bluetooth signal, determining whether the user meets a preset approach intention condition; if the user meets the preset approach intention condition, controlling the vehicle to start UWB positioning and generate positioning data to measure the distance between the user and the vehicle based on the positioning data.

[0009] Optionally, in one embodiment of the present application, it also includes: when the time the user stays around the vehicle meets a preset time condition, stopping the UWB ranging; when the user exceeds the Bluetooth signal range, starting the UWB ranging to generate a new ranging result.

[0010] Optionally, in one embodiment of the present application, if the UWB ranging signal satisfies the preset normal condition, the capacitive door handle sensor signal is triggered to execute the unlocking operation of the vehicle, including: when the user approaches the vehicle and the area position is not detected to satisfy the preset change condition, it is determined that the UWB ranging signal satisfies the preset normal condition, and the capacitive door handle sensor signal is triggered by the user touching the door handle of the vehicle; according to the capacitive door handle sensor signal, the UWB ranging is started to determine the position of the user, and the unlocking operation of the vehicle is executed according to the position of the user.

[0011] A second aspect of the present application provides a multi-sensor fusion positioning device for a vehicle, including: a division module, used to divide the Bluetooth signal of the vehicle into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a start area; a measurement module, used to start ultra-wideband UWB ranging to measure the distance between the user and the vehicle when a user is detected moving within the Bluetooth signal range circle, and judge whether the UWB ranging signal meets a preset normal condition based on the distance; a positioning module, used to trigger a capacitive door handle sensor signal when the UWB ranging signal meets the preset normal condition, and execute an unlocking operation of the vehicle, otherwise start Bluetooth multi-anchor signal positioning, generate a positioning area, and execute an unlocking operation of the vehicle according to the positioning area.

[0012] Optionally, in one embodiment of the present application, it also includes: a generation module, which is used to connect the mobile phone Bluetooth to the vehicle before dividing the vehicle's Bluetooth signal into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a starting area, so as to generate Bluetooth interaction data when it is detected that the user is approaching the vehicle; and a determination module, which is used to determine the vehicle owner identity authentication result based on the Bluetooth interaction data.

[0013] Optionally, in one embodiment of the present application, the measurement module includes: a judgment unit, used to judge whether the user meets a preset approach intention condition when it is detected that the user moves within the range of the Bluetooth signal; a measurement unit, used to control the vehicle to start UWB positioning and generate positioning data when the user meets the preset approach intention condition, so as to measure the distance between the user and the vehicle according to the positioning data.

[0014] Optionally, in one embodiment of the present application, it also includes: a stop module, used to stop the UWB ranging when the time the user stays around the vehicle meets a preset time condition; a start module, used to start the UWB ranging when the user exceeds the Bluetooth signal range circle to generate a new ranging result.

[0015] Optionally, in one embodiment of the present application, the positioning module includes: a trigger unit, used to determine that the UWB ranging signal meets the preset normal condition when the user approaches the vehicle and the area position is not detected to meet the preset change condition, and the capacitive door handle sensor signal is triggered by the user touching the door handle of the vehicle; a positioning unit, used to start the UWB ranging according to the capacitive door handle sensor signal to determine the user's position, and perform the unlocking operation of the vehicle according to the user's position.

[0016] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the multi-sensor fusion positioning method for the vehicle as described in the above embodiment.

[0017] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the multi-sensor fusion positioning method for the vehicle as described above.

[0018] The embodiment of the present application can reduce the power consumption of UWB by cooperating with Bluetooth and UWB power consumption strategy, meet the positioning of multiple scenarios of users, and perform unlocking operation by cooperating with UWB positioning through capacitive door handle sensor, meet the needs of users, and improve the user experience. Thus, it solves the problem that the related technology relies solely on UWB positioning, many user scenarios cannot be covered, and the user's unlocking / starting of the vehicle cannot be performed normally.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1 A flowchart of a multi-sensor fusion positioning method for a vehicle provided according to an embodiment of the present application;

[0022] Figure 2 A flowchart of a multi-sensor fusion positioning method for a vehicle according to an embodiment of the present application;

[0023] Figure 3 It is an overall schematic diagram of a multi-sensor fusion positioning method for a vehicle according to an embodiment of the present application;

[0024] Figure 4 It is a structural schematic diagram of a multi-sensor fusion positioning device for a vehicle provided according to an embodiment of the present application;

[0025] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] The following describes the multi-sensor fusion positioning method, device, vehicle and storage medium of the vehicle of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the related technology mentioned in the above background technology relies solely on UWB positioning, many user scenarios cannot be covered, so that the user cannot open and lock / start the vehicle normally, the present application provides a multi-sensor fusion positioning method for a vehicle, in which Bluetooth can be used in conjunction with the UWB power consumption strategy to reduce the power consumption of UWB to meet the positioning of multiple scenarios of users, and the capacitive door handle sensor is used in conjunction with UWB positioning to perform the unlocking operation to meet the needs of users and improve the user experience. As a result, the problem that the related technology relies solely on UWB positioning, many user scenarios cannot be covered, so that the user cannot open and lock / start the vehicle normally is solved.

[0028] Specifically, Figure 1 A flowchart of a multi-sensor fusion positioning method for a vehicle provided in an embodiment of the present application.

[0029] like Figure 1 As shown, the multi-sensor fusion positioning method of the vehicle includes the following steps:

[0030] In step S101 , the Bluetooth signal of the vehicle is divided into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a starting area.

[0031] It can be understood that the Bluetooth signal range circle in the embodiment of the present application can be divided according to the distance between the user and the vehicle.

[0032] In the actual implementation process, the embodiment of the present application can divide the vehicle's Bluetooth signal into Bluetooth signal range circles of the welcome area, the locking area, the unlocking area and the starting area. The Bluetooth signal range circles are from far to near. The welcome area is the area for welcoming users to get on the car (the welcome light is on and the rearview mirror is unfolded), the locking area is the car locking area, the unlocking area is the vehicle unlocking area, and the starting area is the vehicle starting area inside the car. The setting ranges of these four range circles are: the starting area is the area inside the car, the unlocking area has a radius of 3m from the car, the locking area has a radius of 5m from the car, and the welcoming area has a radius of 8m from the car. According to the accurate characteristics of UWB short-range ranging, the maximum distance is generally set to no more than 10m.

[0033] The embodiment of the present application can divide the Bluetooth into range circles to ensure that when the UWB signal is blocked in the future, the positioning problem can be solved by using the Bluetooth multi-point positioning technology.

[0034] It should be noted that the setting range is variable and depends on the general user usage habits of the vehicle model.

[0035] Optionally, in one embodiment of the present application, before dividing the vehicle's Bluetooth signal into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a starting area, it also includes: when a user is detected approaching the vehicle, connecting the mobile phone Bluetooth to the vehicle to generate Bluetooth interaction data; determining the vehicle owner's identity authentication result based on the Bluetooth interaction data.

[0036] It can be understood that the Bluetooth interaction data in the embodiment of the present application can be a series of Bluetooth interaction data exchanged between the vehicle and the mobile phone after the connection is established.

[0037] Among them, before dividing the vehicle's Bluetooth signal into Bluetooth signal range circles of the welcome area, locking area, unlocking area and starting area, the embodiment of the present application can connect the mobile phone Bluetooth to the vehicle when detecting that the user is approaching the vehicle, and perform data interaction through the Bluetooth channel to generate Bluetooth interaction data, and complete the authentication process of the vehicle owner's identity according to the Bluetooth interaction data to determine the vehicle owner's identity authentication result, and provide support for subsequent UWB ranging, such as Figure 2 shown.

[0038] Step S201: Bluetooth connection.

[0039] Step S202: The vehicle owner is authenticated successfully.

[0040] Step S203: Determine whether the area has changed according to the Bluetooth RSSI.

[0041] Step S204: Check whether the capacitive door handle sensor signal is sent.

[0042] Step S205: Check whether the UWB ranging signal is normal.

[0043] Step S206: Start the Bluetooth multi-lateration positioning algorithm.

[0044] In step S102, when it is detected that the user is moving within the range of the Bluetooth signal, ultra-wideband UWB ranging is started to measure the distance between the user and the vehicle, and it is determined whether the UWB ranging signal meets the preset normal condition according to the distance.

[0045] It can be understood that, in the embodiment of the present application, the movement of the user within the Bluetooth signal range circle may refer to a change in the area state of the Bluetooth signal range circle.

[0046] In the actual implementation process, the embodiment of the present application can start ultra-wideband UWB ranging to measure the distance between the user and the vehicle when detecting that the user is moving within the range of the Bluetooth signal, and determine whether the UWB ranging signal meets certain normal conditions based on the distance.

[0047] The embodiment of the present application can reduce the power consumption of UWB by coordinating Bluetooth with the UWB power consumption strategy to meet the user's positioning needs in multiple scenarios.

[0048] It should be noted that the preset normal conditions can be set by those skilled in the art according to actual conditions and are not specifically limited here.

[0049] Optionally, in one embodiment of the present application, when it is detected that the user is moving within the range of the Bluetooth signal, ultra-wideband UWB ranging is started to measure the distance between the user and the vehicle, including: when it is detected that the user is moving within the range of the Bluetooth signal, determining whether the user meets the preset approach intention condition; if the user meets the preset approach intention condition, controlling the vehicle to start UWB positioning and generate positioning data to measure the distance between the user and the vehicle based on the positioning data.

[0050] It can be understood that the preset approach intention condition in the embodiment of the present application may be a condition for the user to approach the vehicle.

[0051] As a possible implementation method, the embodiment of the present application can determine the user's intention to approach the vehicle by changing the area when it detects that the user is moving within the range of the Bluetooth signal. If the user meets certain approach intention conditions, that is, when the area status changes, such as the welcome area -> locked area -> unlocked area, the user's approach intention can be clearly known. At this time, the vehicle can be controlled to start UWB positioning and generate positioning data to more accurately measure the distance between the user and the vehicle based on the positioning data.

[0052] The embodiment of the present application can determine the user's intention to approach the vehicle, and through Bluetooth and UWB power consumption strategy, reduce the power consumption of UWB, meet the user's positioning in multiple scenarios, improve the user's usage experience, and is highly intelligent.

[0053] It should be noted that the preset approach intention condition can be set by those skilled in the art according to actual conditions and is not specifically limited here.

[0054] Optionally, in one embodiment of the present application, it also includes: when the user stays around the vehicle for a preset time period, stopping UWB ranging; when the user exceeds the Bluetooth signal range, starting UWB ranging to generate a new ranging result.

[0055] It is understandable that the preset time condition in the embodiment of the present application may be that the user stays around the vehicle for a relatively long time.

[0056] During the actual implementation process, the embodiment of the present application can stop UWB ranging when the user stays around the vehicle for a long time, exceeding the maximum usage time of UWB ranging. The embodiment of the present application can start UWB ranging again when the user walks out of the Bluetooth signal range, according to the change of the area, to generate a new ranging result.

[0057] The embodiments of the present application can specifically stop or start UWB ranging, thereby reducing the power consumption of UWB and satisfying the positioning needs of users in multiple scenarios.

[0058] It should be noted that the preset time condition can be set by those skilled in the art according to actual conditions and is not specifically limited here.

[0059] In step S103, if the UWB ranging signal meets the preset normal conditions, the capacitive door handle sensor signal is triggered to execute the vehicle unlocking operation, otherwise the Bluetooth multi-anchor signal positioning is started to generate a positioning area to execute the vehicle unlocking operation according to the positioning area.

[0060] It can be understood that the Bluetooth multi-anchor signal positioning in the embodiment of the present application is a technology for determining the location of a mobile device through multiple Bluetooth anchor points at fixed locations.

[0061] In the actual implementation process, the embodiment of the present application can trigger the capacitive door handle sensor signal when the UWB ranging signal meets certain normal conditions. When the system detects this signal, it will promptly trigger the UWB ranging start, determine the user's location, and perform the unlocking operation. The embodiment of the present application can start Bluetooth multi-anchor signal positioning when the UWB ranging signal does not meet certain normal conditions, that is, when the UWB ranging signal is lost in the locking area or unlocking area (signal obstruction), generate a positioning area, and perform the vehicle unlocking operation according to the positioning area, such as Figure 3 As shown, ① is the main positioning MCU, ②③④⑤ are UWB+BLE slave nodes, ⑥⑦⑧⑨ are capacitive door handle sensors, and ⑩ is the mobile device carried by the user.

[0062] In the embodiment of the present application, when the UWB of the mobile phone is blocked and the RSSI value of the Bluetooth indicates that the user is close to the vehicle door, the user can be authenticated and unlocked through the induction of the capacitive door handle sensor. The more accurate positioning makes up for the loss of parameters in the UWB ranging. The capacitive door handle sensor cooperates with the UWB positioning to solve the problem of the user standing in front of the vehicle door and failing to unlock the door in time, allowing the user to enter, start, and leave the vehicle conveniently, quickly, safely, and without feeling the need to carry a key.

[0063] It should be noted that the preset normal conditions can be set by those skilled in the art according to actual conditions and are not specifically limited here.

[0064] Optionally, in one embodiment of the present application, if the UWB ranging signal meets the preset normal conditions, the capacitive door handle sensor signal is triggered to execute the vehicle unlocking operation, including: when the user approaches the vehicle and the area position is not detected to meet the preset change conditions, it is determined that the UWB ranging signal meets the preset normal conditions, and the capacitive door handle sensor signal is triggered by the user touching the door handle of the vehicle; based on the capacitive door handle sensor signal, the UWB ranging is started to determine the user's position, and the vehicle unlocking operation is executed according to the user's position.

[0065] It can be understood that the preset change condition in the embodiment of the present application can be a valid regional position change condition.

[0066] Among them, the embodiment of the present application can determine that the UWB ranging signal meets certain normal conditions when the user approaches the vehicle from a relatively close distance and the user is already standing near the vehicle during the Bluetooth connection, and the system does not detect a valid regional position change. At this time, the capacitive door handle sensor signal will be triggered when the user holds the door handle. The embodiment of the present application can trigger the UWB ranging start in time when the system detects the capacitive door handle sensor signal, determine the user's position, and perform the unlocking operation.

[0067] The embodiment of the present application can further execute the unlocking operation of the vehicle, and the more accurate positioning can make up for the parameter loss of UWB ranging, and through the capacitive door handle sensor in conjunction with UWB positioning, the problem of users standing in front of the vehicle door and failing to unlock the door in time is solved.

[0068] It should be noted that the preset change conditions and the preset normal conditions can be set by those skilled in the art according to actual conditions and are not specifically limited here.

[0069] According to the multi-sensor fusion positioning method for vehicles proposed in the embodiment of the present application, the power consumption of UWB can be reduced by cooperating with Bluetooth and UWB power consumption strategy to meet the positioning of multiple scenarios of users, and the unlocking operation can be performed by cooperating with the capacitive door handle sensor and UWB positioning to meet the needs of users and improve the user experience. This solves the problem in the related art that many user scenarios cannot be covered by relying solely on UWB positioning, so that the user cannot open, lock or start the vehicle normally.

[0070] Next, the multi-sensor fusion positioning device for a vehicle proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0071] Figure 4 It is a structural schematic diagram of a multi-sensor fusion positioning device for a vehicle in an embodiment of the present application.

[0072] like Figure 4As shown, the multi-sensor fusion positioning device 10 of the vehicle includes: a division module 100, a measurement module 200 and a positioning module 300.

[0073] Specifically, the division module 100 is used to divide the Bluetooth signal of the vehicle into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a starting area.

[0074] The measuring module 200 is used to start ultra-wideband UWB ranging to measure the distance between the user and the vehicle when it is detected that the user moves within the range of the Bluetooth signal, and determine whether the UWB ranging signal meets the preset normal conditions according to the distance.

[0075] The positioning module 300 is used to trigger the capacitive door handle sensor signal to perform the vehicle unlocking operation when the UWB ranging signal meets the preset normal conditions, otherwise start the Bluetooth multi-anchor signal positioning and generate a positioning area to perform the vehicle unlocking operation according to the positioning area.

[0076] Optionally, in one embodiment of the present application, the multi-sensor fusion positioning device 10 for a vehicle further includes: a generating module and a determining module.

[0077] Among them, the generation module is used to connect the mobile phone Bluetooth to the vehicle before dividing the vehicle's Bluetooth signal into Bluetooth signal range circles of the welcome area, locking area, unlocking area and starting area, so as to generate Bluetooth interaction data when it is detected that a user is approaching the vehicle.

[0078] The determination module is used to determine the vehicle owner's identity authentication result based on the Bluetooth interaction data.

[0079] Optionally, in one embodiment of the present application, the measuring module 200 includes: a judging unit and a measuring unit.

[0080] The judgment unit is used to judge whether the user meets the preset approach intention condition when detecting that the user moves within the range of the Bluetooth signal.

[0081] The measuring unit is used to control the vehicle to start UWB positioning and generate positioning data when the user meets the preset approach intention conditions, so as to measure the distance between the user and the vehicle according to the positioning data.

[0082] Optionally, in one embodiment of the present application, the multi-sensor fusion positioning device 10 for a vehicle further includes: a stop module and a start module.

[0083] The stop module is used to stop the UWB ranging when the user stays around the vehicle for a preset time period.

[0084] The starting module is used to start UWB ranging when the user exceeds the Bluetooth signal range to generate a new ranging result.

[0085] Optionally, in one embodiment of the present application, the positioning module 300 includes: a trigger unit and a positioning unit.

[0086] Among them, the trigger unit is used to determine that the UWB ranging signal meets the preset normal conditions when the user approaches the vehicle and the area position is not detected to meet the preset change conditions, and trigger the capacitive door handle sensor signal by the user touching the door handle of the vehicle.

[0087] The positioning unit is used to start UWB ranging according to the capacitive door handle sensor signal to determine the user's location and perform the vehicle unlocking operation according to the user's location.

[0088] It should be noted that the aforementioned explanation of the embodiment of the multi-sensor fusion positioning method for a vehicle is also applicable to the multi-sensor fusion positioning device for a vehicle in this embodiment, and will not be repeated here.

[0089] According to the multi-sensor fusion positioning device for vehicles proposed in the embodiment of the present application, the power consumption of UWB can be reduced through Bluetooth in conjunction with the UWB power consumption strategy to meet the positioning of multiple scenarios of users, and the unlocking operation can be performed through the capacitive door handle sensor in conjunction with UWB positioning to meet the needs of users and improve the user experience. This solves the problem in the related art that many user scenarios cannot be covered by relying solely on UWB positioning, so that the user cannot open, lock, or start the vehicle normally.

[0090] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0091] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0092] When the processor 502 executes the program, the multi-sensor fusion positioning method for the vehicle provided in the above embodiment is implemented.

[0093] Furthermore, the vehicle also includes:

[0094] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0095] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0096] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0097] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0098] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0099] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0100] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the multi-sensor fusion positioning method for a vehicle as described above is implemented.

[0101] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0102] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0103] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0104] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0105] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0106] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0108] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A multi-sensor fusion positioning method for a vehicle, characterized in that: The following steps are involved: Divide the vehicle's Bluetooth signal into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area, and a starting area; When it is detected that the user moves within the range of the Bluetooth signal, ultra-wideband (UWB) ranging is started to measure the distance between the user and the vehicle, and whether the UWB ranging signal meets the preset normal condition is determined according to the distance; If the UWB ranging signal meets the preset normal condition, the capacitive door handle sensor signal is triggered to execute the unlocking operation of the vehicle; otherwise, the Bluetooth multi-anchor signal positioning is started to generate a positioning area to execute the unlocking operation of the vehicle according to the positioning area.

2. The method according to claim 1, characterized in that Before dividing the vehicle's Bluetooth signal into the Bluetooth signal range circles of the welcome zone, locking zone, unlocking zone and starting zone, it also includes: When detecting that the user is close to the vehicle, connecting the mobile phone to the vehicle via Bluetooth to generate Bluetooth interaction data; The vehicle owner identity authentication result is determined based on the Bluetooth interaction data.

3. The method according to claim 1, characterized in that When detecting that the user moves within the Bluetooth signal range, starting ultra-wideband (UWB) ranging to measure the distance between the user and the vehicle includes: When detecting that the user moves within the Bluetooth signal range, determining whether the user meets a preset approach intention condition; If the user meets the preset approach intention condition, the vehicle is controlled to start UWB positioning and generate positioning data to measure the distance between the user and the vehicle according to the positioning data.

4. The method according to claim 1, characterized in that: Also includes: When the user stays around the vehicle for a time that satisfies a preset time condition, stopping the UWB ranging; When the user exceeds the Bluetooth signal range, the UWB ranging is started to generate a new ranging result.

5. The method according to claim 1, characterized in that If the UWB ranging signal meets the preset normal condition, a capacitive door handle sensor signal is triggered to perform an unlocking operation of the vehicle, including: When the user approaches the vehicle and the area position is not detected to meet the preset change condition, it is determined that the UWB ranging signal meets the preset normal condition, and the capacitive door handle sensor signal is triggered by the user touching the door handle of the vehicle; The UWB ranging is started according to the capacitive door handle sensor signal to determine the position of the user, and the unlocking operation of the vehicle is performed according to the position of the user.

6. A multi-sensor fusion positioning device for a vehicle, characterized in that: include: A division module, used for dividing the Bluetooth signal of the vehicle into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area and a starting area; A measuring module is used to start ultra-wideband (UWB) ranging to measure the distance between the user and the vehicle when detecting that the user moves within the range of the Bluetooth signal, and to determine whether the UWB ranging signal meets a preset normal condition according to the distance; The positioning module is used to trigger the capacitive door handle sensor signal to perform the unlocking operation of the vehicle when the UWB ranging signal meets the preset normal condition; otherwise, the Bluetooth multi-anchor signal positioning is started to generate a positioning area to perform the unlocking operation of the vehicle according to the positioning area.

7. The device according to claim 6, characterized in that Also includes: A generating module, configured to connect a mobile phone to the vehicle via Bluetooth before dividing the vehicle's Bluetooth signal into Bluetooth signal range circles of a welcome area, a locking area, an unlocking area, and a starting area, in the case where it is detected that the user is approaching the vehicle, so as to generate Bluetooth interaction data; A determination module is used to determine the vehicle owner identity authentication result according to the Bluetooth interaction data.

8. The device according to claim 6, characterized in that The measurement module comprises: A determination unit, configured to determine whether the user meets a preset approach intention condition when detecting that the user moves within the Bluetooth signal range; The measuring unit is used to control the vehicle to start UWB positioning and generate positioning data when the user meets the preset approach intention condition, so as to measure the distance between the user and the vehicle according to the positioning data.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the multi-sensor fusion positioning method for a vehicle as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the multi-sensor fusion positioning method for a vehicle as described in any one of claims 1 to 5.

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