Positioning method, device, equipment, vehicle, medium and program product

Abstract

The invention relates to a positioning method and device, equipment, a vehicle, a medium and a program product in the technical field of electric digital data processing, and the method comprises the steps: a first anchor point responds to the successful communication connection between the first anchor point and a terminal, scans the first signal intensity information of the terminal, and sends a scanning notice, the scanning notification is used for notifying a second anchor point to scan second signal intensity information of the terminal; the second anchor point scans second signal intensity information of the terminal according to the scanning notification; and the first anchor point positions the terminal according to the first signal strength information and the second signal strength information. Therefore, the terminal positioning accuracy of the digital key system can be improved, and meanwhile, the cost of the whole vehicle is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of electronic digital data processing, and in particular to a positioning method, device, equipment, vehicle, medium and program product. Background Art

[0002] Digital keys can realize the terminal's control function over the vehicle through wireless communication technology. For example, the vehicle can be unlocked and locked, started, and the body can be controlled through smartphones and smart wearable devices equipped with digital keys. For digital key systems, accurate terminal positioning is required. Summary of the invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a positioning method, device, vehicle, medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, a positioning method is provided, including: In response to the first anchor point successfully establishing a communication connection with the terminal, scanning first signal strength information of the terminal and sending a scanning notification, where the scanning notification is used to notify the second anchor point to scan second signal strength information of the terminal; The terminal is positioned according to the first signal strength information and the second signal strength information.

[0005] Optionally, the scanning the first signal strength information of the terminal includes: Modulate the frequency with the terminal to obtain channel information of the modulated broadcast channel; Scan the first signal strength information of the terminal according to the channel information.

[0006] Optionally, the method further comprises: The scanning notification is generated according to the channel information, and the scanning notification is used to notify the second anchor point to scan the second signal strength information of the terminal according to the channel information.

[0007] Optionally, the method further comprises: In response to the vehicle switching to the target state, switching information is sent to the second anchor point, where the switching information is used to switch the working state of the second anchor point.

[0008] Optionally, the target state includes a vehicle unlocked state, the second anchor point includes a tire sensor and a digital key slave anchor point, and in response to the vehicle switching to the target state, sending switching information to the second anchor point includes: In response to the vehicle switching to the vehicle unlocking state, sending first switching information to the tire sensor, the first switching information being used to switch the working state of the tire sensor to a data broadcasting state, in which the tire sensor is in a broadcast frame mode with periodic links; Sending second switching information to the digital key slave anchor point, where the second switching information is used to switch the working state of the digital key slave anchor point to a first dormant state.

[0009] Optionally, the target state includes a vehicle dormant state, and in response to the vehicle switching to the target state, sending switching information to the second anchor point includes: In response to the vehicle switching to the vehicle dormant state, third switching information is sent to the second anchor point, where the third switching information is used to switch the working state of the second anchor point to a second dormant state.

[0010] Optionally, sending a scan notification includes: Waking up the second anchor point, and in the awakened state, the second anchor point starts a scanning mode; When the second anchor point switches to the awake state, the scanning notification is sent to the second anchor point.

[0011] Optionally, the positioning the terminal according to the first signal strength information and the second signal strength information includes: matching the first signal strength information and the second signal strength information with pre-stored signal strength information corresponding to each anchor point pre-stored in a database; The terminal is positioned according to the matching result of each anchor point.

[0012] According to a second aspect of an embodiment of the present disclosure, a positioning method is provided, including: receiving a scan notification sent by the first anchor point, where the scan notification is sent by the first anchor point to the second anchor point in response to successfully establishing a communication connection with the terminal; Scanning second signal strength information of the terminal according to the scanning notification; The second signal strength information is sent to the first anchor point, wherein the second signal strength information is used by the first anchor point to locate the terminal in combination with the first signal strength information.

[0013] Optionally, scanning the second signal strength information of the terminal according to the scanning notification includes: Acquire channel information according to the scanning notification, where the scanning notification is generated by the first anchor point according to the channel information of the frequency-modulated broadcast channel; The second signal strength information of the terminal is scanned according to the channel information.

[0014] Optionally, the method further comprises: receiving switching information sent by the first anchor point, wherein the switching information is sent to the second anchor point when the vehicle switches to a target state; The working state of the second anchor point is switched according to the switching information.

[0015] Optionally, the target state includes a vehicle unlocking state, the second anchor point includes a tire sensor, and switching the working state of the second anchor point according to the switching information includes: When the switching information indicates that the vehicle is switched to the vehicle unlocking state, the working state of the tire sensor is switched to a data broadcasting state, in which the tire sensor is in a broadcast frame mode of periodically sending a link.

[0016] Optionally, the target state includes a vehicle unlocking state, the second anchor point includes a digital key slave anchor point, and switching the working state of the second anchor point according to the switching information includes: In a case where the switching information indicates that the vehicle is switched to the vehicle unlocked state, second switching information is sent to the digital key slave anchor point, where the second switching information is used to switch the working state of the digital key slave anchor point to the first dormant state.

[0017] Optionally, the target state includes a vehicle dormant state, and switching the working state of the second anchor point according to the switching information includes: When the switching information indicates that the vehicle is switched to the vehicle dormant state, the working state of the second anchor point is switched to a second dormant state.

[0018] Optionally, before receiving the scanning notification sent by the first anchor point, the method further includes: Wake up the second anchor point.

[0019] According to a third aspect of an embodiment of the present disclosure, there is provided a positioning device, including: A first scanning module is configured to scan first signal strength information of the terminal and send a scanning notification in response to successfully establishing a communication connection with the terminal, wherein the scanning notification is used to notify the second anchor point to scan second signal strength information of the terminal; The positioning module is configured to locate the terminal according to the first signal strength information and the second signal strength information.

[0020] According to a fourth aspect of an embodiment of the present disclosure, there is provided a positioning device, including: a receiving module, configured to receive a scanning notification sent by the first anchor point, wherein the scanning notification is sent by the first anchor point to the second anchor point in response to successfully establishing a communication connection with the terminal; A second scanning module is configured to scan second signal strength information of the terminal according to the scanning notification; The sending module is configured to send the second signal strength information to the first anchor point, wherein the second signal strength information is used by the first anchor point to locate the terminal in combination with the first signal strength information.

[0021] According to a fifth aspect of an embodiment of the present disclosure, there is provided a first anchor point, including: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method described in any one of the first aspects.

[0022] According to a sixth aspect of an embodiment of the present disclosure, there is provided a second anchor point, including: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method described in any one of the second aspects.

[0023] According to a seventh aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: The first anchor point described in the fifth aspect and the second anchor point described in the sixth aspect.

[0024] According to an eighth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented, or when the computer program is executed by a processor, the steps of the method described in any one of the second aspects are implemented.

[0025] According to a ninth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the method described in any one of the first aspects, or, when executed by a processor, implements the steps of the method described in any one of the second aspects.

[0026] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: the first anchor point scans the first signal strength information of the terminal and sends a scan notification in response to the first anchor point successfully establishing a communication connection with the terminal, and the scan notification is used to notify the second anchor point to scan the second signal strength information of the terminal; the second anchor point scans the second signal strength information of the terminal according to the scan notification; the first anchor point locates the terminal according to the first signal strength information and the second signal strength information. This can improve the accuracy of the digital key system for terminal positioning, improve the reliability of the digital key controlling the vehicle, thereby improving the experience of using the digital key, and reducing the cost of the whole vehicle.

[0027] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0029] Figure 1 The figure is a flowchart of a positioning method according to an exemplary embodiment.

[0030] Figure 2 The figure is a schematic diagram showing the integration of Bluetooth tire pressure and digital key according to an exemplary embodiment.

[0031] Figure 3 It is a schematic diagram showing another integration of Bluetooth tire pressure and digital key according to an exemplary embodiment.

[0032] Figure 4 An implementation according to an exemplary embodiment is shown Figure 1 Flowchart of step S11 in FIG.

[0033] Figure 5 The figure is a flow chart of another positioning method according to an exemplary embodiment.

[0034] Figure 6 is a block diagram of a display device according to an exemplary embodiment.

[0035] Figure 7 is a block diagram of another display device according to an exemplary embodiment.

[0036] Figure 8 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0037] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0038] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0039] Before introducing a positioning method, device, equipment, vehicle, medium and program product involved in the present disclosure, the technical problems existing in related scenarios are first introduced. A main anchor point and multiple slave anchor points can be configured on the vehicle. Since the communication between the anchor point and the terminal is based on wireless communication technologies such as Bluetooth, it is easy to be interfered, which affects the accuracy of positioning, and thus affects the accuracy of vehicle unlocking, starting and stopping. Therefore, a main anchor point can be configured, and three, four or six slave anchor points can be configured. The number of slave anchor points is increased to increase the accuracy of positioning. However, although the more slave anchor points there are, the higher the accuracy of positioning, it will lead to increased costs.

[0040] Figure 1 is a flowchart of a positioning method according to an exemplary embodiment, which can be applied to a vehicle, wherein the vehicle can be configured with a digital key master node and multiple digital key slave anchor points, and also configured with multiple tire sensors configured with at least one of Bluetooth, NFC (Near Field Communication) or UWB (Ultra Wide-band), wherein the tire sensor can include at least one of a tire pressure sensor, a temperature sensor, an acceleration sensor, etc. Figure 1 As shown, the positioning method may include: In step S11, in response to the first anchor point successfully establishing a communication connection with the terminal, the first signal strength information of the terminal is scanned and a scanning notification is sent, wherein the scanning notification is used to notify the second anchor point to scan the second signal strength information of the terminal.

[0041] In the disclosed embodiment, the first anchor point may be a digital key master node, for example, the digital key master node may be set in the middle of the front windshield of the vehicle, or the first anchor point may be other modules on the vehicle that are equipped with wireless functions such as Bluetooth, for example, a cockpit domain controller or an Internet of Things terminal equipped with a vehicle system. The second anchor point may include multiple digital key slave anchor points that are arranged in different directions from the vehicle and tire sensors arranged on the tires of the vehicle. For example, multiple digital key slave anchor points may be arranged in the middle of the left B-pillar of the vehicle, the right B-pillar of the vehicle, and the tailgate of the vehicle. The tire sensor may be at least one of a tire pressure sensor, a temperature sensor, an acceleration sensor, etc., arranged on each tire of the vehicle.

[0042] In the disclosed embodiment, by using the tire sensor and the digital key slave anchor point as the second anchor point, receiving the scanning notification of the digital key master node or other Bluetooth modules of the vehicle as the first anchor point, it is possible to use the digital key slave anchor point as the second anchor point in conjunction with the first anchor point, and the tire sensor can also be used as the second anchor point. The short-range wireless communication function configured on the tire sensor can be reused, that is, the receiving module of the digital key can be used as the receiving module of the tire sensor, and at the same time, the tire sensor is also the slave anchor point of the digital key system. This can improve performance and reduce costs.

[0043] The terminal may be a smart phone or a smart wearable device, and the smart wearable device may be, for example, a smart watch or a bracelet.

[0044] In the disclosed embodiment, the first signal strength information and the second signal strength information are indicators for measuring the strength of the received wireless signal, that is, the signal strength from the terminal scanned by the first anchor point and the second anchor point, which can be represented by RSSI (Received Signal Strength Indicator).

[0045] In the disclosed embodiment, the scanning notification may be sent via a bus or wirelessly via Bluetooth or the like. For example, the scanning notification may be sent to a digital key slave anchor point via a CAN bus, and the scanning notification may be sent to a Bluetooth tire sensor via a Bluetooth channel.

[0046] In the embodiments of the present disclosure, see Figure 2As shown, the digital key master node 10 is configured as the first anchor point in the middle of the front windshield of the vehicle, four digital keys are arranged from the anchor point 20 at the four corners of the vehicle, and four Bluetooth tire sensors 30 are arranged on the four wheels. When the terminal enters the broadcast range of the digital key master node 10, the digital key master node 10 and the terminal are linked, that is, the frequency is modulated on the broadcast channel to establish a communication connection. After the communication connection is successful, the digital key master node 10 not only scans the first signal strength information of the terminal, but also sends a scan notification to the second anchor point. The four digital keys start scanning after receiving the scan notification from the anchor point 20 and the four Bluetooth tire sensors 30, and transmit the RSSI value of the broadcast signal scanned to the terminal to the digital key master node 10.

[0047] In the disclosed embodiment, the digital key master node sends a scan notification to the digital key slave anchor point via the CAN bus. Therefore, the digital key slave anchor point transmits the RSSI value to the digital key master node via the CAN bus. The digital key master node sends a scan notification to the Bluetooth tire sensor via the Bluetooth channel. Therefore, after scanning the RSSI value, the Bluetooth tire sensor sends the RSSI value to the digital key master node via the Bluetooth channel.

[0048] Among them, see Table 1 and Figure 3 As shown, the tire sensor and vehicle can be configured through the following functions, where the positioning algorithm can be configured in addition to the digital key master node, as Figure 3 As shown, the positioning algorithm is configured in the vehicle system:

[0049] Table 1 In step S12, the terminal is positioned according to the first signal strength information and the second signal strength information.

[0050] In the disclosed embodiment, after obtaining the terminal signal strength information scanned by different second anchor points and itself, the first anchor point uses the signal strength information to perform positioning calculations. For example, a signal propagation model, such as a free space path loss model, is used to estimate the distance between the terminal and each anchor point, or a multipath propagation model, a machine learning algorithm, etc. are used to calculate the distance to the terminal, or a multi-lateration positioning technology is used to determine the precise location of the terminal.

[0051] In the above technical solution, in response to the first anchor point successfully establishing a communication connection with the terminal, the first anchor point scans the first signal strength information of the terminal and sends a scan notification, the scan notification is used to notify the second anchor point to scan the second signal strength information of the terminal; the second anchor point scans the second signal strength information of the terminal according to the scan notification; the first anchor point locates the terminal according to the first signal strength information and the second signal strength information. This can improve the accuracy of the digital key system for terminal positioning, improve the reliability of the digital key controlling the vehicle, thereby improving the experience of using the digital key and reducing the cost of the entire vehicle.

[0052] Alternatively, see Figure 4 As shown, in step S11, scanning the first signal strength information of the terminal includes: In step S111, frequency modulation is performed with the terminal to obtain channel information of the modulated broadcast channel.

[0053] Among them, frequency modulation (FM) is used to change the frequency of the carrier signal of the first anchor point and the terminal, so that the first anchor point and the terminal match a specific broadcast channel. The broadcast channel can be the channel of the Bluetooth connection between the terminal and the digital key master node, and the channel information is the specific parameters of the Bluetooth connection channel between the terminal and the digital key master node, such as frequency, bandwidth, modulation mode, etc.

[0054] In the disclosed embodiment, before the terminal and the digital key master node start communicating, in order to ensure effective communication between the first anchor point and the terminal, the terminal and the digital key master node perform frequency modulation operations to match a specific broadcast channel. The frequency modulation process may involve the terminal and the digital key master node negotiating to select the best communication frequency, adjusting the respective communication device settings, etc. After the frequency modulation is successful, the first anchor point will obtain the channel information of the broadcast channel after the frequency modulation.

[0055] In step S112, first signal strength information of the terminal is scanned according to the channel information.

[0056] In the disclosed embodiment, after tuning and determining the channel information of the broadcast channel, the digital key master node tunes the frequency on the broadcast channel, the terminal broadcasts the positioning signal through the channel information on the broadcast channel, and the first anchor point starts scanning the signal strength information of the broadcast signal from the terminal. The digital key master node receives the signal sent by the terminal and uses a signal strength measurement device or algorithm to evaluate the power level of the signal. The signal strength information provides an indirect indication of the relative distance between the terminal and the first anchor point.

[0057] Optionally, the method further comprises: The scanning notification is generated according to the channel information, and the scanning notification is used to notify the second anchor point to scan the second signal strength information of the terminal according to the channel information.

[0058] It can be explained that if the second anchor point continuously scans multiple broadcast channels in sequence and then scans the RSSI value sent by the terminal, this method is likely to cause broadcast signal loss, poor positioning accuracy, and take a long time, reducing user experience.

[0059] In the disclosed embodiment, the first anchor point and the terminal perform frequency modulation on the broadcast channel, such as 37 38 39, and notify the second anchor point of the channel information of the broadcast channel, that is, the digital key master node notifies the digital key slave anchor point and the Bluetooth tire sensor of the channel information, so that after the digital key receives the channel information from the anchor point and the Bluetooth tire sensor, it can scan the RSSI signal of the terminal on the broadcast channel in a targeted manner. It can effectively shield the interference of other signals in the environment, not only improve the stability of scanning, improve the accuracy of positioning, but also shorten the scanning time, thereby shortening the positioning time and improving the user experience.

[0060] Optionally, the method further comprises: In response to the vehicle switching to the target state, switching information is sent to the second anchor point, where the switching information is used to switch the working state of the second anchor point.

[0061] Among them, the target state can be the state after the vehicle is switched, such as the vehicle unlocking state, the vehicle starting state, the vehicle running state, etc.

[0062] In the disclosed embodiment, when the vehicle switches from the current state to the target state, for example, from the vehicle locked state to the vehicle unlocked state, the digital key master node detects the state change of the vehicle and can generate switching information according to the target state after the vehicle is switched. Different switching information can be generated according to different target states after the vehicle is switched, or the switching information can carry relevant information of the target state, so that the second anchor point can determine the working state after the switch according to the switching information.

[0063] For example, the digital key master node can send switching information to the digital key slave anchor node through the CAN bus, and send switching information to the tire sensor through the Bluetooth channel. In which, for the same target state of the vehicle, the digital key slave anchor node and the Bluetooth tire sensor can have different working states.

[0064] Optionally, the target state includes a vehicle unlocked state, the second anchor point includes a tire sensor and a digital key slave anchor point, and in response to the vehicle switching to the target state, sending switching information to the second anchor point includes: In response to the vehicle switching to the vehicle unlocking state, first switching information is sent to the tire sensor, the first switching information is used to switch the working state of the tire sensor to a data broadcasting state, in which the tire sensor is in a periodic broadcast frame mode with a link.

[0065] In the disclosed embodiment, in response to the vehicle switching to the vehicle unlocking state, the digital key master node sends a first switching message to the tire sensor. After receiving the first switching message, the tire sensor switches the tire sensor to the data broadcasting state according to the information carried in the first switching message instruction indicating that the vehicle has switched to the unlocking state. In this state, the sensor periodically sends a broadcast frame containing link information, which may include tire status data (such as pressure, temperature) and link information required to establish communication with other devices.

[0066] Sending second switching information to the digital key slave anchor point, where the second switching information is used to switch the working state of the digital key slave anchor point to a first dormant state.

[0067] In the disclosed embodiment, the digital key master node sends a second switching message to the digital key slave anchor node. After receiving the second switching message, the digital key slave anchor node switches the digital key slave anchor node to the first dormant state according to the information carried in the second switching message indicating that the vehicle has switched to the unlocked state. In this state, the slave anchor node reduces its activities, such as stopping sending unnecessary signals or performing unnecessary calculations, to reduce energy consumption. However, the digital key slave anchor node is still able to respond to specific wake-up signals or instructions to resume its normal functions when needed.

[0068] Optionally, the target state includes a vehicle dormant state, and in response to the vehicle switching to the target state, sending switching information to the second anchor point includes: In response to the vehicle switching to the vehicle dormant state, third switching information is sent to the second anchor point, where the third switching information is used to switch the working state of the second anchor point to a second dormant state.

[0069] In the disclosed embodiment, in response to the vehicle switching to the vehicle sleep state, the digital key master node sends a third switching information to the tire sensor and the Bluetooth tire sensor. After the digital key receives the third switching information from the anchor point and the tire sensor, the tire sensor and the digital key are switched from the anchor point to the second sleep state according to the information carried in the third switching information instruction that indicates that the vehicle has switched to the sleep state. In the second sleep state, the tire sensor and the digital key reduce their activities from the anchor point, such as stopping sending unnecessary signals or performing unnecessary calculations, to reduce energy consumption. However, the tire sensor and the digital key from the anchor point are still able to respond to specific wake-up signals or instructions to resume their normal functions when needed.

[0070] Optionally, in step S11, sending a scan notification includes: Waking up the second anchor point, and in the awakened state, the second anchor point starts a scanning mode; In the disclosed embodiment, when the vehicle is in a dormant state, only the first anchor point is in an activated state and is always scanning. The second anchor point is in a dormant state, that is, the Bluetooth tire sensor and the digital key slave anchor point are both in a dormant state and do not perform scanning actions.

[0071] Furthermore, in response to successfully establishing a communication connection with the terminal, the first anchor point can wake up the second anchor point. For example, the digital key master node sends a wake-up signal to the digital key slave anchor point and the Bluetooth tire sensor. The wake-up signal is used to wake up the digital key slave anchor point and the Bluetooth tire sensor. The digital key slave anchor point and the Bluetooth tire sensor start the scanning mode in the awakened state to scan the signal strength information of the terminal.

[0072] When the second anchor point switches to the awake state, the scanning notification is sent to the second anchor point.

[0073] Among them, the Bluetooth tire sensor contains a small battery with a service life of 3 to 5 years. In order to save power consumption, the working state of the Bluetooth tire sensor can be adjusted instead of being in the broadcast state or scanning mode all the time. In the embodiment of the present disclosure, the tire sensor can be configured in different working modes based on the state of the entire vehicle, thereby saving the power consumption of the tire sensor and configuring the digital key to work in the anchor point mode, thereby reducing the power consumption of the entire vehicle.

[0074] In the disclosed embodiment, when the vehicle is in operation, the Bluetooth tire sensor operates in broadcast mode to broadcast tire data to the vehicle, such as tire pressure, tire temperature, etc. to the vehicle's onboard system. When the vehicle is in a dormant state, the Bluetooth tire sensor will not broadcast all the time, but can periodically send broadcast frames with links, such as a 500ms period, at which time the power consumption caused by broadcasting is low.

[0075] For example, if a user brings a mobile phone into the Bluetooth broadcast range of the digital key master node, the digital key master node will identify the broadcast frame linked to the mobile phone, and actively connect to the four Bluetooth tire sensors to wake up the four Bluetooth tire sensors. After the four Bluetooth tire sensors are awakened, the master node successfully connects to the four Bluetooth tire sensors, notifies the four Bluetooth tire sensors to turn on the scanning mode, and reports the scanned RSSI value to the digital key master node. When the vehicle is unlocked successfully, the digital key master node notifies the four Bluetooth tire sensors to switch to the data broadcast state, that is, returns to the periodic broadcast frame mode with links.

[0076] Optionally, in step S13, positioning the terminal according to the first signal strength information and the second signal strength information includes: The first signal strength information and the second signal strength information are matched with pre-stored signal strength information corresponding to each anchor point pre-stored in a database.

[0077] The database stores pre-stored signal strength information corresponding to each anchor point, which is used to match the signal strength information of the terminal to be located during the positioning process. The pre-stored signal strength can be obtained by collecting the signal strength received by different anchor points on the vehicle based on, for example, a fingerprint positioning algorithm.

[0078] For example, in the offline stage, professional equipment is used to collect wireless signal strength information at each anchor point of the vehicle, and the relationship between these locations and the corresponding signal strength is recorded and stored in a database to form a fingerprint database.

[0079] In the embodiment of the present disclosure, in the online stage, when the terminal to be located enters the Bluetooth sensing range of the vehicle, the digital key master node scans the first signal strength information of the terminal as the first anchor point, and multiple second anchor points scan the second signal strength information of the terminal. Then, the first signal strength information and the second signal strength information collected in real time are then matched with the pre-stored signal strength information corresponding to each anchor point pre-stored in the database. The matching process can calculate the similarity or distance metric between the real-time signal strength and the pre-stored signal strength.

[0080] The terminal is positioned according to the matching result of each anchor point.

[0081] In the embodiment of the present disclosure, after the matching is completed, the possible position of the terminal to be located is evaluated according to the matching result of each anchor point, such as a similarity score, a distance metric value, etc. A geometric positioning algorithm, such as a multi-point positioning algorithm, can be used to determine the precise position of the terminal, that is, the coordinates of the terminal are calculated based on the distance information from multiple anchor points to the terminal.

[0082] According to an embodiment of the present disclosure, a positioning method is also provided. Figure 5 As shown, including: In step S51, a scan notification sent by a first anchor point is received, where the scan notification is sent by the first anchor point to a second anchor point in response to successfully establishing a communication connection with a terminal; Among them, combined with the above, it can be known that the scanning notification is a message sent by the first anchor point to the second anchor point. As can be seen from the above embodiment, the second anchor point can be a digital key slave anchor point or a tire sensor. The notification indicates that the first anchor point has successfully established a communication connection with the terminal, and now triggers the second anchor point to perform a scanning action for the terminal signal, such as starting to scan the signal strength information of the terminal.

[0083] In the disclosed embodiment, after the first anchor point successfully establishes a communication connection with the terminal, a scanning notification is generated. The scanning notification can be used as a signal for the first anchor point to start scanning the first signal strength information of the terminal, and can also be used to instruct the second anchor point to start scanning the second signal strength information of the terminal. The scanning notification may contain key information such as the terminal's identifier (such as MAC address), signal type, communication protocol, etc., so that other anchor points can correctly identify and scan the signal sent by the terminal.

[0084] Then the first anchor point sends the scanning notification to the second anchor point, for example, through wireless communication technologies such as wireless local area network (WLAN), Bluetooth, Zigbee, etc. The transmission of the notification can also be encrypted and authenticated to ensure the confidentiality and integrity of the information.

[0085] In step S52, second signal strength information of the terminal is scanned according to the scanning notification.

[0086] The second signal strength information is the strength of the wireless signal sent by the terminal measured by each second anchor point. Similar to the first signal strength information, the second signal strength information is also used to describe the wireless signal propagation characteristics between the terminal and the anchor point.

[0087] In the disclosed embodiment, after the second anchor point receives the scanning notification, it will prepare to scan the device and configure the corresponding parameters, such as scanning frequency, sampling rate, signal type, etc. These parameters are usually determined according to the communication protocol and signal characteristics between the terminal and the first anchor point. The second anchor point starts scanning the wireless signal sent by the terminal, that is, receiving and processing the signal from the terminal and measuring its strength. The scanning process may include multiple samplings to improve the accuracy and stability of the measurement. During the scanning process, the second anchor point records the signal strength information and timestamp of each sampling.

[0088] In step S53, the second signal strength information is sent to the first anchor point, wherein the second signal strength information is used by the first anchor point in combination with the first signal strength information to locate the terminal.

[0089] In the disclosed embodiment, after each second anchor point completes scanning, the collected second signal strength information is sorted out. For example, data cleaning, denoising, outlier processing, etc. can be performed to ensure the accuracy and reliability of the data. After sorting the data, the second anchor point sends the second signal strength information to the first anchor point. This can be achieved through a previously established communication connection or a dedicated data transmission channel. For example, the digital key can send the second signal strength information from the anchor point to the digital key master node via the CAN bus, and the tire sensor can send the second signal strength information to the digital key master node via the Bluetooth channel.

[0090] Furthermore, after receiving the second signal strength information, the first anchor point combines the first signal strength information measured by itself and uses them together for terminal positioning calculation. For example, positioning calculation can be performed through a fingerprint matching algorithm, a geometric positioning algorithm or a machine learning model to provide an accurate terminal position estimate.

[0091] In the disclosed embodiment, the first anchor point and the plurality of second anchor points are different anchor points, and work together by sharing signal strength information to improve the accurate estimation of the terminal position. Specifically, in the disclosed embodiment, the tire sensor can be used as the second anchor point to achieve the multi-purpose use of the tire sensor, which can not only improve the positioning accuracy, but also reduce the cost of deploying more sensors and save the vehicle layout space.

[0092] Optionally, scanning the second signal strength information of the terminal according to the scanning notification includes: Acquire channel information according to the scanning notification, where the scanning notification is generated by the first anchor point according to the channel information of the frequency-modulated broadcast channel; Among them, by changing the frequency of the carrier signal of the first anchor point and the terminal, the frequency modulation is used to change the frequency of the carrier signal of the first anchor point and the terminal, so that the first anchor point and the terminal match a specific broadcast channel. Before the communication between the terminal and the digital key master node begins, in order to ensure effective communication between the first anchor point and the terminal, the terminal and the digital key master node perform frequency modulation operations to match a specific broadcast channel. The frequency modulation process may involve the terminal and the digital key master node negotiating to select the best communication frequency, adjusting the settings of their respective communication devices, etc. After the frequency modulation is successful, the first anchor point will obtain the channel information of the broadcast channel after the frequency modulation.

[0093] The second signal strength information of the terminal is scanned according to the channel information.

[0094] In the disclosed embodiment, the first anchor point and the terminal perform frequency modulation on the broadcast channel, such as 37 38 39, and notify the second anchor point of the channel information of the broadcast channel, that is, the digital key master node notifies the digital key slave anchor point and the Bluetooth tire sensor of the channel information, so that after the digital key receives the channel information from the anchor point and the Bluetooth tire sensor, it can scan the RSSI signal of the terminal on the broadcast channel in a targeted manner. It can effectively shield the interference of other signals in the environment, not only improve the stability of scanning, improve the accuracy of positioning, but also shorten the scanning time, thereby shortening the positioning time and improving the user experience.

[0095] Optionally, the method further comprises: receiving switching information sent by the first anchor point, wherein the switching information is sent to the second anchor point when the vehicle switches to a target state; In the disclosed embodiment, when the vehicle switches from the current state to the target state, for example, from the vehicle locked state to the vehicle unlocked state, the digital key master node detects the state change of the vehicle and can generate switching information according to the target state after the vehicle is switched. Different switching information can be generated according to different target states after the vehicle is switched, or the switching information can carry relevant information of the target state, so that the second anchor point can determine the working state after the switch according to the switching information.

[0096] For example, the digital key slave anchor point can receive the switching information sent by the digital key master node through the CAN bus, and the tire sensor can receive the switching information sent by the digital key master node through the Bluetooth channel. In the same target state of the vehicle, the digital key slave anchor point and the Bluetooth tire sensor can have different working states.

[0097] The working state of the second anchor point is switched according to the switching information.

[0098] In the embodiment of the present disclosure, different second anchor points can be switched to different working states according to the switching information. At the same time, different vehicle states generate different switching information, or the switching information can carry relevant identifiers of the vehicle state, and then the second anchor points can determine their respective working states according to different vehicle states.

[0099] Optionally, the target state includes a vehicle unlocking state, the second anchor point includes a tire sensor, and switching the working state of the second anchor point according to the switching information includes: When the switching information indicates that the vehicle is switched to the vehicle unlocking state, the working state of the tire sensor is switched to a data broadcasting state, in which the tire sensor is in a broadcast frame mode of periodically sending a link.

[0100] In the disclosed embodiment, in response to the vehicle switching to the unlocked state, the digital key master node sends a first switching message to the tire sensor. After receiving the first switching message, the tire sensor switches the tire sensor to the data broadcast state according to the information carried in the first switching message instruction indicating that the vehicle has switched to the unlocked state. In this state, the sensor periodically sends a broadcast frame containing link information, which may include tire status data (such as pressure, temperature) and link information required to establish communication with other devices. In this way, the power consumption of the tire sensor can be reduced and cruising can be increased.

[0101] Optionally, the target state includes a vehicle unlocking state, the second anchor point includes a digital key slave anchor point, and switching the working state of the second anchor point according to the switching information includes: In a case where the switching information indicates that the vehicle is switched to the vehicle unlocked state, second switching information is sent to the digital key slave anchor point, where the second switching information is used to switch the working state of the digital key slave anchor point to the first dormant state.

[0102] In the disclosed embodiment, the digital key master node sends a second switching message to the digital key slave anchor node. After receiving the second switching message, the digital key slave anchor node switches the digital key slave anchor node to the first dormant state according to the information carried in the second switching message indicating that the vehicle has switched to the unlocked state. In this state, the slave anchor node reduces its activities, such as stopping sending unnecessary signals or performing unnecessary calculations, to reduce energy consumption. However, the digital key slave anchor node is still able to respond to specific wake-up signals or instructions to resume its normal functions when needed.

[0103] Optionally, the target state includes a vehicle dormant state, and switching the working state of the second anchor point according to the switching information includes: When the switching information indicates that the vehicle is switched to the vehicle dormant state, the working state of the second anchor point is switched to a second dormant state.

[0104] In the disclosed embodiment, in response to the vehicle switching to the vehicle sleep state, the digital key master node sends a third switching information to the tire sensor and the Bluetooth tire sensor. After the digital key receives the third switching information from the anchor point and the tire sensor, the tire sensor and the digital key are switched from the anchor point to the second sleep state according to the information carried in the third switching information instruction that indicates that the vehicle has switched to the sleep state. In the second sleep state, the tire sensor and the digital key reduce their activities from the anchor point, such as stopping sending unnecessary signals or performing unnecessary calculations, to reduce energy consumption. However, the tire sensor and the digital key from the anchor point are still able to respond to specific wake-up signals or instructions to resume their normal functions when needed.

[0105] Optionally, before receiving the scanning notification sent by the first anchor point, the method further includes: Wake up the second anchor point.

[0106] In the disclosed embodiment, the second anchor point can be awakened based on the wake-up instruction received from the first anchor point. When the entire vehicle is in a dormant state, only the first anchor point is in an activated state and is always scanning. The second anchor point is in a dormant state, that is, the Bluetooth tire sensor and the digital key slave anchor point are both in a dormant state and do not perform scanning actions.

[0107] Furthermore, in response to successfully establishing a communication connection with the terminal, the first anchor point can wake up the second anchor point. For example, the digital key master node sends a wake-up signal to the digital key slave anchor point and the Bluetooth tire sensor. The wake-up signal is used to wake up the digital key slave anchor point and the Bluetooth tire sensor. The digital key slave anchor point and the Bluetooth tire sensor start the scanning mode in the awakened state to scan the signal strength information of the terminal.

[0108] According to an embodiment of the present disclosure, a positioning device is also provided. Figure 6 As shown, including: The first scanning module 110 is configured to scan the first signal strength information of the terminal and send a scanning notification in response to successfully establishing a communication connection with the terminal, wherein the scanning notification is used to notify the second anchor point to scan the second signal strength information of the terminal; The positioning module 120 is configured to locate the terminal according to the first signal strength information and the second signal strength information.

[0109] Optionally, the first scanning module 110 is configured to: Modulate the frequency with the terminal to obtain channel information of the modulated broadcast channel; Scan the first signal strength information of the terminal according to the channel information.

[0110] Optionally, the first scanning module 110 is further configured to: The scanning notification is generated according to the channel information, and the scanning notification is used to notify the second anchor point to scan the second signal strength information of the terminal according to the channel information.

[0111] Optionally, the first scanning module 110 is configured to: In response to the vehicle switching to the target state, switching information is sent to the second anchor point, where the switching information is used to switch the working state of the second anchor point.

[0112] Optionally, the target state includes a vehicle unlock state, the second anchor point includes a tire sensor and a digital key slave anchor point, and the first scanning module 110 is configured to: In response to the vehicle switching to the vehicle unlocking state, sending first switching information to the tire sensor, the first switching information being used to switch the working state of the tire sensor to a data broadcasting state, in which the tire sensor is in a broadcast frame mode with periodic links; Sending second switching information to the digital key slave anchor point, where the second switching information is used to switch the working state of the digital key slave anchor point to a first dormant state.

[0113] Optionally, the target state includes a vehicle dormant state, and the first scanning module 110 is configured to: In response to the vehicle switching to the vehicle dormant state, third switching information is sent to the second anchor point, where the third switching information is used to switch the working state of the second anchor point to a second dormant state.

[0114] Optionally, the first scanning module 110 is configured to: Waking up the second anchor point, and in the awakened state, the second anchor point starts a scanning mode; When the second anchor point switches to the awake state, the scanning notification is sent to the second anchor point.

[0115] Optionally, the positioning module 120 is configured to: matching the first signal strength information and the second signal strength information with pre-stored signal strength information corresponding to each anchor point pre-stored in a database; The terminal is positioned according to the matching result of each anchor point.

[0116] According to an embodiment of the present disclosure, a positioning device is also provided. Figure 7 As shown, including: The receiving module 210 is configured to receive a scanning notification sent by the first anchor point, where the scanning notification is sent by the first anchor point to the second anchor point in response to successfully establishing a communication connection with the terminal; The second scanning module 220 is configured to scan the second signal strength information of the terminal according to the scanning notification; The sending module 230 is configured to send the second signal strength information to the first anchor point, wherein the second signal strength information is used by the first anchor point to locate the terminal in combination with the first signal strength information.

[0117] Optionally, the second scanning module 220 is configured to: Acquire channel information according to the scanning notification, where the scanning notification is generated by the first anchor point according to the channel information of the frequency-modulated broadcast channel; The second signal strength information of the terminal is scanned according to the channel information.

[0118] Optionally, the receiving module 210 is configured to: receiving switching information sent by the first anchor point, wherein the switching information is sent to the second anchor point when the vehicle switches to a target state; The working state of the second anchor point is switched according to the switching information.

[0119] Optionally, the target state includes a vehicle unlocked state, the second anchor point includes a tire sensor, and the receiving module 210 is configured to switch the working state of the tire sensor to a data broadcast state when the switching information indicates that the vehicle has switched to the vehicle unlocked state, and in the data broadcast state the tire sensor is in a broadcast frame mode that periodically sends a link.

[0120] Optionally, the target state includes a vehicle unlocked state, the second anchor point includes a digital key slave anchor point, and the receiving module 210 is configured to send second switching information to the digital key slave anchor point when the switching information represents that the vehicle is switched to the vehicle unlocked state, and the second switching information is used to switch the working state of the digital key slave anchor point to the first sleep state.

[0121] Optionally, the target state includes a vehicle dormant state, and the receiving module 210 is configured to switch the working state of the second anchor point to a second dormant state when the switching information indicates that the vehicle is switched to the vehicle dormant state.

[0122] Optionally, the receiving module 210 is further configured to wake up the second anchor point before receiving the scanning notification sent by the first anchor point.

[0123] According to an embodiment of the present disclosure, there is also provided a first anchor point, including: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement any one of the methods performed by the first anchor point in the aforementioned embodiments.

[0124] According to an embodiment of the present disclosure, a second anchor point is further provided, including: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method performed by the second anchor point in the aforementioned embodiment.

[0125] According to an embodiment of the present disclosure, a vehicle is also provided, comprising: The first anchor point described in the preceding embodiment and the second anchor point described in the preceding embodiment.

[0126] According to an embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the methods performed by the first anchor point in the aforementioned embodiments are implemented, or when the computer program is executed by a processor, the steps of any one of the methods performed by the second anchor point in the aforementioned embodiments are implemented.

[0127] According to an embodiment of the present disclosure, a computer program product is also provided, including a computer program, which, when executed by a processor, implements the steps of any method performed by the first anchor point in the aforementioned embodiments, or, when executed by a processor, implements the steps of any method performed by the second anchor point in the aforementioned embodiments.

[0128] Figure 8 6 is a block diagram of a vehicle 600 according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0129] Reference Figure 8 , the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0130] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0131] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0132] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0133] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0134] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0135] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0136] The memory 652 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0137] In addition to the instructions 653 , the memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the memory 652 may be used by the computing platform 650 .

[0138] In the embodiment of the present disclosure, the processor 651 may execute instruction 653 to complete all or part of the steps of the above-mentioned positioning method.

[0139] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0140] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A positioning method, characterized in that: include: In response to the first anchor point successfully establishing a communication connection with the terminal, scanning first signal strength information of the terminal and sending a scanning notification, where the scanning notification is used to notify the second anchor point to scan second signal strength information of the terminal; The terminal is positioned according to the first signal strength information and the second signal strength information.

2. The method according to claim 1, characterized in that: The scanning of the first signal strength information of the terminal includes: Modulate the frequency with the terminal to obtain channel information of the modulated broadcast channel; Scan the first signal strength information of the terminal according to the channel information.

3. The method according to claim 2, characterized in that The method further comprises: The scanning notification is generated according to the channel information, and the scanning notification is used to notify the second anchor point to scan the second signal strength information of the terminal according to the channel information.

4. The method according to claim 1, characterized in that: The method further comprises: In response to the vehicle switching to the target state, switching information is sent to the second anchor point, where the switching information is used to switch the working state of the second anchor point.

5. The method according to claim 4, characterized in that The target state includes a vehicle unlocked state, the second anchor point includes a tire sensor and a digital key slave anchor point, and in response to the vehicle switching to the target state, sending switching information to the second anchor point includes: In response to the vehicle switching to the vehicle unlocking state, sending first switching information to the tire sensor, the first switching information being used to switch the working state of the tire sensor to a data broadcasting state, in which the tire sensor is in a broadcast frame mode with periodic links; Sending second switching information to the digital key slave anchor point, where the second switching information is used to switch the working state of the digital key slave anchor point to a first dormant state.

6. The method according to claim 4, characterized in that The target state includes a vehicle dormant state, and in response to the vehicle switching to the target state, sending switching information to the second anchor point includes: In response to the vehicle switching to the vehicle dormant state, third switching information is sent to the second anchor point, where the third switching information is used to switch the working state of the second anchor point to a second dormant state.

7. The method according to claim 1, characterized in that The sending of the scanning notification comprises: Waking up the second anchor point, and in the awakened state, the second anchor point starts a scanning mode; When the second anchor point switches to the awake state, the scanning notification is sent to the second anchor point.

8. The method according to any one of claims 1 to 7, characterized in that The positioning of the terminal according to the first signal strength information and the second signal strength information includes: matching the first signal strength information and the second signal strength information with pre-stored signal strength information corresponding to each anchor point pre-stored in a database; The terminal is positioned according to the matching result of each anchor point.

9. A positioning method, characterized in that: include: receiving a scan notification sent by the first anchor point, where the scan notification is sent by the first anchor point to the second anchor point in response to successfully establishing a communication connection with the terminal; Scanning second signal strength information of the terminal according to the scanning notification; The second signal strength information is sent to the first anchor point, wherein the second signal strength information is used by the first anchor point to locate the terminal in combination with the first signal strength information.

10. The method according to claim 9, characterized in that Scanning the second signal strength information of the terminal according to the scanning notification includes: Acquire channel information according to the scanning notification, where the scanning notification is generated by the first anchor point according to the channel information of the frequency-modulated broadcast channel; The second signal strength information of the terminal is scanned according to the channel information.

11. The method according to claim 9, characterized in that The method further comprises: receiving switching information sent by the first anchor point, where the switching information is sent to the second anchor point when the vehicle switches to a target state; The working state of the second anchor point is switched according to the switching information.

12. The method according to claim 11, characterized in that The target state includes a vehicle unlocking state, the second anchor point includes a tire sensor, and switching the working state of the second anchor point according to the switching information includes: When the switching information indicates that the vehicle is switched to the vehicle unlocking state, the working state of the tire sensor is switched to a data broadcasting state, in which the tire sensor is in a broadcast frame mode of periodically sending a link.

13. The method according to claim 11, characterized in that The target state includes a vehicle unlocking state, the second anchor point includes a digital key slave anchor point, and switching the working state of the second anchor point according to the switching information includes: In a case where the switching information indicates that the vehicle is switched to the vehicle unlocked state, second switching information is sent to the digital key slave anchor point, where the second switching information is used to switch the working state of the digital key slave anchor point to the first dormant state.

14. The method according to claim 11, characterized in that The target state includes a vehicle dormant state, and switching the working state of the second anchor point according to the switching information includes: When the switching information indicates that the vehicle is switched to the vehicle dormant state, the working state of the second anchor point is switched to a second dormant state.

15. The method according to any one of claims 9 to 14, characterized in that: Before receiving the scanning notification sent by the first anchor point, the method includes: Wake up the second anchor point.

16. A positioning device, characterized in that: include: A first scanning module is configured to scan first signal strength information of the terminal and send a scanning notification in response to successfully establishing a communication connection with the terminal, wherein the scanning notification is used to notify the second anchor point to scan second signal strength information of the terminal; The positioning module is configured to locate the terminal according to the first signal strength information and the second signal strength information.

17. A positioning device, characterized in that: include: a receiving module, configured to receive a scanning notification sent by the first anchor point, wherein the scanning notification is sent by the first anchor point to the second anchor point in response to successfully establishing a communication connection with the terminal; A second scanning module is configured to scan second signal strength information of the terminal according to the scanning notification; The sending module is configured to send the second signal strength information to the first anchor point, wherein the second signal strength information is used by the first anchor point to locate the terminal in combination with the first signal strength information.

18. A first anchor point, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method according to any one of claims 1 to 8.

19. A second anchor point, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method of any one of claims 9 to 15.

20. A vehicle, characterized in that: include: The first anchor point as claimed in claim 18 and the second anchor point as claimed in claim 19.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 8 are implemented; or, when the computer program is executed by a processor, the steps of the method described in any one of claims 9 to 15 are implemented.

22. A computer program product, characterized in that The method comprises a computer program, which implements the steps of the method according to any one of claims 1 to 8 when the computer program is executed by a processor, or implements the steps of the method according to any one of claims 9 to 15 when the computer program is executed by a processor.

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