Vehicle key positioning method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle key positioning method and device, a vehicle and a storage medium. The vehicle key positioning method comprises the steps that the signal strength of Bluetooth signals received by a plurality of Bluetooth receiving devices is obtained, the Bluetooth signals are sent by a vehicle key to the Bluetooth receiving devices, and the Bluetooth receiving devices are arranged at different positions of a vehicle; determining reference positioning information of the vehicle key at the current positioning moment based on the plurality of signal intensities; performing stable positioning processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment; and determining a positioning result of the vehicle key based on the Bluetooth positioning information at the plurality of positioning moments. According to the embodiment of the invention, stable positioning processing is carried out on the reference positioning information, so that the obtained Bluetooth positioning information is more stable, the positioning result of the vehicle key is more stable, unnecessary jumps and positioning errors caused by the jumps in the Bluetooth positioning process are reduced, and the finally obtained positioning result of the vehicle key is more accurate.

Description

Technical Field

[0001] The present application relates to the technical field of Bluetooth positioning, and particularly to a vehicle key positioning method, device, vehicle and storage medium. Background Art

[0002] With the rapid development of Bluetooth technology, it is more convenient to use a Bluetooth key for vehicle control, and vehicle Bluetooth keys have become particularly popular.

[0003] Bluetooth signals are carried by electromagnetic waves, and phenomena such as scattering, reflection, refraction, and diffraction will occur when passing through different media during propagation. For different vehicle environments, the interference received by Bluetooth signals is different. When a person blocks the Bluetooth key, it will also affect the performance of Bluetooth positioning.

[0004] Some existing Bluetooth positioning methods have certain errors in the estimated distance or position, and the error can reach several meters or even more than ten meters. For car users, the experience of using a Bluetooth key with inaccurate positioning for vehicle control is poor. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a vehicle key positioning method, device, vehicle and storage medium.

[0006] In a first aspect, the present application provides a vehicle key positioning method, including: Obtaining the signal strength of Bluetooth signals received by a plurality of Bluetooth receiving devices, where the Bluetooth signals are sent by the vehicle key to the plurality of Bluetooth receiving devices, and the plurality of Bluetooth receiving devices are arranged at different positions of the vehicle; Determining reference positioning information of the vehicle key at the current positioning moment based on the plurality of signal strengths; Performing stable positioning processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment; Determining a positioning result of the vehicle key based on the Bluetooth positioning information at a plurality of positioning moments.

[0007] Optionally, the method further includes: Determining whether the reference positioning information is the first positioning information within a preset time period; If the reference positioning information is the first positioning information within the preset time period, determining the reference positioning information as the Bluetooth positioning information at the current positioning moment; or, if the reference positioning information is not the first positioning result within the preset time period, performing the step of performing stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment.

[0008] Optionally, perform stable positioning processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment, including: Perform anti-cross-region jump processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment, and / or perform jump suppression processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment.

[0009] Optionally, performing anti-cross-region jump processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment includes: Obtain the reference positioning information and the Bluetooth positioning information at the previous positioning moment; Input the reference positioning information and the Bluetooth positioning information at the previous positioning moment into a jump limit state machine, so that the jump limit state machine corrects the reference positioning information that does not meet the region jump rule to obtain Bluetooth positioning information at the current positioning moment.

[0010] Optionally, inputting the reference positioning information and the Bluetooth positioning information at the previous positioning moment into a jump limit state machine, so that the jump limit state machine corrects the reference positioning information that does not meet the region jump rule to obtain Bluetooth positioning information at the current positioning moment, including: The jump limit state machine determines whether the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the region jump rule. If the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the region jump rule, the jump limit state machine does not correct the reference positioning information; if the reference positioning information and the Bluetooth positioning information at the previous positioning moment do not meet the region jump rule, the jump limit state machine corrects the reference positioning information to the positioning region adjacent to the Bluetooth positioning information at the previous positioning moment to obtain Bluetooth positioning information at the current positioning moment.

[0011] Optionally, performing jump suppression processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment includes: Obtain Bluetooth positioning information whose positioning moment is within a historical time period, and the historical time period is before the current positioning moment; Based on the Bluetooth positioning information whose positioning moment is within the historical time period, obtain the consecutive occurrence times of the reference positioning information at the current positioning moment; Determine the Bluetooth positioning information at the current positioning moment according to the consecutive occurrence times.

[0012] Optionally, determining the Bluetooth positioning information at the current positioning moment according to the consecutive occurrence times includes: If the consecutive occurrence times are less than a preset number threshold, obtain the Bluetooth positioning information at the previous positioning moment; Correct the reference positioning information at the current positioning moment to the Bluetooth positioning information at the previous positioning moment.

[0013] Optionally, determining the Bluetooth positioning information at the current positioning moment according to the consecutive occurrence times includes: If the consecutive occurrence times are greater than or equal to a preset number threshold, determine the reference positioning information at the current positioning moment as the Bluetooth positioning information at the current positioning moment.

[0014] Optionally, determining the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning moments includes: Determine the historical positioning trajectory of the vehicle key based on the Bluetooth positioning information whose positioning moment is within the historical time period; In the pedestrian tracking trajectory obtained by tracking the pedestrians around the vehicle, obtain the historical tracking trajectory of the pedestrians during the historical time period, and the pedestrian tracking trajectory is obtained by smoothing the tracking information of the pedestrians; Correct the reference positioning information at the current positioning moment based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the vehicle key.

[0015] Optionally, correcting the reference positioning information at the current positioning moment based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the vehicle key includes: Fuse the historical positioning trajectory and the historical tracking trajectory to obtain a fused positioning trajectory; Match the historical tracking trajectory with the fused positioning trajectory to obtain a trajectory similarity; Use the tracking information of the pedestrian with the highest trajectory similarity at the current positioning moment to correct the reference positioning information at the current positioning moment to obtain the positioning result of the vehicle key.

[0016] Optionally, before determining the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning moments, the method further includes: Perform position tracking on the pedestrians around the vehicle to obtain the tracking information of the pedestrians; If the tracking information of the pedestrians disappears at the current positioning moment, determine whether new pedestrians appear around the vehicle; If new pedestrians appear around the vehicle at the current positioning moment, determine whether the new pedestrians and the pedestrians whose tracking information has disappeared meet the binding conditions; If the new pedestrians and the pedestrians whose tracking information has disappeared meet the binding conditions, determine the tracking information of the new pedestrians as the tracking information of the pedestrians whose tracking information has disappeared at the current positioning moment; Sort all the tracking information of the pedestrian whose positioning time is within the preset time period in the order of the positioning time to obtain the pedestrian tracking trajectory of the pedestrian.

[0017] Optionally, determining whether the newly detected pedestrian and the pedestrian whose tracking information has disappeared satisfy the binding condition includes: Obtain the estimated position of the pedestrian whose tracking information has disappeared; If the distance between the tracking information of the newly detected pedestrian and the estimated position of the pedestrian whose tracking information has disappeared is less than the preset distance threshold, determine that the newly detected pedestrian and the pedestrian whose tracking information has disappeared satisfy the binding condition.

[0018] In a second aspect, the present application provides a vehicle key positioning device, including: A first acquisition module, configured to acquire the signal strengths of Bluetooth signals received by a plurality of Bluetooth receiving devices, where the Bluetooth signals are sent by the vehicle key to the plurality of Bluetooth receiving devices, and the plurality of Bluetooth receiving devices are arranged at different positions of the vehicle; A first determination module, configured to determine the reference positioning information of the vehicle key at the current positioning time based on the plurality of signal strengths; A first processing module, configured to perform stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning time; A second determination module, configured to determine the positioning result of the vehicle key based on the Bluetooth positioning information at a plurality of positioning times.

[0019] Optionally, the device further includes: A third determination module, configured to determine whether the reference positioning information is the first positioning information within a preset time period; A fourth determination module, configured to, if the reference positioning information is the first positioning information within the preset time period, determine the reference positioning information as the Bluetooth positioning information at the current positioning time; or, if the reference positioning information is not the first positioning result within the preset time period, perform the step of performing stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning time.

[0020] Optionally, the first processing module includes: A first processing unit, configured to perform anti-cross-region jump processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning time, and / or, a second processing unit, configured to perform jump suppression processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning time.

[0021] Optionally, the first processing unit includes: A first acquisition subunit, configured to acquire the reference positioning information and the Bluetooth positioning information at the previous positioning time; The first correction subunit is configured to input the reference positioning information and the Bluetooth positioning information at the previous positioning moment into a jump limit state machine, so that the jump limit state machine corrects the reference positioning information that does not meet the area jump rule to obtain the Bluetooth positioning information at the current positioning moment.

[0022] Optionally, the first correction subunit is further configured to: The jump limit state machine determines whether the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the area jump rule. If the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the area jump rule, the jump limit state machine does not correct the reference positioning information; if the reference positioning information and the Bluetooth positioning information at the previous positioning moment do not meet the area jump rule, the jump limit state machine corrects the reference positioning information to the positioning area adjacent to the Bluetooth positioning information at the previous positioning moment to obtain the Bluetooth positioning information at the current positioning moment.

[0023] Optionally, the second processing unit includes: The second acquisition subunit is configured to acquire the Bluetooth positioning information at a positioning moment within a historical time period, where the historical time period is before the current positioning moment; The third acquisition subunit is configured to acquire the continuous occurrence times of the reference positioning information at the current positioning moment based on the Bluetooth positioning information at a positioning moment within the historical time period; The first determination subunit is configured to determine the Bluetooth positioning information at the current positioning moment according to the continuous occurrence times.

[0024] Optionally, the first determination subunit is further configured to: If the continuous occurrence times are less than a preset number threshold, acquire the Bluetooth positioning information at the previous positioning moment; Correct the reference positioning information at the current positioning moment to the Bluetooth positioning information at the previous positioning moment.

[0025] Optionally, the first determination subunit is further configured to: If the continuous occurrence times are greater than or equal to the preset number threshold, determine the reference positioning information at the current positioning moment as the Bluetooth positioning information at the current positioning moment.

[0026] Optionally, the second determination module includes: The first determination unit is configured to determine the historical positioning trajectory of the vehicle key based on the Bluetooth positioning information at a positioning moment within the historical time period; A first acquisition unit, configured to obtain a historical tracking trajectory of the pedestrian in a historical time period from a pedestrian tracking trajectory obtained by tracking pedestrians around the vehicle, where the pedestrian tracking trajectory is obtained by smoothing tracking information of the pedestrian; A first correction unit, configured to correct reference positioning information at a current positioning moment based on the historical positioning trajectory and the historical tracking trajectory to obtain a positioning result of the vehicle key.

[0027] Optionally, the first correction unit includes: A fusion subunit, configured to fuse the historical positioning trajectory and the historical tracking trajectory to obtain a fused positioning trajectory; A matching subunit, configured to perform trajectory matching between the historical tracking trajectory and the fused positioning trajectory to obtain a trajectory similarity; A second correction subunit, configured to correct the reference positioning information at the current positioning moment by using tracking information of the pedestrian with the highest trajectory similarity at the current positioning moment to obtain the positioning result of the vehicle key.

[0028] Optionally, before the second determination module, the apparatus further includes: A position tracking module, configured to perform position tracking on pedestrians around the vehicle to obtain tracking information of the pedestrians; A pedestrian determination module, configured to determine whether a new pedestrian appears around the vehicle if the tracking information of the pedestrian disappears at the current positioning moment; A condition judgment module, configured to determine whether a new pedestrian and the pedestrian whose tracking information disappears satisfy a binding condition if a new pedestrian appears around the vehicle at the current positioning moment; An information determination module, configured to determine the tracking information of the new pedestrian as the tracking information of the pedestrian whose tracking information disappears at the current positioning moment if the new pedestrian and the pedestrian whose tracking information disappears satisfy the binding condition; A trajectory generation module, configured to sort all tracking information within a preset time period according to the sequence of positioning moments to obtain a pedestrian tracking trajectory of the pedestrian.

[0029] Optionally, the condition judgment module includes: A second acquisition unit, configured to obtain an estimated position of the pedestrian whose tracking information disappears; A second determination unit, configured to determine that the new pedestrian and the pedestrian whose tracking information disappears satisfy the binding condition if the distance between the tracking information of the new pedestrian and the estimated position of the pedestrian whose tracking information disappears is less than a preset distance threshold.

[0030] In a third aspect, the present application provides a vehicle, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus; The memory is used to store a computer program; The processor is configured to implement the vehicle key positioning method according to any one of the first aspects when executing the program stored on the memory.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, on which a program of the vehicle key positioning method is stored. When the program of the vehicle key positioning method is executed by a processor, the steps of the vehicle key positioning method according to any one of the first aspects are implemented.

[0032] Advantages of the present invention: In the embodiments of the present application, through stable positioning processing of the reference positioning information determined based on the signal strength of the Bluetooth signal, the obtained Bluetooth positioning information is made more stable. Furthermore, the positioning result of the vehicle key determined based on the Bluetooth positioning information at multiple positioning moments is made more stable, reducing unnecessary jumps and positioning errors caused by jumps during the Bluetooth positioning process, and making the finally obtained positioning result of the vehicle key more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic diagram of the division of the area around a vehicle provided by an embodiment of the present application; Figure 2 It is another schematic diagram of the division of the area around a vehicle provided by an embodiment of the present application; Figure 3 It is a flowchart of a vehicle key positioning method provided by an embodiment of the present application; Figure 4 It is another flowchart of a vehicle key positioning method provided by an embodiment of the present application; Figure 5 It is a flowchart of the anti-cross-region jump processing of the reference positioning information provided by an embodiment of the present application; Figure 6Schematic diagram of a regional jump limit state machine provided by an embodiment of the present application; Figure 7 Flowchart of a jump suppression process for the reference positioning information provided by an embodiment of the present application; Figure 8 Schematic diagram of Bluetooth positioning correction provided by an embodiment of the present application; Figure 9 Flowchart of step S104 provided by an embodiment of the present application; Figure 10 Schematic diagram of determining the positioning result of the vehicle key based on the historical positioning trajectory and the historical tracking trajectory provided by an embodiment of the present application; Figure 11 Flowchart of another vehicle key positioning method provided by an embodiment of the present application; Figure 12 Schematic diagram of binding the tracking trajectory of a pedestrian provided by an embodiment of the present application; Figure 13 Structural diagram of a vehicle key positioning device provided by an embodiment of the present application; Figure 14 Structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0037] Since the distances or positions estimated by some existing Bluetooth positioning methods have certain errors, and the errors can reach several meters or even more than ten meters. For automobile users, the experience of using a Bluetooth key with inaccurate positioning for vehicle control is poor. Therefore, the embodiments of the present application provide a vehicle key positioning method, device, vehicle, and storage medium.

[0038] In order to be able to receive the signal of the vehicle key, several Bluetooth receiving devices need to be installed on the vehicle at fixed positions in advance, and the signal strengths of the Bluetooth signals received by the multiple Bluetooth receiving devices are used as the input data of the Bluetooth positioning model. For different applications of the vehicle key positioning function, the areas inside and outside the vehicle can be divided. The division method can be as Figure 1The orientation division shown, namely, the five orientations of inside the vehicle, in front of the vehicle, on the left side of the vehicle, on the right side of the vehicle, and behind the vehicle; it can also be a regional division based on the range from the vehicle, such as Figure 2 shown. The installation layout of the Bluetooth device includes Figure 1 , Figure 2 the layouts in, but is not limited to the above two layouts. For the common vehicle key unlocking and locking function, this application mainly uses Figure 2 the regional division in for detailed description, and Bluetooth receiving devices are installed in the internal armrest box, driver's door, passenger's door, trunk, and front of the vehicle respectively.

[0039] The embodiment of this application provides a vehicle key positioning method, as Figure 3 shown. This vehicle key positioning method can be applied to the control device of the vehicle and may include the following steps: Step S101, obtaining the signal strength of the Bluetooth signals received by multiple Bluetooth receiving devices; In the embodiment of this application, the Bluetooth signal is sent by the vehicle key to multiple Bluetooth receiving devices, and the multiple Bluetooth receiving devices are arranged at different positions of the vehicle. Exemplarily, the vehicle key may refer to an automotive Bluetooth key.

[0040] When the vehicle key approaches the vehicle, it can broadcast Bluetooth signals to the surrounding at preset time intervals. After multiple Bluetooth receiving devices respectively receive the Bluetooth signals sent by the vehicle key, they detect the signal strength of the received Bluetooth signals.

[0041] Taking Figure 2 the application scenario shown as an example, when the vehicle key approaches the vehicle, five Bluetooth receiving devices arranged inside the vehicle can receive the Bluetooth signals, and the five Bluetooth receiving devices respectively output the signal strength at a certain moment, then the set of signal strengths containing five signal strengths obtained can be denoted as: .

[0042] Step S102, determining the reference positioning information of the vehicle key at the current positioning moment based on the multiple signal strengths; In the embodiment of this application, a Bluetooth positioning model can be pre-trained to predict the reference positioning information of the vehicle key based on multiple signal strengths, and obtain the reference positioning information of the vehicle key at the current positioning moment.

[0043] That is to say, before using the Bluetooth positioning model to predict the reference positioning information of the vehicle key, a large amount of data in each region can be collected to train the Bluetooth positioning model. The Bluetooth positioning model can be common geometric measurement methods, location fingerprint methods, machine learning methods, etc.

[0044] Taking the Bluetooth positioning model as a machine learning method as an example, it can be pre-trained according toFigure 2 For each of the divided regions, collect the signal strength of the vehicle key in each region, and then assign a real label according to the actual region. Use the set of signal strengths with labels to train the initial Bluetooth positioning model, which can be denoted as , and its output result contains five categories. 1 represents that the Bluetooth key is in region 1, 2 represents region 2, 3 represents region 3, 4 represents region 4, and 5 represents region 5. After obtaining the trained Bluetooth model, it can be deployed to the control device on the vehicle side for real-time positioning prediction.

[0045] In this step, multiple signal strengths can be input into the Bluetooth positioning model, and the Bluetooth positioning model outputs the reference positioning information at the current positioning moment ( moment).

[0046] At any moment, input the obtained set of signal strengths into the pre-trained Bluetooth positioning model to predict the reference positioning information of the vehicle key. Exemplarily, the positioning result is the identifier of the region where the vehicle key is located, and the predicted reference positioning information can be denoted as:

[0047] After obtaining the predicted reference positioning information of the vehicle key, the reference positioning information can be stored.

[0048] Step S103: Perform stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment; In the embodiment of the present application, stable positioning processing may refer to controlling the degree of position change when determining the Bluetooth positioning information based on the reference positioning information according to certain rules, so that the position change of the finally obtained Bluetooth positioning information at the current positioning moment relative to the Bluetooth positioning information determined at the positioning moment before the current positioning moment is smaller.

[0049] In this step, after obtaining the reference positioning information, stable positioning processing can be performed on the reference positioning information to make the obtained Bluetooth positioning information more stable relative to the reference positioning information.

[0050] Step S104: Determine the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning moments.

[0051] After obtaining the Bluetooth positioning information at multiple positioning moments, the positioning result of the vehicle key at the current positioning moment can be determined based on the Bluetooth positioning information at multiple positioning moments.

[0052] In the embodiment of the present application, by performing stable positioning processing on the reference positioning information determined based on the signal strength of the Bluetooth signal, the obtained Bluetooth positioning information is made more stable. Furthermore, the positioning result of the vehicle key determined based on the Bluetooth positioning information at multiple positioning moments is made more stable, reducing unnecessary jumps and positioning errors caused by jumps during the Bluetooth positioning process, and making the finally obtained positioning result of the vehicle key more accurate.

[0053] In another embodiment of the present application, before step S103 performs stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment, as Figure 4 shown, the method further includes: Step S201, determining whether the reference positioning information is the first positioning information within a preset time period; In the embodiment of the present application, the preset time period can be set according to the duration required for the vehicle key to approach the vehicle once or repeatedly approach and move away from the vehicle multiple times, such as: 5 seconds, 10 seconds, 1 minute, etc.

[0054] Since there is no positioning information relative to the previous moment for the first positioning information within the preset time period, there is no situation of position jump. Therefore, in this step, different methods for determining the Bluetooth positioning information can be adopted according to whether the reference positioning information is the first positioning information within the preset time period.

[0055] Step S202, if the reference positioning information is the first positioning information within the preset time period, determining the reference positioning information as the Bluetooth positioning information at the current positioning moment; or, if the reference positioning information is not the first positioning result within the preset time period, performing step S103 to perform stable positioning processing on the reference positioning information to obtain the step of the Bluetooth positioning information at the current positioning moment.

[0056] That is to say, if the reference positioning information at the current positioning moment is the first positioning prediction result within a certain preset time period, the reference positioning information is directly used as the final Bluetooth positioning result without performing stable positioning processing. Otherwise, stable positioning processing needs to be performed on the reference positioning information.

[0057] The embodiment of the present application can automatically distinguish whether the reference positioning information at the current positioning moment is the first positioning information within the preset time period. If so, no stable positioning processing is performed on it. If not, stable positioning processing is performed on it, reducing the number of stable positioning processing times, saving system resources, and avoiding waste of system resources.

[0058] In another embodiment of the present application, step S103 performs stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment, including: Perform anti-cross-region jump processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment, and / or perform jump suppression processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment.

[0059] In the embodiments of the present application, the anti-cross-region jump processing can prevent the reference positioning information at the current positioning moment from undergoing a cross-region jump relative to the Bluetooth positioning information at the previous positioning moment. The jump suppression processing can reduce the number of jumps of the reference positioning information and prevent the Bluetooth positioning information at multiple positioning moments from undergoing frequent jumps.

[0060] In the implementation manners of performing anti-cross-region jump processing on the reference positioning information and performing jump suppression processing on the reference positioning information, any one of the processing manners can be performed first, and then the Bluetooth positioning information obtained by the later-used processing manner is determined as the Bluetooth positioning information at the current positioning moment.

[0061] In the embodiments of the present application, by performing anti-cross-region jump processing and / or jump suppression processing on the reference positioning information, the jump amplitude and / or frequency of the Bluetooth positioning information determined based on the reference positioning information are restricted, making the Bluetooth positioning information more stable.

[0062] In one implementation manner of the present application, as Figure 5 shown, performing anti-cross-region jump processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment includes: Step S301, obtain the reference positioning information and the Bluetooth positioning information at the previous positioning moment; Step S302, input the reference positioning information and the Bluetooth positioning information at the previous positioning moment into a jump limit state machine, so that the jump limit state machine corrects the reference positioning information that does not meet the region jump rule to obtain the Bluetooth positioning information at the current positioning moment.

[0063] In the embodiments of the present application, the jump limit state machine includes a judgment state, a correction state, and a non-correction state. The input of the judgment state is the reference positioning information at the current positioning moment and the Bluetooth positioning information at the previous positioning moment, and the output is a judgment result, that is, yes or no. When the judgment result is yes, it jumps to the non-correction state, and the reference positioning information is not corrected in the non-correction state. When the judgment result is no, it jumps to the correction state, and in the correction state, the reference positioning information at the current positioning moment is corrected to the Bluetooth positioning information at the previous positioning moment, that is, the Bluetooth positioning information at the previous positioning moment is used to replace the reference positioning information at the current positioning moment. That is to say, the Bluetooth positioning information at the previous positioning moment is determined as the Bluetooth positioning information at the current positioning moment.

[0064] As an example, the area jump rule may refer to allowing the Bluetooth positioning information to jump between adjacent areas and not allowing the Bluetooth positioning information to jump between non - adjacent areas.

[0065] In this step, the jump limit state machine determines whether the reference positioning information and the Bluetooth positioning information at the previous positioning moment satisfy the area jump rule. If the reference positioning information and the Bluetooth positioning information at the previous positioning moment satisfy the area jump rule, the jump limit state machine does not correct the reference positioning information; if the reference positioning information and the Bluetooth positioning information at the previous positioning moment do not satisfy the area jump rule, the jump limit state machine corrects the reference positioning information to a positioning area adjacent to the Bluetooth positioning information at the previous positioning moment to obtain the Bluetooth positioning information at the current positioning moment.

[0066] As an example, the reference positioning information at the current positioning moment and the Bluetooth positioning information at the previous positioning moment are input into the jump limit state machine. If they conform to the area jump rule, the reference positioning information at the current positioning moment is not corrected, and the reference positioning information is directly used as the Bluetooth positioning result at the current positioning moment; otherwise, the area jump of the Bluetooth positioning information needs to be restricted.

[0067] In the Bluetooth key unlocking and locking function, the allowed area jump situation of the Bluetooth positioning information is as Figure 6 shown. Only the change of the Bluetooth positioning information between adjacent areas is allowed. For situations that do not conform to the actual situation, such as the Bluetooth positioning information directly jumping from area 1 to area 3 or the Bluetooth positioning information directly jumping from area 3 to area 5, the Bluetooth positioning information at the current positioning moment is corrected to the Bluetooth positioning information at the previous positioning moment; for situations such as the Bluetooth positioning information jumping from area 2 to area 1 or area 3, the reference positioning information does not need to be corrected.

[0068] In the embodiment of the present application, the reference positioning information that does not satisfy the area jump rule is corrected by the jump limit state machine, so that the Bluetooth positioning information at the current positioning moment obtained after correction is in the same area as the Bluetooth positioning information at the previous positioning moment, realizing the anti - cross - area jump control of the Bluetooth positioning information, restricting the jump amplitude of the Bluetooth positioning information determined based on the reference positioning information, and making the Bluetooth positioning information more stable.

[0069] In an implementation manner of the present application, as Figure 7 shown, performing a jump suppression process on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment includes: Step S401, obtaining the Bluetooth positioning information whose positioning moment is within the historical time period; In the embodiments of the present application, the historical time period is before the current positioning moment. To make the finally obtained Bluetooth positioning information at the current moment more accurate, the starting boundary of the historical time period can be set according to actual needs, but the ending boundary is the previous positioning moment.

[0070] For example: The starting boundary of the historical time period is the same as the starting boundary of the preset time period, and the ending boundary is the previous positioning moment before the current positioning moment. In actual applications, to reduce the amount of calculation, the starting boundary of the historical time period can be moved backward to reduce the number of Bluetooth positioning information obtained.

[0071] Step S402: Based on the Bluetooth positioning information at the positioning moment within the historical time period, obtain the consecutive occurrence times of the reference positioning information at the current positioning moment; In the embodiments of the present application, the consecutive occurrence times are the total number of consecutive occurrences of the Bluetooth positioning information that is the same as the reference positioning information, including the reference positioning information. That is to say, if the reference positioning information is regarded as the Bluetooth positioning information, it is the total number of consecutive occurrences of the Bluetooth positioning information at the current positioning moment.

[0072] Step S403: Determine the Bluetooth positioning information at the current positioning moment according to the consecutive occurrence times.

[0073] In an implementation manner of the present application, step S403 determines the Bluetooth positioning information at the current positioning moment according to the consecutive occurrence times, including: if the consecutive occurrence times are less than the preset number threshold, obtain the Bluetooth positioning information at the previous positioning moment; correct the reference positioning information at the current positioning moment to the Bluetooth positioning information at the previous positioning moment.

[0074] In another implementation manner of the present application, step S403 determines the Bluetooth positioning information at the current positioning moment according to the consecutive occurrence times, including: if the consecutive occurrence times are greater than or equal to the preset number threshold, determine the reference positioning information at the current positioning moment as the Bluetooth positioning information at the current positioning moment.

[0075] When the vehicle key is at the regional boundary, it is very easy to have the phenomenon of unstable Bluetooth signal positioning. To stabilize the Bluetooth positioning prediction result, the present application uses a counter to record the total number of consecutive occurrences of the Bluetooth positioning information at the current positioning moment. Instead of adopting the changed positioning result when the Bluetooth positioning information first appears in a different positioning area, it is when the number of consecutive positions in the new area reaches times, then the positioning result is set to the new result. Assuming is set to 3, as in Figure 8 Example 2, when the number of times of changing from area 2 to area 3 at the Time and The result of the time is reset to the area. For Example 3, if the predicted positioning result of the area 3 continuously exceeds 3 times, then the latest Bluetooth positioning result is adopted at the third time.

[0076] In the embodiment of the present application, through the jump suppression process, only when the total number of consecutive occurrences of the Bluetooth positioning information recently reaches the preset number threshold, the Bluetooth positioning information at the previous positioning time is used to correct the reference positioning information at the current positioning time. By using the judgment condition that the number of consecutive occurrences reaches the preset number threshold, the jump frequency of the Bluetooth positioning information can be suppressed, the jump suppression control of the Bluetooth positioning information can be realized, the jump frequency of the Bluetooth positioning information determined based on the reference positioning information can be restricted, and the Bluetooth positioning information can be made more stable.

[0077] In another embodiment of the present application, as Figure 9 shown, step S104 determines the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning times, including: Step S501, determining the historical positioning trajectory of the vehicle key based on the Bluetooth positioning information whose positioning time is within the historical time period; In this step, among the Bluetooth positioning information at multiple positioning times, the Bluetooth positioning information whose positioning time is within the historical time period can be obtained, and then the historical positioning trajectory of the vehicle key is determined based on the Bluetooth positioning information whose positioning time is within the historical time period.

[0078] Step S502, obtaining the historical tracking trajectory of the pedestrian within the historical time period in the pedestrian tracking trajectory obtained by tracking the pedestrians around the vehicle, where the pedestrian tracking trajectory is obtained after smoothing the tracking information of the pedestrian; While performing Bluetooth positioning on the vehicle key, the embodiment of the present application also tracks at least one pedestrian around the vehicle to obtain a pedestrian tracking trajectory. While tracking the pedestrians around the vehicle, the obtained tracking information is also smoothed. For details, please refer to the following embodiments.

[0079] Step S503, correcting the reference positioning information at the current positioning time based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the vehicle key.

[0080] In an implementation manner of the present application, step S503 corrects the reference positioning information at the current positioning moment based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the vehicle key, including: fusing the historical positioning trajectory and the historical tracking trajectory to obtain a fused positioning trajectory; performing trajectory matching between the historical tracking trajectory and the fused positioning trajectory to obtain a trajectory similarity; using the tracking information of the pedestrian with the highest trajectory similarity at the current positioning moment to correct the reference positioning information at the current positioning moment to obtain the positioning result of the vehicle key.

[0081] As Figure 10 , when the historical positioning trajectory and the historical tracking trajectory are obtained, fusion processing can be performed to obtain the final positioning result. The area where the th pedestrian is located within the historical time period (i.e., the historical tracking trajectory) can be denoted as , and the Bluetooth positioning information within the historical time period (i.e., the historical positioning trajectory) can be denoted as , and the fused positioning trajectory after fusion is denoted as , where The positioning result at the moment is to be fused.

[0082] Perform trajectory matching between the historical tracking trajectories of all pedestrians appearing at the current moment and the fused positioning trajectory of the historical time period. Further, the matching can start from the 1st moment stored. If the area where the pedestrian is located at the corresponding moment is consistent with the fused positioning result, the similarity is incremented by 1 until the tracking trajectories of the entire historical time period are matched to obtain the th pedestrian's similarity (this similarity is not normalized, and the similarity in actual applications can also be normalized), and the pedestrian index obtained by matching is:

[0083] The pedestrian index id is represented as . According to the obtained pedestrian index id, determine the area where the current pedestrian is located, and use this area as the final positioning result of the vehicle key. The expression for the fusion processing is as follows:

[0084] where is the maximum similarity calculated after pedestrian trajectory matching. When the maximum similarity is less than , it indicates that no corresponding pedestrian is matched, and the Bluetooth positioning information at the current positioning moment is used as the final positioning result of the vehicle key at the current positioning moment; when the maximum similarity is greater than If so, select the area where the pedestrian with the highest similarity is located as the final positioning result of the vehicle key. This article only lists one possible fusion implementation method, and there can be other fusion methods in the specific implementation process.

[0085] In the embodiment of the present application, by correcting the reference positioning information at the current positioning moment based on the historical positioning trajectory and the historical tracking trajectory, the positioning result of the vehicle key can be obtained. The tracking information of the pedestrian with the highest similarity between the historical tracking trajectory and the historical positioning trajectory at the current positioning moment can be used to correct the Bluetooth positioning information at the current positioning moment. The tracking information of the pedestrian in the same position as the vehicle key is used to correct the Bluetooth positioning information of the vehicle key, improving the accuracy of the finally determined positioning result of the vehicle key.

[0086] In another embodiment of the present application, as Figure 11 shown, before determining the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning moments in step S104, the method further includes: Step S601, perform position tracking on the pedestrians around the vehicle to obtain the tracking information of the pedestrians; Step S602, if the tracking information of the pedestrians disappears at the current positioning moment, determine whether new pedestrians appear around the vehicle; Step S603, if new pedestrians appear around the vehicle at the current positioning moment, determine whether the new pedestrians and the pedestrians whose tracking information has disappeared meet the binding conditions; In an implementation manner of the present application, step S603 for determining whether the new pedestrians and the pedestrians whose tracking information has disappeared meet the binding conditions includes: obtaining the estimated position of the pedestrians whose tracking information has disappeared; if the distance between the tracking information of the new pedestrians and the estimated position of the pedestrians whose tracking information has disappeared is less than the preset distance threshold, determine that the new pedestrians and the pedestrians whose tracking information has disappeared meet the binding conditions.

[0087] Step S604, if the new pedestrians and the pedestrians whose tracking information has disappeared meet the binding conditions, determine the tracking information of the new pedestrians as the tracking information of the pedestrians whose tracking information has disappeared at the current positioning moment; In order to record the historical tracking trajectory of each pedestrian, it is necessary to store the tracking information of tracking each pedestrian in the past period of time, such as: coordinate position. In practical applications, in order to save system resources, when the disappearance time of the pedestrian is less than a certain number of moments, the trajectory change of this id can still be maintained, or the trajectory change of this id can be maintained all the time.

[0088] When a new ID appears, the distance between the coordinate position of the pedestrian with the new ID and the estimated position of the pedestrian with the disappeared ID can be calculated. If it meets the preset conditions (i.e., the distance is less than the preset distance threshold), then the new ID is bound to the pedestrian with the disappeared ID to achieve smooth pedestrian trajectories.

[0089] Based on the coordinate position of the pedestrian obtained from the BEV perception algorithm and the coordinate position obtained historically, calculate the speed of the pedestrian in a certain direction at a certain moment and direction, where the speed in the direction is , the speed in the direction is . If a certain pedestrian suddenly disappears in the perception result at the current moment, then estimate the coordinate position at the current moment according to the speed at the previous moment:

[0090] where, represents the time interval between two Bluetooth signal transmissions. Assume that the pedestrian disappeared at time t is the estimated position, and at time t, a certain newly appeared pedestrian is the position, and the distance between the two pedestrians is:

[0091] When the distance is less than the preset threshold, the two pedestrians are associated as the same pedestrian.

[0092] As shown in Figure 12 , the pedestrian with ID 2 disappeared after time, but according to time and time, the position of the pedestrian with ID 2 can be calculated between to time. At time, a pedestrian with ID 8 appeared, and the position is relatively close to the estimated position of the pedestrian with ID 2 at time. Then, the newly appeared pedestrian with ID 8 is associated with the pedestrian with ID 2 and bound as the same pedestrian.

[0093] That is to say, after smoothing the perception results of the current positioning time of each pedestrian, it is necessary to calculate the area where the pedestrian is located according to the tracking information obtained after smoothing. Then, the areas where all visible pedestrians are located at the current positioning time are denoted as:

[0094] where, represents the The area where a pedestrian is located, a total of five areas.

[0095] In addition, the visible distance range of pedestrians in the BEV perception result is relatively large, which may have exceeded the range of Bluetooth signal reception. Therefore, pedestrians located outside the preset area at the current positioning moment are filtered, and pedestrians outside the range do not need to perform trajectory matching.

[0096] Step S605: Sort all the tracking information of pedestrians located within the preset time period according to the sequence of positioning moments, so as to obtain the pedestrian tracking trajectory of the pedestrians.

[0097] In this step, for each pedestrian, all the tracking information located within the preset time period can be sorted according to the sequence of positioning moments, so as to obtain the pedestrian tracking trajectory of the pedestrians.

[0098] The embodiment of the present application can perform position tracking on pedestrians around the vehicle and smooth the tracking information obtained by the position tracking to avoid loss of pedestrian tracking and smooth the position change of the tracking information, and finally obtain a more stable pedestrian tracking trajectory. Furthermore, in the previous embodiment, when using the fusion of the historical tracking trajectory and the historical positioning trajectory to correct the reference positioning information at the current positioning moment, a more stable Bluetooth positioning information at the current positioning moment can be obtained, reducing unnecessary jumps and positioning errors caused by jumps in the Bluetooth positioning process, and making the final positioning result of the vehicle key more accurate.

[0099] In another embodiment of the present application, a vehicle key positioning device is further provided, as Figure 13 shown, including: The first acquisition module 11 is used to acquire the signal strength of the Bluetooth signals received by a plurality of Bluetooth receiving devices, where the Bluetooth signals are sent by the vehicle key to the plurality of Bluetooth receiving devices, and the plurality of Bluetooth receiving devices are arranged at different positions of the vehicle; The first determination module 12 is used to determine the reference positioning information of the vehicle key at the current positioning moment based on the plurality of signal strengths; The first processing module 13 is used to perform stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment; The second determination module 14 is used to determine the positioning result of the vehicle key based on the Bluetooth positioning information at a plurality of positioning moments.

[0100] Optionally, the device further includes: The third determination module is used to determine whether the reference positioning information is the first positioning information within a preset time period; A fourth determination module, configured to determine the reference positioning information as the Bluetooth positioning information at the current positioning moment if the reference positioning information is the first positioning information within the preset time period; or, if the reference positioning information is not the first positioning result within the preset time period, perform a step of performing stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment.

[0101] Optionally, the first processing module includes: A first processing unit, configured to perform anti-cross-region jump processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment, and / or, a second processing unit, configured to perform jump suppression processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment.

[0102] Optionally, the first processing unit includes: A first acquisition subunit, configured to acquire the reference positioning information and the Bluetooth positioning information at the previous positioning moment; A first correction subunit, configured to input the reference positioning information and the Bluetooth positioning information at the previous positioning moment into a jump limit state machine, so that the jump limit state machine corrects the reference positioning information that does not meet the region jump rule to obtain the Bluetooth positioning information at the current positioning moment.

[0103] Optionally, the first correction subunit is further configured to: The jump limit state machine determines whether the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the region jump rule. If the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the region jump rule, the jump limit state machine does not correct the reference positioning information; if the reference positioning information and the Bluetooth positioning information at the previous positioning moment do not meet the region jump rule, the jump limit state machine corrects the reference positioning information to a positioning region adjacent to the Bluetooth positioning information at the previous positioning moment to obtain the Bluetooth positioning information at the current positioning moment.

[0104] Optionally, the second processing unit includes: A second acquisition subunit, configured to acquire the Bluetooth positioning information whose positioning moment is within a historical time period, and the historical time period is before the current positioning moment; A third acquisition subunit, configured to acquire the continuous occurrence times of the reference positioning information at the current positioning moment based on the Bluetooth positioning information whose positioning moment is within the historical time period; A first determination subunit, configured to determine the Bluetooth positioning information at the current positioning moment according to the continuous occurrence times.

[0105] Optionally, the first determination subunit is further configured to: If the number of consecutive occurrences is less than the preset number threshold, obtain the Bluetooth positioning information at the previous positioning moment; Correct the reference positioning information at the current positioning moment to the Bluetooth positioning information at the previous positioning moment.

[0106] Optionally, the first determining subunit is further configured to: If the number of consecutive occurrences is greater than or equal to the preset number threshold, determine the reference positioning information at the current positioning moment as the Bluetooth positioning information at the current positioning moment.

[0107] Optionally, the second determining module includes: A first determining unit, configured to determine the historical positioning trajectory of the vehicle key based on the Bluetooth positioning information at positioning moments within a historical time period; A first obtaining unit, configured to obtain the historical tracking trajectory of the pedestrian within the historical time period from the pedestrian tracking trajectory obtained by tracking the pedestrians around the vehicle, where the pedestrian tracking trajectory is obtained by smoothing the tracking information of the pedestrian; A first correcting unit, configured to correct the reference positioning information at the current positioning moment based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the vehicle key.

[0108] Optionally, the first correcting unit includes: A fusion subunit, configured to fuse the historical positioning trajectory and the historical tracking trajectory to obtain a fused positioning trajectory; A matching subunit, configured to perform trajectory matching between the historical tracking trajectory and the fused positioning trajectory to obtain a trajectory similarity; A second correcting subunit, configured to correct the reference positioning information at the current positioning moment by using the tracking information of the pedestrian with the highest trajectory similarity at the current positioning moment to obtain the positioning result of the vehicle key.

[0109] Optionally, before the second determining module, the device further includes: A position tracking module, configured to perform position tracking on the pedestrians around the vehicle to obtain the tracking information of the pedestrians; A pedestrian determining module, configured to determine whether a new pedestrian appears around the vehicle if the tracking information of the pedestrian disappears at the current positioning moment; A condition judging module, configured to determine whether the new pedestrian and the pedestrian whose tracking information disappears satisfy a binding condition if a new pedestrian appears around the vehicle at the current positioning moment; An information determining module, configured to determine the tracking information of the new pedestrian as the tracking information of the pedestrian whose tracking information disappears at the current positioning moment if the new pedestrian and the pedestrian whose tracking information disappears satisfy the binding condition; A trajectory generation module, configured to sort all tracking information of a pedestrian within a preset time period according to the chronological order of positioning times, so as to obtain the pedestrian tracking trajectory of the pedestrian.

[0110] Optionally, the condition judgment module includes: A second acquisition unit, configured to acquire the estimated position of a pedestrian whose tracking information disappears; A second determination unit, configured to determine that a new pedestrian and a pedestrian whose tracking information disappears meet the binding condition if the distance between the tracking information of the new pedestrian and the estimated position of the pedestrian whose tracking information disappears is less than a preset distance threshold.

[0111] In another embodiment of the present application, a vehicle is further provided, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is used to store a computer program; The processor, when executing the program stored on the memory, implements the vehicle key positioning method described in any of the foregoing method embodiments.

[0112] In the vehicle provided by the embodiment of the present invention, the processor performs stable positioning processing on the reference positioning information determined based on the signal strength of the Bluetooth signal by executing the program stored on the memory, so that the obtained Bluetooth positioning information is more stable. Furthermore, the positioning result of the vehicle key determined based on the Bluetooth positioning information at multiple positioning times is more stable, reducing unnecessary jumps and positioning errors caused by the jumps in the Bluetooth positioning process, and making the finally obtained positioning result of the vehicle key more accurate.

[0113] The communication bus 1140 mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1140 can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 14 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0114] The communication interface 1120 is used for communication between the above electronic device and other devices.

[0115] The memory 1130 may include a Random Access Memory (RAM), or may also include a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0116] The aforementioned processor 1110 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0117] In another embodiment of the present application, a computer-readable storage medium is further provided. A program of the vehicle key positioning method is stored on the computer-readable storage medium. When the program of the vehicle key positioning method is executed by a processor, the steps of the vehicle key positioning method described in any of the foregoing method embodiments are implemented.

[0118] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0119] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle key positioning method, characterized in that: include: Acquire signal strengths of Bluetooth signals received by multiple Bluetooth receiving devices, where the Bluetooth signals are sent by the vehicle key to the multiple Bluetooth receiving devices, and the multiple Bluetooth receiving devices are arranged at different positions of the vehicle; Determining reference positioning information of the vehicle key at a current positioning moment based on the plurality of signal strengths; Performing stable positioning processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment; The reference positioning information is subjected to stable positioning processing to obtain Bluetooth positioning information at the current positioning moment, including: Performing anti-cross-zone jump processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment, and / or performing jump suppression processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment; The positioning result of the vehicle key is determined based on the Bluetooth positioning information at multiple positioning moments.

2. The vehicle key positioning method according to claim 1, characterized in that: The method further comprises: Determining whether the reference positioning information is the first positioning information within a preset time period; If the reference positioning information is the first positioning information within the preset time period, the reference positioning information is determined as the Bluetooth positioning information at the current positioning moment; or, if the reference positioning information is not the first positioning result within the preset time period, a step of performing stable positioning processing on the reference positioning information to obtain the Bluetooth positioning information at the current positioning moment.

3. The vehicle key positioning method according to claim 1, characterized in that: The reference positioning information is processed to prevent cross-zone jumps, and the Bluetooth positioning information at the current positioning moment is obtained, including: Obtaining the reference positioning information and the Bluetooth positioning information of the last positioning moment; The reference positioning information and the Bluetooth positioning information at the previous positioning moment are input into the jump restriction state machine, so that the jump restriction state machine corrects the reference positioning information that does not meet the regional jump rule to obtain the Bluetooth positioning information at the current positioning moment.

4. The vehicle key positioning method according to claim 3, characterized in that: Inputting the reference positioning information and the Bluetooth positioning information at the previous positioning moment into a jump restriction state machine, so that the jump restriction state machine corrects the reference positioning information that does not meet the regional jump rule, and obtains the Bluetooth positioning information at the current positioning moment, including: The jump restriction state machine determines whether the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the regional jump rules. If the reference positioning information and the Bluetooth positioning information at the previous positioning moment meet the regional jump rules, the jump restriction state machine does not modify the reference positioning information; if the reference positioning information and the Bluetooth positioning information at the previous positioning moment do not meet the regional jump rules, the jump restriction state machine modifies the reference positioning information to a positioning area adjacent to the Bluetooth positioning information at the previous positioning moment to obtain the Bluetooth positioning information at the current positioning moment.

5. The vehicle key positioning method according to claim 1, characterized in that: The reference positioning information is subjected to a jump suppression process to obtain Bluetooth positioning information at the current positioning moment, including: Acquire Bluetooth positioning information whose positioning moment is within a historical time period, where the historical time period is before the current positioning moment; Based on the Bluetooth positioning information at the positioning moment within the historical time period, obtain the number of consecutive occurrences of the reference positioning information at the current positioning moment; The Bluetooth positioning information at the current positioning moment is determined according to the number of consecutive occurrences.

6. The vehicle key positioning method according to claim 5, characterized in that: Determining the Bluetooth positioning information at the current positioning moment according to the number of consecutive occurrences includes: If the number of consecutive occurrences is less than a preset number threshold, obtaining the Bluetooth positioning information of the previous positioning moment; The reference positioning information at the current positioning moment is corrected to the Bluetooth positioning information at the previous positioning moment.

7. The vehicle key positioning method according to claim 5, characterized in that: Determining the Bluetooth positioning information at the current positioning moment according to the number of consecutive occurrences includes: If the number of consecutive occurrences is greater than or equal to a preset number threshold, the reference positioning information at the current positioning moment is determined as the Bluetooth positioning information at the current positioning moment.

8. The vehicle key positioning method according to claim 1, characterized in that: Determining the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning moments includes: Determine the historical positioning track of the vehicle key based on the Bluetooth positioning information at the positioning moment within the historical time period; In a pedestrian tracking trajectory obtained by tracking pedestrians around the vehicle, a historical tracking trajectory of the pedestrian in the historical time period is obtained, where the pedestrian tracking trajectory is obtained after smoothing the tracking information of the pedestrian; The reference positioning information at the current positioning moment is corrected based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the vehicle key.

9. The vehicle key positioning method according to claim 8, characterized in that: The reference positioning information at the current positioning moment is corrected based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the vehicle key, including: Fusing the historical positioning trajectory with the historical tracking trajectory to obtain a fused positioning trajectory; Performing trajectory matching on the historical tracking trajectory and the fused positioning trajectory to obtain trajectory similarity; The reference positioning information at the current positioning moment is corrected by using the tracking information of the pedestrian with the highest trajectory similarity at the current positioning moment to obtain the positioning result of the vehicle key.

10. The vehicle key positioning method according to claim 1, characterized in that: Before determining the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning moments, the method further includes: Tracking the positions of pedestrians around the vehicle to obtain tracking information of the pedestrians; If the tracking information of the pedestrian disappears at the current positioning moment, determining whether a new pedestrian appears around the vehicle; If a new pedestrian appears around the vehicle at the current positioning moment, determine whether the new pedestrian and the pedestrian whose tracking information disappears meet the binding condition; If the new pedestrian and the pedestrian whose tracking information disappears meet the binding condition, the tracking information of the new pedestrian is determined as the tracking information of the pedestrian whose tracking information disappears at the current positioning time; According to the sequence of positioning moments, all tracking information whose positioning moments are within a preset time period are sorted to obtain the pedestrian tracking trajectory of the pedestrian.

11. The vehicle key positioning method according to claim 9, characterized in that: Determine whether the new pedestrian and the pedestrian whose tracking information disappears meet the binding conditions, including: Obtain the estimated position of the pedestrian whose tracking information disappears; If the distance between the tracking information of the new pedestrian and the estimated position of the pedestrian whose tracking information disappears is less than a preset distance threshold, it is determined that the new pedestrian and the pedestrian whose tracking information disappears meet the binding condition.

12. A vehicle key positioning device, characterized in that: include: A first acquisition module is used to acquire signal strengths of Bluetooth signals received by multiple Bluetooth receiving devices, where the Bluetooth signals are sent by the vehicle key to the multiple Bluetooth receiving devices, and the multiple Bluetooth receiving devices are arranged at different positions of the vehicle; A first determination module, configured to determine reference positioning information of the vehicle key at a current positioning moment based on a plurality of the signal strengths; A first processing module, configured to perform stable positioning processing on the reference positioning information to obtain Bluetooth positioning information at a current positioning moment; Performing stable positioning processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment, including: performing anti-cross-zone jump processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment, and / or performing jump suppression processing on the reference positioning information to obtain Bluetooth positioning information at the current positioning moment; The second determination module is used to determine the positioning result of the vehicle key based on the Bluetooth positioning information at multiple positioning moments.

13. A vehicle, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the vehicle key positioning method described in any one of claims 1 to 11 when executing the program stored in the memory.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program of a vehicle key locating method, and when the program of the vehicle key locating method is executed by a processor, the steps of the vehicle key locating method according to any one of claims 1 to 11 are implemented.

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