A method, apparatus and storage medium for digital key location identification

Abstract

This application relates to the field of vehicle control technology, and in particular to a digital key location identification method, device, and storage medium. It includes: acquiring the anchor point distance between any two adjacent anchor points among four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein, the anchor points are used to determine the test distance based on the ranging signal between them and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; based on the test distance and the anchor point distance, the projected distance of the test distance on the anchor point plane is determined; the final position of the digital key is determined based on the projected distance, the anchor point distance, and the boundary distance; the final position is either inside or outside the vehicle compartment. The embodiments of this application are used to solve the problem of inaccurate digital key location identification.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a digital key location identification method, device and storage medium. Background Technology

[0002] With the development of technology, vehicles are becoming increasingly sophisticated, and improving the positioning accuracy of digital keys will help bring broader development opportunities to the automotive industry. For example, users only need to keep the digital key in their pocket, and after entering the vehicle, they can start the vehicle by pressing the start button while simultaneously pressing the brake or clutch without taking out the key.

[0003] Currently, commonly used digital key location recognition methods typically rely on ultra-wideband (UWB) technology to determine the positional relationship between the vehicle and the digital key. The principle is that an external UWB anchor point sends a signal to the digital key, which then sends a signal back to the vehicle. The vehicle calculates the positional relationship between itself and the digital key based on the time difference between the two signals. However, the coverage of the vehicle's external UWB anchor points over the vehicle's edges is affected by the vehicle's shape and materials, and cannot completely cover the edges. Therefore, when the digital key is located at the edge of the vehicle, this method does not accurately identify the positional relationship between the digital key and the edge, easily creating blind spots or excessive overflow outside the vehicle. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a digital key location identification method, apparatus, and storage medium, which can improve the accuracy of digital key location identification.

[0005] In a first aspect, this application provides a digital key location identification method, comprising: acquiring the anchor point distance between every two adjacent anchor points among four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein, the anchor points are used to determine the test distance based on the distance measurement signal between them and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; the projected distance of the test distance on the anchor point plane is determined based on the test distance and the anchor point distance; the final position of the digital key is determined based on the projected distance, the anchor point distance, and the boundary distance; the final position is inside or outside the vehicle body.

[0006] Secondly, this application provides a digital key location recognition device, comprising: an acquisition module, configured to acquire the anchor point distance between any two adjacent anchor points among four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein, the anchor point is used to determine the test distance based on the distance measurement signal between it and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; a determination module, configured to determine the projected distance of the test distance on the anchor point plane based on the test distance and the anchor point distance; and a processing module, configured to determine the final position of the digital key based on the projected distance, the anchor point distance, and the boundary distance; the final position is inside or outside the vehicle body.

[0007] Thirdly, this application provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the digital key location identification method as described in the first aspect.

[0008] Fourthly, this application provides a computer-readable storage medium, comprising: storing a computer program on the computer-readable storage medium, wherein when the computer program is executed by a processor, it implements the digital key location identification method of the first aspect.

[0009] Fifthly, this application provides a computer program product, comprising: when the computer program product is run on a computer, causing the computer to implement the digital key location recognition method as described in the first aspect.

[0010] The technical solution provided in this application has the following advantages compared with the prior art: First, it obtains the anchor point distance between every two adjacent anchor points among the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body. Based on the test distance and anchor point distance, it determines the projected distance of the test distance on the anchor point plane. Then, it determines the final position of the digital key based on the projected distance, anchor point distance, and boundary distance. This allows for the determination of the final position of the digital key based on the anchor point distance, projected distance, and boundary distance. Specifically, it considers the influence of the boundary distance between the anchor point and the inner and outer boundaries of the vehicle body on the final position of the digital key, avoiding the problems of blind spots or excessive overflow outside the vehicle that occur when directly determining the digital key position based on the projected distance and anchor point distance, thus improving the accuracy of the determined digital key position. Attached Figure Description

[0011] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 One of the flowcharts for a digital key location identification method provided in this application embodiment;

[0014] Figure 2 A second schematic flowchart illustrating a digital key location identification method provided in this application embodiment;

[0015] Figure 3 The third flowchart illustrates the digital key location identification method provided in this application embodiment;

[0016] Figure 4A This is one of the scenario diagrams illustrating the digital key location identification method provided in the embodiments of this application;

[0017] Figure 4B A second scenario illustration of the digital key location recognition method provided in this application embodiment;

[0018] Figure 5 The fourth flowchart illustrates the digital key location identification method provided in this application embodiment;

[0019] Figure 6 The fifth flowchart illustrates the digital key location identification method provided in this application embodiment;

[0020] Figure 7A The third scenario illustration of the digital key location recognition method provided in the embodiments of this application;

[0021] Figure 7B Fourth scenario illustration of the digital key location recognition method provided in this application embodiment;

[0022] Figure 7C Fifth scenario illustration of the digital key location recognition method provided in the embodiments of this application;

[0023] Figure 8 The sixth flowchart illustrates the digital key location identification method provided in this application embodiment;

[0024] Figure 9 The seventh flowchart illustrates the digital key location identification method provided in this application embodiment;

[0025] Figure 10 This is the eighth flowchart illustrating the digital key location identification method provided in this application embodiment;

[0026] Figure 11A A sixth scenario illustration of the digital key location recognition method provided in this application embodiment;

[0027] Figure 11B Seventh scenario illustration of the digital key location recognition method provided in the embodiments of this application;

[0028] Figure 12 The ninth flowchart illustrates the digital key location identification method provided in this application embodiment;

[0029] Figure 13 Eighth scenario illustration of the digital key location recognition method provided in the embodiments of this application;

[0030] Figure 14 This is a schematic diagram of the structure of a digital key location recognition device provided in an embodiment of this application;

[0031] Figure 15 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0032] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0034] Currently, common digital key location identification methods include Bluetooth-based positioning and UWB-based positioning. Bluetooth-based positioning typically uses Bluetooth communication combined with corresponding algorithms to locate the digital key; however, due to the limitations of Bluetooth technology, high-precision positioning is difficult to achieve. UWB-based positioning, on the other hand, suffers from inaccurate positioning relationships when the digital key is located at the vehicle's edge, as the coverage of UWB anchor points on the vehicle's exterior is affected by the vehicle's shape and materials. This can easily lead to blind spots or excessive overlap with the vehicle's exterior.

[0035] To address the aforementioned issues, this application provides a digital key location recognition method. This method acquires the anchor distance between any two adjacent anchor points out of four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body. Based on the test distance and anchor point distance, the method determines the projected distance of the test distance onto the anchor point plane. Finally, the final position of the digital key is determined based on the projected distance, anchor point distance, and boundary distance. This method avoids the problems of blind spots or excessive overflow outside the vehicle that can occur when directly determining the digital key position based on the projected distance and anchor point distance, thus improving the accuracy of the determined digital key position.

[0036] The digital key location recognition method provided in this application can be implemented using a digital key location recognition device, which can be either hardware or software. When the digital key location recognition device is hardware, it can be various electronic devices with digital key location recognition functionality, including but not limited to in-vehicle devices, smart vehicles, mobile phones, and computers. When the digital key location recognition device is software, it can be installed in the aforementioned electronic devices. It can be implemented as multiple software programs or software modules, or as a single software program or software module; no specific limitations are made here.

[0037] Figure 1 This is a flowchart illustrating the digital key location identification method provided in an embodiment of this application, as shown below. Figure 1 As shown, the digital key location identification method may include the following steps.

[0038] S1. Obtain the anchor distance between any two adjacent anchor points among the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body.

[0039] The anchor points are used to determine the test distance based on the ranging signal between the anchor point and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner or outer boundary of the vehicle body. Furthermore, in the quadrilateral formed by the four anchor points, two pairs of opposite sides are parallel.

[0040] In some embodiments, the anchor point in this application can be a UWB anchor point, which can send a ranging signal to the digital key so that the digital key position identification device can determine the test distance based on the ranging signal.

[0041] The four anchor points on the vehicle are pre-set by relevant personnel, and the anchor points are typically positioned with two at the front and the other two at the rear. For example, the anchor points at the front could be located below the headlights on either side of the license plate, and the anchor points at the rear could be located below the taillights on either side of the license plate. Of course, this application does not limit the specific location of the anchor points.

[0042] The inner and outer boundaries of a vehicle body refer to the boundaries that distinguish the interior from the exterior of the vehicle. For example, at the door position, the inner and outer boundaries of the vehicle body can be the closed door.

[0043] First, obtain the distance between any two adjacent anchor points out of the four anchor points on the vehicle.

[0044] In some embodiments, the method for obtaining the anchor distance between any two adjacent anchor points among the four anchor points on the vehicle may be to obtain the anchor coordinates of the four anchor points on the vehicle and determine the anchor distance between any two adjacent anchor points based on the anchor coordinates.

[0045] Next, obtain the test distance between each anchor point and the digital key.

[0046] The distance measurement signal is sent to the digital key through the anchor point. After receiving the distance measurement signal, the digital key (which also has an anchor point) returns a response signal. The digital key position identification device calculates the test distance between the anchor point and the digital key based on the time difference between the time the distance measurement signal is sent and the time the response signal is received.

[0047] Finally, the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body is obtained. This boundary distance is measured by relevant personnel after the anchor points are set, taking into account the distance between the anchor points and the inner and outer boundaries of the vehicle body.

[0048] S2. Based on the test distance and anchor point distance, determine the projected distance of the test distance onto the anchor point plane.

[0049] In some embodiments, such as Figure 2 As shown, the method for determining the projected distance of the test distance on the anchor point plane based on the test distance and the anchor point distance includes the following steps.

[0050] S21. Determine the height distance between the digital key and the digital key projection based on the anchor point distance and the test distance.

[0051] Among them, digital key projection is the projection of the digital key onto the anchor point plane.

[0052] In some embodiments, such as Figure 3 As shown, the method for determining the height distance between the digital key and the digital key projection based on the anchor point distance and the test distance includes the following steps.

[0053] S211. Determine the first height based on the first anchor point distance, the first test distance, and the second test distance.

[0054] The first anchor point distance is the anchor point distance between the first anchor point and the second anchor point; the first test distance is the test distance between the first anchor point and the digital key; the second test distance is the test distance between the second anchor point and the digital key; the first anchor point and the second anchor point are both anchor points among the four anchor points on the vehicle, and the first anchor point and the second anchor point are adjacent; the first height is the height of the triangle formed by the first anchor point, the second anchor point, and the digital key.

[0055] For example, in such Figure 4A The scenario shown includes a digital key X, a digital key projection X', and four anchor points: anchor point A, anchor point B, anchor point C, and anchor point D. The distance AB between the first anchor point and the second anchor point B is the anchor point distance between anchor point A and anchor point B. The first test distance XA is the test distance between anchor point A and digital key X. The second test distance XB is the test distance between anchor point B and digital key X. The first height XE is the height of the triangle (denoted as △ABX) formed by anchor point A, anchor point B, and digital key X.

[0056] In some embodiments, determining the first height based on the first anchor point distance, the first test distance, and the second test distance includes the following steps.

[0057] S2111. Based on the distance to the first anchor point, the first test distance, and the second test distance, determine the first area of ​​the triangle formed by the first anchor point, the second anchor point, and the digital key using Heron's formula.

[0058] For example, in such Figure 4A In the scenario shown in 4B, the three sides of △ABX are the distance from the first anchor point AB, the first test distance XA, and the second test distance XB, respectively. Therefore, according to Heron's formula, the area of ​​△ABX (i.e., the first area) is: ,in, = (AB + XA + XB) ÷ 2, The first area is represented by AB, the first anchor point distance is represented by XA, the first test distance is represented by XB, and the second test distance is represented by XB.

[0059] S2112. Determine the first height based on the first area and the distance to the first anchor point.

[0060] For example, in such Figure 4A In the scenario shown in 4B, the distance from the first anchor point of △ABX to AB is taken as the base, and the height of △ABX is XE (i.e., the first height). The area of ​​△ABX can also be expressed as: First area = base × height ÷ 2, that is... ,but .in, The first area is represented by AB, the first anchor point distance is represented by XE, and the first height is represented by XE.

[0061] S212. Determine the second height based on the distance to the second anchor point, the third test distance, and the fourth test distance.

[0062] The second anchor point distance is the anchor point distance between the third and fourth anchor points; the third test distance is the test distance between the third anchor point and the digital key; the fourth test distance is the test distance between the fourth anchor point and the digital key; the third and fourth anchor points are the four anchor points on the vehicle that are different from the first and second anchor points, and the third and fourth anchor points are adjacent to each other; the second height is the height of the triangle formed by the third anchor point, the fourth anchor point, and the digital key.

[0063] For example, in such Figure 4A In the scenario shown in 4B, there is a digital key X, a digital key projection X', and four anchor points: first anchor point A, second anchor point B, third anchor point C, and fourth anchor point D. The distance CD from the second anchor point is the anchor point distance between the third anchor point C and the fourth anchor point D. The third test distance XC is the test distance between the third anchor point C and the digital key X. The fourth test distance XD is the test distance between the second anchor point D and the digital key X. The second height XF is the height of the triangle (denoted as △CDX) formed by the third anchor point C, the fourth anchor point D, and the digital key X.

[0064] In some embodiments, determining the second height based on the second anchor point distance, the third test distance, and the fourth test distance includes the following steps.

[0065] S2121. Based on the distance to the second anchor point, the third test distance, and the fourth test distance, determine the second area of ​​the triangle formed by the third anchor point, the fourth anchor point, and the digital key using Heron's formula.

[0066] For example, in such Figure 4A In the scenario shown in 4B, the three sides of △CDX are the distance from the second anchor point CD, the third test distance XC, and the fourth test distance XD, respectively. Therefore, according to Heron's formula, the area of ​​△CDX (i.e., the second area) is: ,in, = (CD + XC + XD) ÷ 2, The second area is represented by CD, the second anchor point distance is represented by XC, the third test distance is represented by XD, and the fourth test distance is represented by XD.

[0067] S2122. Determine the second height based on the second area and the distance between the second anchor point.

[0068] For example, in such Figure 4A In the scenario shown in 4B, taking the distance from the second anchor point CD in △CDX as the base, and the height of △CDX as XF (i.e., the second height), the area of ​​△CDX can also be expressed as: Second area = Base × Height ÷ 2, that is... ,but .in, The second area is represented by CD, the second anchor point distance is represented by XF, and the second height is represented by XF.

[0069] S213. Determine the height distance between the digital key and the digital key projection based on the first height, the second height, and the distance to the third anchor point.

[0070] The distance to the third anchor point is the distance between the first and third anchor points, or the distance between the second and fourth anchor points.

[0071] For example, in such Figure 4A In the scenario shown in 4B, within the triangle formed by the first height XE, the second height XF, and EF, since the two pairs of opposite sides of the quadrilateral formed by the four anchor points in this application are parallel, the length of EF, the anchor distance AC between the first anchor point A and the third anchor point C, and the anchor distance BD between the second anchor point B and the fourth anchor point D are all equal. X' is the projection of the digital key onto the ABCD plane; therefore, XX' is perpendicular to the ABCD plane, meaning XX' is the height corresponding to the base side EF of △XEF.

[0072] Thus, we can use the formula: Determine the height distance XX' between the digital key and its projection, where, AC=BD, = (XE + XF + EF) ÷ 2, XE represents the area of ​​△XEF, XF represents the first height, AC represents the anchor distance between the first anchor point A and the third anchor point C, BD represents the anchor distance between the second anchor point B and the fourth anchor point D, and XX' represents the height distance between the digital key and the digital key projection.

[0073] S22. Determine the projected distance of the test distance on the anchor point plane based on the height distance and the test distance.

[0074] For example, in such Figure 4AIn the scenario shown in 4B, the projected distance of the test distance XA of the first anchor point A onto the anchor point plane is X'A; the projected distance of the test distance XB of the second anchor point B onto the anchor point plane is X'B; the projected distance of the test distance XC of the third anchor point C onto the anchor point plane is X'C; and the projected distance of the test distance XD of the fourth anchor point D onto the anchor point plane is X'D. Since XX' is perpendicular to the ABCD plane, △XX'A, △XX'B, △XX'C, and △XX'D are all right triangles.

[0075] Thus, the test distance, the projected distance on the anchor point plane, can be determined according to the following formula: , , , Where X'A represents the projected distance of the test distance XA of the first anchor point A onto the anchor point plane, X'B represents the projected distance of the test distance XB of the second anchor point B onto the anchor point plane, X'C represents the projected distance of the test distance XC of the third anchor point C onto the anchor point plane, and X'D represents the projected distance of the test distance XD of the fourth anchor point D onto the anchor point plane; XA represents the test distance of the first anchor point A, XB represents the test distance of the second anchor point B, XC represents the test distance of the third anchor point C, and XD represents the test distance of the fourth anchor point D; XX' represents the height distance between the digital key and the digital key projection.

[0076] In the above scheme, the first height is determined based on the first anchor point distance, the first test distance, and the second test distance. Then, the second height is determined based on the second anchor point distance, the third test distance, and the fourth test distance. Next, the height distance between the digital key and its projection is determined based on the first height, the second height, and the third anchor point distance. Finally, the projection distance of the test distance on the anchor point plane is determined based on the height distance and the test distance. This method allows for direct calculation of the projection distance on the anchor point plane using the triangle area formula, avoiding the need for specialized equipment to measure the projection distance and saving resources.

[0077] In some embodiments, such as Figure 5 As shown, prior to step S2, the digital key location identification method further includes the following steps:

[0078] S11. When the first distance, the second distance, and the anchor point distance cannot form a triangle, obtain the first number of adjustments.

[0079] Specifically, when the first distance is the first test distance, the second distance is the second test distance, and the anchor point distance is the first anchor point distance; when the first distance is the third test distance, the second distance is the fourth test distance, and the anchor point distance is the second anchor point distance.

[0080] In a triangle, the sum of any two sides must be greater than the third side, and the difference between any two sides must be less than the third side to form a triangle. Therefore, if the sum of any two sides is less than or equal to the third side, or if the difference between any two sides is greater than or equal to the third side, the three sides cannot form a triangle.

[0081] Therefore, a triangle cannot be formed if the first distance, the second distance, and the anchor point distance satisfy any of the following conditions.

[0082] The conditions include: the sum of the first distance and the second distance is less than or equal to the anchor point distance; the difference between the first distance and the second distance is greater than or equal to the anchor point distance; the sum of the first distance and the anchor point distance is less than or equal to the second distance; the difference between the first distance and the anchor point distance is greater than or equal to the second distance; the sum of the second distance and the anchor point distance is less than or equal to the first distance; and the difference between the second distance and the anchor point distance is greater than or equal to the first distance.

[0083] S12. When the first adjustment count is less than or equal to the first threshold, trim the anchor point distance according to the preset step size and return to step S11.

[0084] Here, both the first threshold and the preset step size are preset, for example, default values, or values ​​set by relevant personnel according to actual conditions. For example, the first threshold is 30 times, and the preset step size is 1 centimeter (cm).

[0085] S13. If the number of adjustments exceeds the first threshold, return invalid.

[0086] In the above scheme, the anchor point distance can be adjusted when the lengths of the three sides of the triangle do not meet the conditions for forming a triangle, and the adjustment stops when the first number of adjustments exceeds a first threshold. This avoids the situation where the first distance, the second distance, and the anchor point distance cannot form a triangle, thus preventing the digital key location from being determined and ensuring that the digital key location recognition method can be executed correctly.

[0087] S3. Determine the final location of the digital key based on the projection distance, anchor point distance, and boundary distance.

[0088] The final location is either inside or outside the carriage.

[0089] In some embodiments, such as Figure 6 As shown, the method for determining the final location of a digital key based on projection distance, anchor point distance, and boundary distance includes the following steps.

[0090] S31. Determine the intersection distance between the intersection point and the first target anchor point based on the target anchor point distance, the first projection distance, and the second projection distance.

[0091] The target anchor point distance is the anchor point distance between the first target anchor point and the second target anchor point; the first projection distance is the projection distance between the first target anchor point and the digital key projection; the second projection distance is the projection distance between the second target anchor point and the digital key projection; both the first and second target anchor points are anchor points among the four anchor points on the vehicle, and the first and second target anchor points are adjacent; the digital key projection is the projection of the digital key on the anchor point plane; the intersection point is the intersection point of the digital key projection and the straight line containing the first target anchor point, and the straight line containing the inner and outer boundaries of the vehicle body.

[0092] For example, in such Figure 7A and 7B In any of the scenarios shown, including the digital key projection X', the vehicle's inner and outer boundaries MQ, the first target anchor point B, the second target anchor point A, the third target anchor point C, the intersection point X' of the straight line containing the digital key projection X' and the first target anchor point B, and the straight line containing the vehicle's inner and outer boundaries MQ, then the target anchor point distance AB is the anchor point distance between the first target anchor point B and the second target anchor point A; the first projection distance X'B is the projection distance between the first target anchor point B and the digital key projection X'; and the second projection distance X'A is the projection distance between the second target anchor point A and the digital key projection X'.

[0093] In some embodiments, such as Figure 8 As shown, the method for determining the intersection distance between the intersection point and the first target anchor point based on the target anchor point distance, the first projection distance, and the second projection distance includes the following steps.

[0094] S311. Based on the target anchor point distance, the first projection distance, and the second projection distance, determine the third area of ​​the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection using Heron's formula.

[0095] The first projection distance is greater than the second projection distance.

[0096] For example, in such Figure 7A and 7B In any of the scenarios shown, the three sides of the triangle formed by the first target anchor point B, the second target anchor point A, and the digital key projection X' are the target anchor point distance AB, the first projection distance X'B, and the second projection distance X'A, respectively. Thus, using Heron's formula, the area of ​​△ABX' (i.e., the third area) can be determined as: , among which, among which, = (AB + X'B + X'A) ÷ 2, The third area is represented by AB, the target anchor point distance is represented by X'B, the first projection distance is represented by X'A, and the second projection distance is represented by X'A.

[0097] S312. Determine the sine value of the target angle based on the third area, the target anchor point distance, and the first projection distance.

[0098] The target angle is the angle corresponding to the second projection distance in the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection.

[0099] For example, in such Figure 7A and 7B In any of the scenarios shown, the area of ​​△ABX can be determined by... To calculate, where, The third area is represented by AB, the target anchor point distance is represented by AB, and the first projected distance is represented by X'B. Let be the angle between the target anchor point distance AB and the first projected distance X'B. Thus, .

[0100] S313. Determine the intersection distance between the intersection point and the first target anchor point based on the sine value, the target anchor point distance, and the first boundary distance.

[0101] The first boundary distance is the boundary distance between the second target anchor point and the inner and outer boundaries of the vehicle body.

[0102] For example, in such Figure 7A and 7B In any of the scenarios shown, the sine of the angle between the target anchor point distance AB and the first projection distance X'B is the value calculated in step S312. The target anchor point distance AB is the anchor point distance between the first target anchor point B and the second target anchor point A, and the first boundary distance AQ is the boundary distance between the second target anchor point A and the inner and outer boundaries MQ of the vehicle body. Since the extension of the inner and outer boundaries MQ of the vehicle body is perpendicular to the target anchor point distance AB, △X”QB is a right triangle, which can be determined using the formula... = = =1- Determine the intersection distance X”B between the intersection point X” and the first target anchor point B. Wherein, The third area is represented by AB, the target anchor point distance is represented by AB, and the first projected distance is represented by X'B. Let AQ be the angle between the target anchor point distance AB and the first projection distance X'B, where AQ represents the first boundary distance and X'B represents the intersection distance.

[0103] For example, in such Figure 7C In the scenario shown, the sine of the angle between the target anchor point distance AB and the first projection distance X'B is calculated in step S312. The target anchor point distance AB is the anchor point distance between the first target anchor point B and the second target anchor point A. This can be determined using the formula... = = =1- Determine the intersection distance X”B between the intersection point X” and the first target anchor point B. Wherein, The third area is represented by AB, the target anchor point distance is represented by AB, and the first projected distance is represented by X'B. The angle between the target anchor point distance AB and the first projection distance X'B is denoted by X”B, where X”B represents the intersection point distance.

[0104] In the above scheme, firstly, based on the target anchor point distance, the first projection distance, and the second projection distance, the third area of ​​the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection is determined using Heron's formula. Then, based on the third area, the target anchor point distance, and the first projection distance, the sine value of the target angle is determined. Finally, based on the sine value, the target anchor point distance, and the first boundary distance, the intersection distance between the intersection point and the first target anchor point is determined. This method allows for direct calculation of the intersection distance between the intersection point and the first target anchor point using the triangle area formula, avoiding the need for specialized equipment to measure the intersection distance and saving resources.

[0105] S32. When the distance between the intersection points is less than or equal to the first projection distance, determine that the digital key is outside the vehicle.

[0106] Exemplary, exemplary, in such Figure 7A and 7B In the scenario shown, if the intersection distance X”B is less than the first projection distance X'B, then the digital key is determined to be outside the vehicle.

[0107] S33. When the distance between the intersection points is greater than the first projection distance, determine that the digital key is inside the vehicle.

[0108] Exemplary, exemplary, in such Figure 7C In the scenario shown, if the intersection distance X”B is greater than the first projection distance X'B, then the digital key is determined to be inside the vehicle.

[0109] In the above scheme, the anchor distance between any two adjacent anchor points, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body are first obtained. Based on the test distance and anchor point distance, the projected distance of the test distance on the anchor point plane is determined. Then, the final position of the digital key is determined based on the projected distance, anchor point distance, and boundary distance. This method determines the final position of the digital key by considering the boundary distances between the anchor points and the inner and outer boundaries of the vehicle body, thus avoiding the problems of blind spots or excessive overflow outside the vehicle that can lead to inaccurate recognition results when directly determining the digital key position based on the projected distance and anchor point distance. This improves the accuracy of the determined digital key position.

[0110] In some embodiments, such as Figure 9 As shown, prior to step S3, the digital key location identification method further includes the following steps:

[0111] S14. When the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle, obtain the second adjustment count.

[0112] Similarly to step S11, a triangle cannot be formed if the target anchor point distance, the first projection distance, and the second projection distance satisfy any of the following conditions.

[0113] The conditions include: the sum of the target anchor point distance and the first projection distance is less than or equal to the second projection distance; the difference between the target anchor point distance and the first projection distance is greater than or equal to the second projection distance; the sum of the target anchor point distance and the second projection distance is less than or equal to the first projection distance; the difference between the target anchor point distance and the second projection distance is greater than or equal to the first projection distance; the sum of the first projection distance and the second projection distance is less than or equal to the target anchor point distance; the difference between the first projection distance and the second projection distance is greater than or equal to the target anchor point distance.

[0114] S15. When the second adjustment count is less than or equal to the second threshold, adjust the first projection distance or the second projection distance according to the preset rules, and return to step S14.

[0115] The preset rules are as follows: when the first projection distance is greater than the second projection distance, the first projection distance is trimmed according to a preset step size, or the second projection distance is increased according to a preset step size; when the first projection distance is equal to the second projection distance, both the first projection distance and the second projection distance are increased according to a preset step size.

[0116] Both the second threshold and the preset step size are preset, for example, default values, or values ​​set by relevant personnel according to actual conditions. For example, the second threshold might be 30 times, and the preset step size might be 1 centimeter (cm).

[0117] In an optional embodiment, the second threshold is equal to the first threshold.

[0118] S16. If the number of adjustments exceeds the second threshold, return invalid.

[0119] In the above scheme, when the lengths of the three sides of a triangle do not meet the conditions for forming a triangle, the first projection distance or the second projection distance can be adjusted, and the adjustment stops when the second number of adjustments exceeds a second threshold. This avoids the situation where the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle, thus preventing the digital key location from being determined and ensuring that the digital key location recognition method can be executed correctly.

[0120] In some embodiments, such as Figure 10 As shown, prior to step S2, the digital key location identification method further includes the following steps:

[0121] S17. Determine the anchor point corresponding to the minimum test distance as the first preset anchor point.

[0122] For example, in such Figure 11A and 11B In any of the scenarios shown, there is a digital key X and four anchor points: anchor point A, anchor point B, anchor point C, and anchor point D. XA is the test distance between anchor point A and digital key X; XB is the test distance between anchor point B and digital key X; XC is the test distance between anchor point C and digital key X; and XD is the test distance between anchor point A and digital key D. When XA < XB < XC < XD, anchor point A is determined as the first preset anchor point.

[0123] S18. Determine the initial position of the digital key based on the preset test distance, the first preset anchor point distance, and the second preset anchor point distance.

[0124] The preset test distance is the test distance between the first preset anchor point and the digital key. The first preset anchor point distance is the anchor point distance between the first preset anchor point and the second preset anchor point. The second preset anchor point distance is the anchor point distance between the first preset anchor point and the third preset anchor point. The first preset anchor point is adjacent to the first preset anchor point, the first preset anchor point is adjacent to the third preset anchor point, and the second preset anchor point is not adjacent to the third preset anchor point.

[0125] For example, in such Figure 11A and 11BIn any of the scenarios shown, when the first anchor point A is determined as the first preset anchor point, the second anchor point B is the second preset anchor point, the third anchor point C is the third preset anchor point, the preset test distance XA is the test distance between the first preset anchor point A and the digital key X, the first preset anchor point distance AB is the anchor point distance between the first preset anchor point A and the second preset anchor point B, and the second preset anchor point distance AC is the anchor point distance between the first preset anchor point A and the third preset anchor point C. Of course, when determining the second and third preset anchor points, the third anchor point C can also be determined as the second preset anchor point, and the second anchor point B can be determined as the third preset anchor point; this application does not limit this.

[0126] In some embodiments, such as Figure 12 As shown, the method for determining the initial position of a digital key based on a preset test distance, a first preset anchor point distance, and a second preset anchor point distance includes the following steps.

[0127] S181. Determine the preset area based on the first preset anchor point and the preset test distance, and determine the first intersection point and the second intersection point on the preset area.

[0128] The first intersection point is the intersection of the extension line of the line segment containing the first and third preset anchor points and the edge of the preset area; the second intersection point is the intersection of the extension line of the line segment containing the first and second preset anchor points and the edge of the preset area.

[0129] In some embodiments, the method of determining a preset area based on a first preset anchor point and a preset test distance, and determining a first intersection point and a second intersection point on the preset area, can be to draw a circle (preset area) with the first preset anchor point as the center and the preset test distance as the radius, and determine the first intersection point and the second intersection point on the circle.

[0130] Thus, the first intersection point is the intersection of the extension line of the line segment containing the first and third preset anchor points and the circle; the second intersection point is the intersection of the extension line of the line segment containing the first and second preset anchor points and the circle.

[0131] For example, in such Figure 11A and 11B In any of the scenarios shown, when the first anchor point A is the first preset anchor point, the second anchor point B is the second preset anchor point, and the third anchor point C is the third preset anchor point, the preset area is a circular area with the first preset anchor point A as the center and the preset test distance XA as the radius. At this time, the first intersection point O is the intersection of the extension line of the line segment containing the first preset anchor point A and the second preset anchor point B with the circle; the second intersection point P is the intersection of the extension line of the line segment containing the first preset anchor point A and the third preset anchor point C with the circle.

[0132] S182. Determine the first area distance between the first intersection point and the second preset anchor point based on the first preset anchor point distance and the preset test distance.

[0133] For example, in such Figure 11A and 11B In any of the scenarios shown, the preset area is a circular area with the first preset anchor point A as the center and the preset test distance XA as the radius. The first preset anchor point distance AB is the anchor point distance between the first preset anchor point A and the second preset anchor point B. The preset test distance XA is the test distance between the first preset anchor point A and the digital key X. The first area distance OB is the distance between the first intersection point O and the second preset anchor point B. Since XA=OA, △OAB is a right triangle. According to the Pythagorean theorem, the distance OB on the first circle is... Where OB is used to represent the distance to the first region. The distance is used to represent the preset test distance, and AB is used to represent the distance to the first preset anchor point.

[0134] S183. Determine the second area distance between the second intersection point and the third preset anchor point based on the second preset anchor point distance and the preset test distance.

[0135] For example, in such Figure 11A and 11B In any of the scenarios shown, the preset area is a circular area with the first preset anchor point A as the center and the preset test distance XA as the radius. The second preset anchor point distance AC is the anchor point distance between the first preset anchor point A and the third preset anchor point C. The preset test distance XA is the test distance between the first preset anchor point A and the digital key X. The second area distance PC is the distance between the second intersection point P and the third preset anchor point C. Since XA=PA, and △PAC is a right triangle, according to the Pythagorean theorem, the second area distance PC = Where PC represents the distance to the second region, The AC is used to represent the preset test distance, and AC is used to represent the second preset anchor point distance.

[0136] S184. When the distance to the first area is greater than the first preset test distance and the distance to the second area is greater than or equal to the second preset test distance, the initial position of the digital key is determined to be within the anchor point area.

[0137] The first preset test distance is the test distance between the digital key and the second preset anchor point, and the second preset test distance is the test distance between the digital key and the third preset anchor point.

[0138] For example, in such Figure 11AIn the scenario shown, the first preset test distance XB is the test distance between the digital key X and the second preset anchor point B, and the second preset test distance XC is the test distance between the digital key X and the third preset anchor point C. Thus, when the first region distance OB > the first preset test distance XB, and the second region distance PC ≥ the second preset test distance XC, the initial position of the digital key is determined to be within the anchor point region.

[0139] S185. When the distance to the first area is less than or equal to the first preset test distance, or when the distance to the second area is less than the second preset test distance, the initial position of the digital key is determined to be outside the anchor point area.

[0140] For example, in such Figure 11B In the scenario shown, when the distance from the first region to OB is less than or equal to the first preset test distance XB, and the distance from the second region to PC is less than or equal to the second preset test distance XC, the initial position of the digital key is determined to be outside the anchor point region.

[0141] In the above scheme, a preset area is first determined based on the first preset anchor point and the preset test distance, and then a first intersection point and a second intersection point are determined within the preset area. Next, based on the first preset anchor point distance and the preset test distance, a first area distance is determined between the first intersection point and the second preset anchor point, and a second area distance is determined between the second intersection point and the third preset anchor point, based on the second preset anchor point distance and the preset test distance. Finally, when the first area distance is greater than the first preset test distance and the second area distance is greater than or equal to the second preset test distance, the initial position of the digital key is determined to be within the anchor point area; when the first area distance is less than or equal to the first preset test distance, or the second area distance is less than the second preset test distance, the initial position of the digital key is determined to be outside the anchor point area. This method allows for the determination of the initial position of the digital key based on the preset test distance, the first preset anchor point distance, and the second preset anchor point distance, facilitating the selection of appropriate methods when subsequently determining the projection distance of the test distance onto the anchor point plane and the final position of the digital key, thus improving the efficiency of determining the digital key's position.

[0142] In some embodiments, the digital key location identification method further includes:

[0143] When the distance to the first region is less than or equal to the first preset test distance, and the distance to the second region is less than the second preset test distance, the initial position of the digital key is determined as the first target region; the first target region is the region consisting of the first extension line and the second extension line, excluding the anchor point region; the first extension line is the extension line of the straight line containing the second preset anchor point and the first preset anchor point, and the second extension line is the extension line of the straight line containing the third preset anchor point and the first preset anchor point.

[0144] When the distance to the first region is greater than the first preset test distance and the distance to the second region is less than the second preset test distance, the initial position of the digital key is determined as the second target region; the second target region is the region consisting of the second extension line and the first straight line, excluding the anchor point region, and the first straight line is the straight line where the second preset anchor point and the first preset anchor point are located.

[0145] When the distance to the first region is less than or equal to the first preset test distance, and the distance to the second region is greater than or equal to the second preset test distance, the initial position of the digital key is determined as the third target region; the third target region is the region consisting of the first extended line and the second straight line, excluding the anchor point region; the second straight line is the straight line where the third preset anchor point and the first preset anchor point are located.

[0146] When the distance to the first region is greater than the first preset test distance, and the distance to the second region is greater than or equal to the second preset test distance, the initial location of the digital key is determined as the fourth target region; the fourth target region is the region where the anchor point region is located.

[0147] For example, in such Figure 13 In the scenario shown, the first anchor point A is the first preset anchor point, the second anchor point B is the second preset anchor point, and the third anchor point C is the third preset anchor point.

[0148] Thus, when the distance from the first region to OB is less than or equal to the first preset test distance XB, and the distance from the second region to PC is less than the second preset test distance XC, the initial position of the digital key is determined as the first target region 1; the first target region is the region consisting of the first extension line AP and the second extension line AO, excluding the anchor point regions ABCD; the first extension line AP is the extension of the straight line containing the second preset anchor point B and the first preset anchor point A, and the second extension line AO ​​is the extension of the straight line containing the third preset anchor point C and the first preset anchor point A.

[0149] When the distance from the first region to OB is greater than the first preset test distance XB, and the distance from the second region to PC is less than the second preset test distance XC, the initial position of the digital key is determined to be the second target region 2. The second target region is the region consisting of the second extension line AO ​​and the first straight line AB, excluding the anchor point region ABCD. The first straight line AB is the straight line where the second preset anchor point B and the first preset anchor point A are located.

[0150] When the distance from the first region to OB is less than or equal to the first preset test distance XB, and the distance from the second region to PC is greater than or equal to the second preset test distance XC, the initial position of the digital key is determined to be the third target region 3; the third target region 3 is: the region consisting of the first extension line AP and the second straight line CA, excluding the anchor point region ABCD; the second straight line AC is the straight line where the third preset anchor point C and the first preset anchor point A are located.

[0151] When the distance from the first region to OB is greater than the first preset test distance XB, and the distance from the second region to PC is greater than or equal to the second preset test distance XC, the initial position of the digital key is determined to be the fourth target region 4; the fourth target region 4 is the region where the anchor point region ABCD is located.

[0152] In the above scheme, the specific target area of ​​the initial position of the digital key can be determined based on the first area distance, the first preset test distance, the second area distance, and the second preset test distance. This allows for the selection of an appropriate method when determining the projection distance of the test distance on the anchor point plane and the final position of the digital key, thereby improving the efficiency of determining the position of the digital key.

[0153] In some embodiments, in accordance with Figures 10-13 After determining the initial position of the digital key, when determining the projected distance of the test distance onto the anchor point plane based on the test distance and anchor point distance, a suitable calculation method can be selected according to the initial position of the digital key to determine the projected distance of the test distance onto the anchor point plane. For example, when the position of the digital key is in the second target area, a method such as... Figure 4A The corresponding method determines the projected distance of the test distance on the anchor point plane; when the digital key is located in the fourth target area, it can be used as follows: Figure 4B The corresponding method determines the projected distance of the test distance on the anchor point plane.

[0154] In the above scheme, when determining the projected distance of the test distance on the anchor point plane, an appropriate determination method can be selected based on the initial position of the digital key, thereby improving the efficiency of determining the position of the digital key.

[0155] In some embodiments, in accordance with Figures 10-13 After determining the initial location of the digital key, when determining the final location of the digital key based on the projection distance, the anchor point distance, and the boundary distance, a suitable calculation method can be selected based on the initial location of the digital key to determine the final location. For example, when the location of the digital key is in the first target area, a calculation method such as... Figure 7A The corresponding method determines the final location of the digital key; when the digital key is located in the third target area, it can be used as follows: Figure 7C The corresponding method determines the final location of the digital key.

[0156] In the above scheme, when determining the final location of the digital key, an appropriate determination method can be selected based on the initial location of the digital key, thereby improving the efficiency of determining the location of the digital key.

[0157] This application embodiment can divide the digital key location recognition device into functional modules according to the above method example. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing unit. The integrated modules can be implemented in hardware or as software functional modules. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0158] like Figure 14 The diagram shown is a structural schematic of a digital key location identification device provided in an embodiment of this application. The digital key location identification device includes an acquisition module 1401, a determination module 1402, and a processing module 1403.

[0159] The acquisition module 1401 is used to acquire the anchor point distance between any two adjacent anchor points among the four anchor points on the vehicle, the test distance between each anchor point and the digital key, and the boundary distance between each anchor point and the inner and outer boundaries of the vehicle body; wherein, the anchor point is used to determine the test distance based on the distance measurement signal between it and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is the distance between the anchor point and the nearest inner and outer boundaries of the vehicle body; the determination module 1402 is used to determine the projected distance of the test distance on the anchor point plane based on the test distance and the anchor point distance; the processing module 1403 is used to determine the final position of the digital key based on the projected distance, the anchor point distance, and the boundary distance; the final position is either inside or outside the vehicle body.

[0160] In some embodiments, the determining module 1402 is specifically used to: determine the height distance between the digital key and the digital key projection based on the anchor point distance and the test distance; the digital key projection is the projection of the digital key on the anchor point plane; and determine the projection distance of the test distance on the anchor point plane based on the height distance and the test distance.

[0161] In some embodiments, the determining module 1402 is specifically configured to: determine a first height based on a first anchor point distance, a first test distance, and a second test distance; the first anchor point distance is the anchor point distance between a first anchor point and a second anchor point; the first test distance is the test distance between a first anchor point and a digital key; the second test distance is the test distance between a second anchor point and a digital key; both the first and second anchor points are anchor points among four anchor points on the vehicle, and the first and second anchor points are adjacent; the first height is the height of the triangle formed by the first anchor point, the second anchor point, and the digital key; determine a second height based on a second anchor point distance, a third test distance, and a fourth test distance; the second anchor point distance... The distance is the anchor point distance between the third and fourth anchor points; the third test distance is the test distance between the third anchor point and the digital key; the fourth test distance is the test distance between the fourth anchor point and the digital key; the third and fourth anchor points are the anchor points on the vehicle that are different from the first and second anchor points, and the third and fourth anchor points are adjacent; the second height is the height of the triangle formed by the third anchor point, the fourth anchor point, and the digital key; the height distance between the digital key and the digital key projection is determined based on the first height, the second height, and the distance between the third anchor points; the third anchor point distance is the distance between the first and third anchor points, or the distance between the second and fourth anchor points.

[0162] In some embodiments, the determining module 1402 is specifically configured to: determine the first area of ​​the triangle formed by the first anchor point, the second anchor point, and the digital key using Heron's formula based on the first anchor point distance, the first test distance, and the second test distance; determine the first height based on the first area and the first anchor point distance; the determining module 1402 is specifically configured to: determine the second area of ​​the triangle formed by the third anchor point, the fourth anchor point, and the digital key using Heron's formula based on the second anchor point distance, the third test distance, and the fourth test distance; and determine the second height based on the second area and the second anchor point distance.

[0163] In some embodiments, the acquisition module 1401 is further configured to acquire a first adjustment count when the first distance, the second distance, and the anchor point distance cannot form a triangle; wherein, when the first distance is the first test distance, the second distance is the second test distance, and the anchor point distance is the first anchor point distance; when the first distance is the third test distance, the second distance is the fourth test distance, and the anchor point distance is the second anchor point distance; the processing module 1403 is further configured to trim the anchor point distance according to a preset step size when the first adjustment count is less than or equal to the first threshold; the processing module 1403 is further configured to return invalid when the first adjustment count is greater than the first threshold.

[0164] In some embodiments, the processing module 1403 is specifically configured to: determine the intersection distance between the intersection point and the first target anchor point based on the target anchor point distance, the first projection distance, and the second projection distance; the target anchor point distance is the anchor point distance between the first target anchor point and the second target anchor point; the first projection distance is the projection distance between the first target anchor point and the digital key projection; the second projection distance is the projection distance between the second target anchor point and the digital key projection; both the first target anchor point and the second target anchor point are anchor points among the four anchor points on the vehicle, and the first target anchor point and the second target anchor point are adjacent; the digital key projection is the projection of the digital key on the anchor point plane; the intersection point is the intersection of the digital key projection and the straight line containing the first target anchor point, and the straight line containing the inner and outer boundaries of the vehicle body; when the intersection point distance is less than or equal to the first projection distance, determine that the digital key is outside the vehicle compartment; when the intersection point distance is greater than the first projection distance, determine that the digital key is inside the vehicle compartment.

[0165] In some embodiments, the processing module 1403 is specifically configured to: determine the third area of ​​the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection using Heron's formula based on the target anchor point distance, the first projection distance, and the second projection distance; the first projection distance is greater than the second projection distance; determine the sine value of the target angle based on the third area, the target anchor point distance, and the first projection distance; the target angle is the angle corresponding to the second projection distance in the triangle formed by the first target anchor point, the second target anchor point, and the digital key projection; determine the intersection distance between the intersection point and the first target anchor point based on the sine value, the target anchor point distance, and the first boundary distance; the first boundary distance is the boundary distance between the second target anchor point and the inner and outer boundaries of the vehicle body.

[0166] In some embodiments, the acquisition module 1401 is further configured to acquire a second adjustment count when the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle; the processing module 1403 is further configured to adjust the first projection distance or the second projection distance according to a preset rule when the second adjustment count is less than or equal to a second threshold; wherein the preset rule is: when the first projection distance is greater than the second projection distance, the first projection distance is trimmed according to a preset step size, or the second projection distance is increased according to a preset step size; when the first projection distance is equal to the second projection distance, the first projection distance and the second projection distance are increased simultaneously according to a preset step size; the processing module 1403 is further configured to return invalid when the second adjustment count is greater than the second threshold.

[0167] In some embodiments, the determining module 1402 is further configured to: determine the anchor point corresponding to the minimum test distance as the first preset anchor point; determine the preliminary position of the digital key according to the preset test distance, the first preset anchor point distance, and the second preset anchor point distance; the preset test distance is the test distance between the first preset anchor point and the digital key, the first preset anchor point distance is the anchor point distance between the first preset anchor point and the second preset anchor point, the second preset anchor point distance is the anchor point distance between the first preset anchor point and the third preset anchor point, and the first preset anchor point is adjacent to the first preset anchor point, the first preset anchor point is adjacent to the third preset anchor point, and the second preset anchor point is not adjacent to the third preset anchor point.

[0168] In some embodiments, the determining module 1402 is specifically used to: determine a preset area based on the first preset anchor point and the preset test distance, and determine a first intersection point and a second intersection point on the preset area; the first intersection point is the intersection of the extension line of the line segment where the first preset anchor point and the third preset anchor point are located and the preset area; the second intersection point is the intersection of the extension line of the line segment where the first preset anchor point and the second preset anchor point are located and the preset area. Based on the first preset anchor point distance and the preset test distance, a first area distance between the first intersection point and the second preset anchor point is determined; based on the second preset anchor point distance and the preset test distance, a second area distance between the second intersection point and the third preset anchor point is determined; when the first area distance is greater than the first preset test distance and the second area distance is greater than or equal to the second preset test distance, the initial position of the digital key is determined to be within the anchor point area; the first preset test distance is the test distance between the digital key and the second preset anchor point, and the second preset test distance is the test distance between the digital key and the third preset anchor point; when the first area distance is less than or equal to the first preset test distance, or the second area distance is less than the second preset test distance, the initial position of the digital key is determined to be outside the anchor point area.

[0169] In some embodiments, the acquisition module 1401 is specifically used to acquire the anchor coordinates of four anchor points on the vehicle, and determine the anchor distance between every two adjacent anchor points based on the anchor coordinates.

[0170] The digital key location recognition device provided in this embodiment can execute the digital key location recognition method provided in the above method embodiment. Its implementation principle and technical effect are similar to the above method, and will not be repeated here.

[0171] Figure 15 This is an electronic device illustrated according to an exemplary embodiment. The electronic device may include a processor 1502, which is used to execute application code to implement the digital key location identification method of this application.

[0172] The processor 1502 may be a central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application.

[0173] like Figure 15 As shown, the electronic device may further include a memory 1503. The memory 1503 stores application code that executes the scheme of this application, and its execution is controlled by the processor 1502.

[0174] Memory 1503 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory 1503 may exist independently and be connected to processor 1502 via bus 1504. Memory 1503 may also be integrated with processor 1502.

[0175] like Figure 15 As shown, the electronic device may also include a communication interface 1501, wherein the communication interface 1501, the processor 1502, and the memory 1503 may be coupled to each other, for example, through a bus 1504. The communication interface 1501 is used for information interaction with other devices, for example, supporting information interaction between the electronic device and other devices.

[0176] It should be pointed out that, Figure 15 The device structure shown does not constitute a limitation on the electronic device, except... Figure 15In addition to the components shown, the electronic device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. Furthermore, the electronic device provided in this embodiment can execute the digital key location recognition method provided in the above-described method embodiments; its implementation principle and technical effects are similar to the above methods, and will not be repeated here.

[0177] This application provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, it implements each process of the digital key location identification method in the above-described method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0178] The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0179] This application provides a computer program product that stores a computer program. When the computer program is executed by a processor, it implements the various processes of the digital key location identification method in the above-described method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0180] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0181] In this application, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0182] In this application, memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0183] In this application, computer-readable media includes both permanent and non-permanent, removable and non-removable storage media. Storage media can implement information storage using any method or technology; the information can be computer-readable instructions, data structures, program modules, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data and carrier waves.

[0184] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0185] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A digital key position recognition method characterized by, The method comprises: acquiring an anchor point distance between each two adjacent anchor points of four anchor points on a vehicle, a test distance between each anchor point and a digital key, and a boundary distance between each anchor point and an inner or outer boundary of a vehicle body; the anchor points are used to determine the test distance according to a ranging signal between the anchor points and the digital key; the four anchor points on the vehicle form an anchor point plane; the boundary distance is a distance between an anchor point and the nearest inner or outer boundary of the vehicle body; determining a projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance; determining a final position of the digital key according to the projection distance, the anchor point distance, and the boundary distance; the final position is inside or outside the vehicle cabin.

2. The digital key position recognition method according to claim 1, characterized by, The method of determining the projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance comprises: determining a height distance between the digital key and a digital key projection according to the anchor point distance and the test distance; the digital key projection is a projection of the digital key on the anchor point plane; determining the projection distance of the test distance on the anchor point plane according to the height distance and the test distance.

3. The digital key position recognition method according to claim 2, characterized by, The method of determining the height distance between the digital key and the digital key projection according to the anchor point distance and the test distance comprises: determining a first height according to a first anchor point distance, a first test distance, and a second test distance; the first anchor point distance is an anchor point distance between a first anchor point and a second anchor point; the first test distance is a test distance between the first anchor point and the digital key; the second test distance is a test distance between the second anchor point and the digital key; the first anchor point and the second anchor point are anchor points of the four anchor points on the vehicle, and the first anchor point and the second anchor point are adjacent; the first height is a height of a triangle formed by the first anchor point, the second anchor point, and the digital key; determining a second height according to a second anchor point distance, a third test distance, and a fourth test distance; the second anchor point distance is an anchor point distance between a third anchor point and a fourth anchor point; the third test distance is a test distance between the third anchor point and the digital key; the fourth test distance is a test distance between the fourth anchor point and the digital key; the third anchor point and the fourth anchor point are anchor points different from the first anchor point and the second anchor point of the four anchor points on the vehicle, and the third anchor point and the fourth anchor point are adjacent; the second height is a height of a triangle formed by the third anchor point, the fourth anchor point, and the digital key; determining the height distance between the digital key and the digital key projection according to the first height, the second height, and a third anchor point distance; the third anchor point distance is a distance between the first anchor point and the third anchor point, or a distance between the second anchor point and the fourth anchor point.

4. The method of claim 3, wherein the method of determining the first height according to the first anchor point distance, the first test distance, and the second test distance comprises: determine a first area of a triangle formed by the first anchor point, the second anchor point and the digital key according to the first anchor point distance, the first test distance and the second test distance by using a Heron formula; determine the first height according to the first area and the first anchor point distance; the determining the second height according to the second anchor point distance, the third test distance and the fourth test distance comprises: determine a second area of a triangle formed by the third anchor point, the fourth anchor point and the digital key according to the second anchor point distance, the third test distance and the fourth test distance by using a Heron formula; determine the second height according to the second area and the second anchor point distance.

5. The digital key position recognition method according to claim 4, characterized by, Before the determining the first area of the triangle formed by the first anchor point, the second anchor point and the digital key according to the first anchor point distance, the first test distance and the second test distance by using the Heron formula, the method further comprises: when the first distance, the second distance and the anchor point distance cannot form a triangle, obtain a first adjustment number; wherein the first distance is the first test distance, the second distance is the second test distance and the anchor point distance is the first anchor point distance; or the first distance is the third test distance, the second distance is the fourth test distance and the anchor point distance is the second anchor point distance; when the first adjustment number is less than or equal to a first threshold, clip the anchor point distance according to a preset step length; when the first adjustment number is greater than the first threshold, return invalid.

6. The digital key position recognition method according to any one of claims 1 to 5, characterized in that, the determining the final position of the digital key according to the projection distance, the anchor point distance and the boundary distance comprises: determine an intersection point distance between an intersection point and a first target anchor point according to a target anchor point distance, a first projection distance and a second projection distance; the target anchor point distance is an anchor point distance between the first target anchor point and the second target anchor point; the first projection distance is a projection distance between the first target anchor point and the digital key projection; the second projection distance is a projection distance between the second target anchor point and the digital key projection; the first target anchor point and the second target anchor point are both anchor points in the four anchor points on the vehicle, and the first target anchor point and the second target anchor point are adjacent; the digital key projection is a projection of the digital key on the anchor point plane; the intersection point is an intersection point of the straight line where the first target anchor point is located and the straight line where the vehicle body inside and outside boundary is located; when the intersection point distance is less than or equal to the first projection distance, determine that the digital key is outside the vehicle cabin; when the intersection point distance is greater than the first projection distance, determine that the digital key is inside the vehicle cabin.

7. The digital key position recognition method according to claim 6, characterized by, the determining the intersection point distance between the intersection point and the first target anchor point according to the target anchor point distance, the first projection distance and the second projection distance comprises: determine a third area of a triangle formed by the first target anchor point, the second target anchor point and the digital key projection according to the target anchor point distance, the first projection distance and the second projection distance by using a Heron formula; the first projection distance is greater than the second projection distance; determine a sine value of a target angle according to the third area, the target anchor point distance, and the first projection distance; the target angle is an angle corresponding to the second projection distance in a triangle formed by the first target anchor point, the second target anchor point, and the digital key projection; determine an intersection point distance between the intersection point and the first target anchor point according to the sine value, the target anchor point distance, and a first boundary distance; the first boundary distance is a boundary distance between the second target anchor point and an inner-outer boundary of the vehicle body.

8. The digital key position recognition method according to claim 7, characterized by, Before determining a third area of a triangle formed by the first target anchor point, the second target anchor point, and the digital key projection according to the target anchor point distance, the first projection distance, and the second projection distance by using the Heron formula, the method further comprises: when the target anchor point distance, the first projection distance, and the second projection distance cannot form a triangle, obtain a second adjustment number; when the second adjustment number is less than or equal to a second threshold value, adjust the first projection distance or the second projection distance according to a preset rule; the preset rule is: when the first projection distance is greater than the second projection distance, clip the first projection distance according to a preset step, or increase the second projection distance according to a preset step; when the first projection distance is equal to the second projection distance, simultaneously increase the first projection distance and the second projection distance according to a preset step; when the second adjustment number is greater than the second threshold value, return to invalid.

9. The digital key position recognition method of claim 1, wherein, Before determining a projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance, the method further comprises: determine a first preset anchor point as an anchor point corresponding to the smallest test distance; determine a preliminary position of the digital key according to a preset test distance, a first preset anchor point distance, and a second preset anchor point distance; the preset test distance is a test distance between the first preset anchor point and the digital key, the first preset anchor point distance is an anchor point distance between the first preset anchor point and the second preset anchor point, the second preset anchor point distance is an anchor point distance between the first preset anchor point and the third preset anchor point, and the first preset anchor point is adjacent to the second preset anchor point, the first preset anchor point is adjacent to the third preset anchor point, and the second preset anchor point is not adjacent to the third preset anchor point.

10. The digital key position recognition method according to claim 9, characterized by, The determination of the preliminary position of the digital key according to the preset test distance, the first preset anchor point distance, and the second preset anchor point distance comprises: determine a preset region according to the first preset anchor point and the preset test distance, and determine a first intersection point and a second intersection point on the preset region; the first intersection point is an intersection point of an extension line of a line segment between the first preset anchor point and the third preset anchor point and an edge of the preset region; the second intersection point is an intersection point of an extension line of a line segment between the first preset anchor point and the second preset anchor point and an edge of the preset region; determine a first region distance between the first intersection point and the second preset anchor point according to the first preset anchor point distance and the preset test distance; and determine a preliminary position of the digital key according to the first region distance and the second preset anchor point distance. determine a second area distance between the second intersection point and the third preset anchor point according to the second preset anchor point distance and the preset test distance; when the first area distance is greater than a first preset test distance and the second area distance is greater than or equal to a second preset test distance, determine that the preliminary position of the digital key is in the anchor point area; the first preset test distance is a test distance between the digital key and the second preset anchor point, and the second preset test distance is a test distance between the digital key and the third preset anchor point; when the first area distance is less than or equal to the first preset test distance or the second area distance is less than the second preset test distance, determine that the preliminary position of the digital key is out of the anchor point area.

11. The digital key position recognition method of claim 1, wherein The obtaining of the anchor point distance between each two adjacent anchor points on the vehicle includes: obtaining anchor point coordinates of the four anchor points on the vehicle, and determining the anchor point distance between each two adjacent anchor points according to the anchor point coordinates.

12. A digital key position recognition apparatus characterized by comprising: The method includes: an obtaining module, configured to obtain an anchor point distance between each two adjacent anchor points among four anchor points on a vehicle, a test distance between each anchor point and a digital key, and a boundary distance between each anchor point and an inner or outer boundary of a vehicle body; wherein the anchor point is configured to determine the test distance according to a ranging signal between the anchor point and the digital key; the four anchor points on the vehicle form an anchor point plane; and the boundary distance is a distance between the anchor point and the nearest inner or outer boundary of the vehicle body; a determining module, configured to determine a projection distance of the test distance on the anchor point plane according to the test distance and the anchor point distance; a processing module, configured to determine a final position of the digital key according to the projection distance, the anchor point distance, and the boundary distance; the final position is in a vehicle cabin or outside the vehicle cabin.

13. An electronic device, comprising: The method includes: a processor, a memory, and a computer program stored on the memory and executable on the processor, and the computer program, when executed by the processor, implements the digital key position identification method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer program is stored on the computer readable storage medium, and when executed by the processor, implements the digital key position identification method according to any one of claims 1 to 11. ​

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