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

Abstract

The application relates to a multi-sensor fusion positioning method and device of a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: dividing a Bluetooth signal of the vehicle into Bluetooth signal range rings of a welcome area, a locking area, an unlocking area and a starting area; in the case that it is detected that a user moves in the Bluetooth signal range ring, 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 according to the distance; if the UWB ranging signal meets the preset normal condition, triggering a capacitive door handle sensor signal, and performing an unlocking operation of the vehicle, otherwise, starting Bluetooth multi-anchor point signal positioning, generating a positioning area, and performing the unlocking operation of the vehicle according to the positioning area. Thus, the problem that, in the related art, many user scenarios cannot be covered by the UWB positioning alone, so that the unlocking / starting of the vehicle cannot be normally performed is solved.

Description

Technical Field

[0001] This 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 vehicles. Background Technology

[0002] With the development of technology, traditional mechanical keys are gradually being replaced by electronic keys, and the latest trend is to use smartphones or other portable electronic devices as virtual keys. These virtual keys utilize wireless technologies such as Bluetooth Low Energy, Near Field Communication, and Ultra Wideband to achieve interaction with vehicles.

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

[0004] However, relying solely on UWB positioning in related technologies cannot cover many user scenarios, resulting in users being unable to properly lock / unlock / start their vehicles, which urgently needs improvement. Summary of the Invention

[0005] This application provides a multi-sensor fusion positioning method, device, vehicle, and storage medium for vehicles to address issues in related technologies, such as the high power consumption of UWB sensors, the limited startup and usage time of typical devices and vehicles (usually no more than 10 minutes), and the inability of UWB to accurately and promptly determine user intent when the user intends to operate the vehicle after a prolonged period of inactivity. Furthermore, the timing of UWB sensor usage is inappropriate; if in a dormant state, locking / unlocking / starting cannot be performed correctly. Additionally, UWB sensors may experience signal loss if obstructed by the vehicle owner or other objects.

[0006] The first aspect of this application provides a multi-sensor fusion positioning method for a vehicle, comprising the following steps: 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; when a user is detected moving within the Bluetooth signal range circle, activating ultra-wideband (UWB) ranging to measure the distance between the user and the vehicle, and determining whether the UWB ranging signal meets preset normal conditions based on the distance; if the UWB ranging signal meets the preset normal conditions, triggering a capacitive door handle sensor signal to perform the vehicle's locking / unlocking operation; otherwise, activating Bluetooth multi-anchor signal positioning to generate a positioning area, and performing the vehicle's locking / unlocking operation based on the positioning area.

[0007] Optionally, in one embodiment of this application, before dividing the Bluetooth signal range of the vehicle into a welcome zone, a locking zone, an unlocking zone, and a starting zone, the method further includes: when the user is detected to be near the vehicle, connecting the mobile phone to the vehicle via Bluetooth to generate Bluetooth interaction data; and determining the vehicle owner authentication result based on the Bluetooth interaction data.

[0008] Optionally, in one embodiment of this application, the step of initiating ultra-wideband (UWB) ranging to measure the distance between the user and the vehicle when the user is detected moving within the Bluetooth signal range includes: determining whether the user meets a preset proximity intention condition when the user is detected moving within the Bluetooth signal range; if the user meets the preset proximity intention condition, controlling the vehicle to initiate UWB positioning, generating positioning data, and measuring the distance between the user and the vehicle based on the positioning data.

[0009] Optionally, in one embodiment of this application, the method further includes: stopping the UWB ranging when the user stays around the vehicle for a preset duration; and starting the UWB ranging when the user exceeds the Bluetooth signal range to generate a new ranging result.

[0010] Optionally, in one embodiment of this application, the step of triggering the capacitive door handle sensor signal and performing the vehicle's locking / unlocking operation if the UWB ranging signal meets the preset normal conditions includes: determining that the UWB ranging signal meets the preset normal conditions when the user approaches the vehicle and no area position change condition is detected; triggering the capacitive door handle sensor signal by having the user touch the vehicle's door handle; activating UWB ranging based on the capacitive door handle sensor signal to determine the user's position; and performing the vehicle's locking / unlocking operation based on the user's position.

[0011] A second aspect of this application provides a multi-sensor fusion positioning device for a vehicle, comprising: a segmentation module for 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; a measurement module for initiating 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 determining whether the UWB ranging signal meets preset normal conditions based on the distance; and a positioning module for triggering a capacitive door handle sensor signal to perform the vehicle's locking / unlocking operation when the UWB ranging signal meets the preset normal conditions, otherwise initiating Bluetooth multi-anchor signal positioning to generate a positioning area, and performing the vehicle's locking / unlocking operation based on the positioning area.

[0012] Optionally, in one embodiment of this application, it further includes: a generation module, configured to connect a mobile phone to the vehicle via Bluetooth before dividing the Bluetooth signal range of the vehicle into a welcome zone, a locking zone, an unlocking zone, and a starting zone, and to generate Bluetooth interaction data when the user is detected approaching the vehicle; and a determination module, configured to determine the vehicle owner authentication result based on the Bluetooth interaction data.

[0013] Optionally, in one embodiment of this application, the measurement module includes: a judgment unit, configured to determine whether the user meets a preset proximity intention condition when the user is detected moving within the Bluetooth signal range; and a measurement unit, configured to control the vehicle to start UWB positioning and generate positioning data when the user meets the preset proximity intention condition, so as to measure the distance between the user and the vehicle based on the positioning data.

[0014] Optionally, in one embodiment of this application, it further includes: a stop module, configured to stop the UWB ranging when the user's dwell time around the vehicle meets a preset duration condition; and a start module, configured 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 this application, the positioning module includes: a triggering unit, configured to determine that the UWB ranging signal meets the preset normal conditions when the user approaches the vehicle and no area position change is detected, and to trigger the capacitive door handle sensor signal by the user touching the door handle of the vehicle; and a positioning unit, configured to activate the UWB ranging based on the capacitive door handle sensor signal to determine the user's position, and to perform the vehicle's locking / unlocking operation based on the user's position.

[0016] A third aspect of this application provides a vehicle, including: 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 embodiments.

[0017] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described multi-sensor fusion positioning method for vehicles.

[0018] This application embodiment utilizes a Bluetooth-based UWB power consumption strategy to reduce UWB power consumption, meeting user positioning needs in various scenarios. Furthermore, by combining a capacitive door handle sensor with UWB positioning, it performs locking and unlocking operations, satisfying user requirements and enhancing the user experience. This solves the problems in related technologies where relying solely on UWB positioning fails to cover many user scenarios, resulting in issues such as the inability to properly lock / unlock or start the vehicle.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0021] Figure 1 This is a flowchart of a multi-sensor fusion localization method for a vehicle according to an embodiment of this application;

[0022] Figure 2 This is a flowchart of a multi-sensor fusion localization method for a vehicle according to an embodiment of this application;

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

[0024] Figure 4 This is a schematic diagram of the structure of a multi-sensor fusion positioning device for a vehicle according to an embodiment of this application;

[0025] Figure 5 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

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

[0027] The following description, with reference to the accompanying drawings, outlines a multi-sensor fusion positioning method, apparatus, vehicle, and storage medium for vehicles according to embodiments of this application. Addressing the issue in the aforementioned background art where relying solely on UWB positioning fails to cover many user scenarios, thus hindering normal vehicle locking / unlocking and starting, this application provides a multi-sensor fusion positioning method for vehicles. This method utilizes a Bluetooth-based UWB power consumption strategy to reduce UWB power consumption, meeting the positioning needs of users in various scenarios. Furthermore, it employs a capacitive door handle sensor in conjunction with UWB positioning to perform locking / unlocking operations, fulfilling user requirements and improving the user experience. This resolves the problem in related technologies where relying solely on UWB positioning fails to cover many user scenarios, preventing normal vehicle locking / unlocking and starting.

[0028] Specifically, Figure 1 This is a flowchart illustrating a multi-sensor fusion positioning method for a vehicle provided in an embodiment of this application.

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

[0030] In step S101, the vehicle's Bluetooth signal is divided into Bluetooth signal range circles for the welcome area, locking area, unlocking area, and starting area.

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

[0032] In practical implementation, this embodiment of the application can divide the vehicle's Bluetooth signal into four range zones: a welcome zone, a locking zone, an unlocking zone, and a starting zone. These range zones are arranged from farthest to closest: the welcome zone is the area where the user gets into the vehicle (welcome lights are on, rearview mirrors are deployed); the locking zone is the area for locking the vehicle; the unlocking zone is the area for unlocking the vehicle; and the starting zone is the area for starting the vehicle from inside the vehicle. The set ranges for these four zones are: the starting zone is the area inside the vehicle; the unlocking zone has a radius of 3m from the vehicle; the locking zone has a radius of 5m from the vehicle; and the welcome zone has a radius of 8m from the vehicle. Based on the accurate short-range ranging characteristics of UWB, the maximum distance is generally set to no more than 10m.

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

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

[0035] Optionally, in one embodiment of this application, before dividing the Bluetooth signal range of the vehicle into a welcome zone, a locking zone, an unlocking zone, and a starting zone, the method further includes: when a user is detected approaching the vehicle, connecting the mobile phone to the vehicle via Bluetooth to generate Bluetooth interaction data; and determining the vehicle owner authentication result based on the Bluetooth interaction data.

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

[0037] Before dividing the vehicle's Bluetooth signal into welcome, locking, unlocking, and start zones, this embodiment of the application can connect a mobile phone to the vehicle via Bluetooth when a user is detected approaching. Data interaction is then performed through the Bluetooth channel to generate Bluetooth interaction data. Based on this data, the vehicle owner's identity is authenticated, thus determining the vehicle owner's identity and providing support for subsequent UWB ranging. Figure 2 As shown.

[0038] Step S201: Bluetooth connection.

[0039] Step S202: Vehicle owner authentication successful.

[0040] Step S203: Determine whether the area has changed based on the Bluetooth RSSI.

[0041] Step S204: Whether the capacitive door handle sensor signal is emitted.

[0042] Step S205: Is the UWB ranging signal normal?

[0043] Step S206: Start the Bluetooth multipoint positioning algorithm.

[0044] In step S102, when it is detected that the user is moving within the Bluetooth signal range, UWB ranging is activated to measure the distance between the user and the vehicle, and the distance is used to determine whether the UWB ranging signal meets the preset normal conditions.

[0045] It is understood that, in the embodiments of this application, the movement of a user within the Bluetooth signal range can refer to a change in the regional state of the Bluetooth signal range.

[0046] In actual implementation, this application embodiment can activate ultra-wideband (UWB) ranging to measure the distance between the user and the vehicle when it detects that the user is moving within the Bluetooth signal range, and determine whether the UWB ranging signal meets certain normal conditions based on the distance.

[0047] This application embodiment can reduce the power consumption of UWB by using Bluetooth in conjunction with UWB power consumption strategies, thereby meeting the positioning needs of users in multiple scenarios.

[0048] It should be noted that the preset normal conditions can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0049] Optionally, in one embodiment of this application, when a user is detected moving within the Bluetooth signal range, ultra-wideband (UWB) ranging is initiated to measure the distance between the user and the vehicle. This includes: when a user is detected moving within the Bluetooth signal range, determining whether the user meets a preset proximity intention condition; if the user meets the preset proximity intention condition, controlling the vehicle to initiate UWB positioning, generating positioning data, and measuring the distance between the user and the vehicle based on the positioning data.

[0050] It is understood that the preset proximity intent condition in the embodiments of this application can be the condition that the user approaches the vehicle.

[0051] As one possible implementation, embodiments of this application can determine the user's intention to approach the vehicle by changing the area when the user is detected moving within the Bluetooth signal range. If the user meets certain conditions for approaching, that is, when the area state changes, such as from the welcome area to the locked area to the unlocked area, the user's approaching 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 embodiments of this application can determine the user's intention to approach the vehicle, and reduce the power consumption of UWB by using Bluetooth in conjunction with UWB power consumption strategies, thereby meeting the user's positioning needs in multiple scenarios, improving the user experience, and demonstrating high intelligence.

[0053] It should be noted that the preset proximity intention conditions can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0054] Optionally, in one embodiment of this application, the method further includes: stopping UWB ranging when the user stays around the vehicle for a preset duration; and starting UWB ranging when the user exceeds the Bluetooth signal range to generate a new ranging result.

[0055] It is understood that the preset duration condition in this application embodiment can be that the user lingers around the vehicle for a relatively long time.

[0056] In actual implementation, this embodiment of the application can stop UWB ranging when the user stays around the vehicle for a relatively long time, exceeding the maximum usage time of UWB ranging. This embodiment of the application can restart UWB ranging according to the change in area when the user leaves the Bluetooth signal range to generate new ranging results.

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

[0058] It should be noted that the preset duration conditions can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0059] In step S103, if the UWB ranging signal meets the preset normal conditions, the capacitive door handle sensor signal is triggered to perform the vehicle's locking / unlocking operation; otherwise, Bluetooth multi-anchor signal positioning is activated to generate a positioning area, and the vehicle's locking / unlocking operation is performed based on the positioning area.

[0060] It is understood that the Bluetooth multi-anchor signal positioning in this application embodiment is a technology for determining the location of a mobile device by using multiple fixed Bluetooth anchor points.

[0061] In actual implementation, this embodiment 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 UWB ranging to start, determine the user's location, and perform the locking / unlocking operation. This embodiment can also activate Bluetooth multi-anchor signal positioning when the UWB ranging signal does not meet certain normal conditions, i.e., when the UWB ranging signal is lost in the locking or unlocking zone (signal obstruction), to generate a positioning area. The vehicle's locking / unlocking operation will then be performed based on this positioning area. 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 this embodiment, when the mobile phone's UWB is blocked and the Bluetooth RSSI value indicates that the user is approaching the car door, the capacitive door handle sensor can be used to authenticate the user and unlock the vehicle. The more accurate positioning compensates for the parameter loss of UWB ranging. Furthermore, by using the capacitive door handle sensor in conjunction with UWB positioning, the problem of users being unable to unlock or lock the car door in time when standing in front of it is solved. This allows users to conveniently, quickly, safely, and imperceptibly enter, start, and leave the vehicle without carrying a key.

[0063] It should be noted that the preset normal conditions can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0064] Optionally, in one embodiment of this application, if the UWB ranging signal meets a preset normal condition, the capacitive door handle sensor signal is triggered to perform the vehicle's locking / unlocking operation. This includes: when the user approaches the vehicle and no area position change condition is detected, determining that the UWB ranging signal meets the preset normal condition; triggering the capacitive door handle sensor signal by having the user touch the vehicle's door handle; initiating UWB ranging based on the capacitive door handle sensor signal to determine the user's position; and performing the vehicle's locking / unlocking operation based on the user's position.

[0065] It is understood that the preset change conditions in the embodiments of this application can be valid regional location change conditions.

[0066] In this embodiment, when a user approaches the vehicle from a relatively close distance, and the user is already standing near the vehicle during Bluetooth connection, and the system does not detect any effective change in the area's location, the UWB ranging signal is determined to meet certain normal conditions. At this point, when the user grasps the door handle, the capacitive door handle sensor signal is triggered. This embodiment can promptly trigger UWB ranging to determine the user's position and perform the locking / unlocking operation when the system detects the capacitive door handle sensor signal.

[0067] The embodiments of this application can further perform vehicle locking and unlocking operations, and the more accurate positioning makes up for the loss of parameters in UWB ranging. Furthermore, by using a capacitive door handle sensor in conjunction with UWB positioning, the phenomenon of users being unable to lock or unlock the vehicle in time while standing in front of the door is solved.

[0068] It should be noted that the preset change conditions and preset normal conditions can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0069] The multi-sensor fusion positioning method for vehicles proposed in this application can reduce UWB power consumption through a Bluetooth-based UWB power consumption strategy, meeting the positioning needs of users in various scenarios. Furthermore, by using a capacitive door handle sensor in conjunction with UWB positioning, it performs locking and unlocking operations, satisfying user needs and improving the user experience. This solves the problem in related technologies where relying solely on UWB positioning fails to cover many user scenarios, resulting in the inability to properly lock / unlock / start the vehicle.

[0070] Next, referring to the accompanying drawings, a multi-sensor fusion positioning device for a vehicle according to an embodiment of this application is described.

[0071] Figure 4 This is a schematic diagram of the structure of a multi-sensor fusion positioning device for a vehicle according to an embodiment of this application.

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

[0073] Specifically, the segmentation module 100 is used to divide the vehicle's Bluetooth signal into Bluetooth signal range circles for the welcome zone, locking zone, unlocking zone, and starting zone.

[0074] The measurement module 200 is used to activate ultra-wideband (UWB) ranging to measure the distance between the user and the vehicle when it detects that the user is moving within the Bluetooth signal range, and to determine whether the UWB ranging signal meets the preset normal conditions based on the distance.

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

[0076] Optionally, in one embodiment of this application, the multi-sensor fusion positioning device 10 for a vehicle further includes a generation module and a determination module.

[0077] The generation module is used to connect the mobile phone to the vehicle via Bluetooth before dividing the vehicle's Bluetooth signal range into welcome zone, lock zone, unlock zone and start zone, when a user is detected approaching the vehicle, so as to generate Bluetooth interaction data.

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

[0079] Optionally, in one embodiment of this application, the measurement module 200 includes a judgment unit and a measurement unit.

[0080] The judgment unit is used to determine whether the user meets the preset proximity intention conditions when the user is detected moving within the Bluetooth signal range.

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

[0082] Optionally, in one embodiment of this 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 UWB ranging when the user stays around the vehicle for a preset duration.

[0084] The startup module is used to initiate UWB ranging when the user goes beyond the Bluetooth signal range, in order to generate new ranging results.

[0085] Optionally, in one embodiment of this application, the positioning module 300 includes a triggering unit and a positioning unit.

[0086] The triggering unit is used to determine that the UWB ranging signal meets the preset normal conditions when the user approaches the vehicle and no area position change is detected. The user then touches the vehicle's door handle to trigger the capacitive door handle sensor signal.

[0087] The positioning unit is used to initiate UWB ranging based on the signal from the capacitive door handle sensor to determine the user's location and perform vehicle locking / unlocking operations based on the user's location.

[0088] It should be noted that the foregoing explanation of the multi-sensor fusion positioning method for vehicles also applies to the multi-sensor fusion positioning device for vehicles in this embodiment, and will not be repeated here.

[0089] The multi-sensor fusion positioning device for vehicles proposed in this application can reduce UWB power consumption through a Bluetooth-based UWB power consumption strategy, meeting the positioning needs of users in various scenarios. Furthermore, by using a capacitive door handle sensor in conjunction with UWB positioning, it performs locking and unlocking operations, satisfying user needs and improving the user experience. This solves the problem in related technologies where relying solely on UWB positioning fails to cover many user scenarios, resulting in the inability to properly lock / unlock / start the vehicle.

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

[0091] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0092] When the processor 502 executes the program, it implements the multi-sensor fusion positioning method for vehicles provided in the above embodiments.

[0093] Furthermore, the vehicle also includes:

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

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

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

[0097] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

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

[0100] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described multi-sensor fusion positioning method for vehicles.

[0101] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

[0103] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0104] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0105] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0106] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0107] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0108] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A multi-sensor fusion localization method for a vehicle, characterized in that, Includes the following steps: The vehicle's Bluetooth signal range is divided into welcome zone, lock zone, unlock zone, and start zone. If a user is detected moving within the range of the Bluetooth signal, ultra-wideband (UWB) ranging is activated to measure the distance between the user and the vehicle, and the distance is used to determine whether the UWB ranging signal meets the preset normal conditions. If the UWB ranging signal meets the preset normal conditions, the capacitive door handle sensor signal is triggered to perform the vehicle's locking / unlocking operation; otherwise, Bluetooth multi-anchor signal positioning is activated to generate a positioning area, and the vehicle's locking / unlocking operation is performed according to the positioning area. Wherein, if the UWB ranging signal meets the preset normal conditions, the capacitive door handle sensor signal is triggered to perform the vehicle's locking / unlocking operation, including: If the user approaches the vehicle and no area position change condition is detected, 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. Based on the signal from the capacitive door handle sensor, UWB ranging is initiated to determine the user's location, and the vehicle's locking / unlocking operation is performed based on the user's location. This also includes: when the UWB ranging signal is lost in the locked or unlocked zone, Bluetooth multi-anchor signal positioning is activated to generate a positioning area, so as to perform the vehicle's locking and unlocking operations according to the positioning area.

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

3. The method according to claim 1, characterized in that, The step of initiating 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 includes: If a user is detected moving within the Bluetooth signal range, it is determined whether the user meets the preset proximity intention conditions. If the user meets the preset proximity intention conditions, the vehicle is controlled to start UWB positioning and generate positioning data to measure the distance between the user and the vehicle based on the positioning data.

4. The method according to claim 1, characterized in that, Also includes: If the user stays around the vehicle for a preset duration, the UWB ranging will stop. When the user exceeds the Bluetooth signal range, the UWB ranging is initiated to generate a new ranging result.

5. A multi-sensor fusion positioning device for a vehicle, characterized in that, The multi-sensor fusion localization method for vehicles as described in any one of claims 1-4 includes: The segmentation module is used to divide the vehicle's Bluetooth signal into Bluetooth signal range circles for the welcome zone, locking zone, unlocking zone, and start zone; The measurement module is used to activate ultra-wideband (UWB) ranging to measure the distance between the user and the vehicle when the user is detected moving within the range of the Bluetooth signal, and to determine whether the UWB ranging signal meets the preset normal conditions based on the distance. The positioning module is used to trigger the capacitive door handle sensor signal to perform the vehicle's locking / unlocking operation when the UWB ranging signal meets the preset normal conditions; otherwise, it activates Bluetooth multi-anchor signal positioning to generate a positioning area, and performs the vehicle's locking / unlocking operation according to the positioning area.

6. The apparatus according to claim 5, characterized in that, Also includes: The generation module is used to connect the mobile phone to the vehicle via Bluetooth before dividing the Bluetooth signal range of the vehicle into a welcome zone, a locking zone, an unlocking zone, and a start zone, and to generate Bluetooth interaction data when the user is detected to be near the vehicle. The determination module is used to determine the vehicle owner's identity authentication result based on the Bluetooth interaction data.

7. The apparatus according to claim 5, characterized in that, The measurement module includes: The judgment unit is used to determine whether the user meets the preset proximity intention conditions when the user is detected moving within the Bluetooth signal range. The measurement unit is used to control the vehicle to start UWB positioning and generate positioning data when the user meets the preset proximity intention conditions, so as to measure the distance between the user and the vehicle based on the positioning data.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the multi-sensor fusion localization method for a vehicle as described in any one of claims 1-4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the multi-sensor fusion localization method for vehicles as described in any one of claims 1-4.

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