Dual-mode dual-anchor digital key positioning method and device, and positioning equipment

Abstract

The embodiment of the invention relates to the technical field of digital key positioning, and discloses a dual-mode dual-anchor digital key positioning method and device, positioning equipment and a storage medium. The method comprises the following steps: acquiring positioning information of UWB and Bluetooth dual-mode and dual-anchor points at a preset position on a vehicle, and adopting multiple judgment conditions according to the positioning information of UWB master and slave anchor points to obtain a judgment result inside and outside the vehicle; executing a plurality of groups of judgment conditions corresponding to the UWB master anchor point, the UWB master anchor point and the slave anchor point according to a preset sequence, and if the inside and outside judgment result is outside the vehicle, respectively obtaining respective corresponding outside area judgment results according to the positioning information of the UWB master anchor point and the UWB slave anchor point; and obtaining an out-of-vehicle area judgment result according to the out-of-vehicle area judgment result of the UWB master anchor point and the UWB slave anchor point, the NLOS conditions of the UWB master anchor point and the UWB slave anchor point and the Bluetooth judgment result. Through combination of positioning information collected by dual-mode and dual-anchor points and multi-dimensional judgment conditions, good positioning performance can be achieved, and cost is reduced at the same time.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of digital key positioning, and in particular, to a dual-mode dual-anchor digital key positioning method and device, a positioning device, and a storage medium. Background Art

[0002] In recent years, Ultra Wide Band (UWB) digital key technology has gradually emerged. As an advanced wireless communication technology, UWB can achieve high-precision positioning and data transmission. Compared with the traditional Bluetooth Low Energy (BLE) technology, UWB has obvious advantages in terms of signal penetration and anti-interference ability, making it widely used in intelligent devices such as car keys. UWB digital keys can not only provide a faster unlocking experience, but also effectively improve security, prevent illegal intrusion through precise positioning, and enhance the convenience and sense of security of users.

[0003] Currently, the mainstream UWB digital keys require 4 to 6 UWB anchors to be installed on the vehicle. Due to the hardware requirements and complexity of UWB technology, the cost of UWB digital keys is much higher than that of BLE digital keys. Although the existing 4 to 6 UWB anchor solutions can achieve a good user experience, the installation cost is relatively high. Summary of the Invention

[0004] The embodiments of the present invention provide a dual-mode dual-anchor digital key positioning method and device, a positioning device, and a storage medium, which use BLE and UWB dual-mode anchors for positioning, aiming to reduce costs while ensuring positioning performance.

[0005] In a first aspect, the embodiments of the present invention provide a dual-mode dual-anchor digital key positioning method, including: obtaining the positioning information of UWB and BLE dual-mode dual-anchors at a preset position on a vehicle; the positioning information includes: the Received Signal Strength Indicator value RSSI_BLE of the BLE dual-anchors, the ranging values and received powers of the UWB main anchor and the UWB slave anchor;

[0006] Obtaining a Bluetooth judgment result Area_BLE according to the RSSI_BLE;

[0007] Obtaining a UWB inside / outside vehicle judgment result according to the positioning information of the UWB main anchor and the UWB slave anchor by using multiple judgment conditions; where when both the UWB main anchor and the UWB slave anchor include valid ranging values and received powers, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB main anchor and the UWB main anchor and the slave anchor; the multiple groups of judgment conditions are executed in a preset order;

[0008] When the UWB in-vehicle / out-of-vehicle judgment result is out-of-vehicle, if the out-of-vehicle area judgment results Area_UWB_1 and Area_UWB_2 corresponding to the positioning information of the UWB main anchor point and / or the UWB slave anchor point are obtained, then the out-of-vehicle area judgment result Area_UWB is obtained according to Area_UWB_1 and / or Area_UWB_2 and the NLOS conditions of the UWB main anchor point and the UWB slave anchor point; if the out-of-vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained, then the out-of-vehicle area judgment result is obtained according to the historical out-of-vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE.

[0009] As an embodiment, the execution of the multiple groups of judgment conditions in a preset order includes: sequentially executing the judgment conditions corresponding to the UWB main anchor point, the UWB main anchor point and the UWB slave anchor point in sequence.

[0010] As an embodiment, judging in-vehicle / out-of-vehicle according to the positioning information corresponding to the UWB main anchor point includes:

[0011] Judging whether Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1 is satisfied. If so, it is judged to be inside the vehicle;

[0012] If not, then judge whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, it is judged to be inside the vehicle;

[0013] If not, then judge whether Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, it is judged to be outside the vehicle; if not, then judge whether there are valid ranging values Dist_2 and valid received powers RxPower_2 for the UWB slave anchor point. If so, continue to judge in-vehicle / out-of-vehicle according to the positioning information of the UWB main anchor point and the UWB slave anchor point; if not, judge to be in the mixed zone;

[0014] Among them, DistThsld_1, DistThsld_2, and DistThsld_3 are respectively the ranging value thresholds of the UWB main anchor point in the corresponding judgment conditions, and DistThsld_1 < DistThsld_2 < DistThsld_3; RxThsld_1, RxThsld_2, and RxThsld_3 are respectively the received power thresholds of the UWB main anchor point in the corresponding judgment conditions, and RxThsld_1 > RxThsld_2 > RxThsld_3.

[0015] As an embodiment, continue to determine whether it is inside or outside the vehicle based on the positioning information of the UWB master anchor and the UWB slave anchor, including:

[0016] Execute the multiple judgment conditions for in-vehicle and out-of-vehicle judgments in sequence.

[0017] As an embodiment, among the multiple judgment conditions for in-vehicle and out-of-vehicle judgments executed in sequence, the multiple judgment conditions for in-vehicle judgment include:

[0018] Judge whether Dist_1 + Dist_2 < SumDistThsld_1 is satisfied. If so, judge it as inside the vehicle;

[0019] If not, judge whether DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 are satisfied. If so, judge it as inside the vehicle;

[0020] If not, judge whether 0 < Dist_1 - Dist_2 < DiffDistThsld_1 and Dist_1 + Dist_2 < SumDistThsld_2 and Dist_2 < DistThsld_6 are satisfied. If so, judge it as inside the vehicle;

[0021] If not, execute the multiple judgment conditions for out-of-vehicle judgment;

[0022] Among them, SumDistThsld_1 and SumDistThsld_2 are the thresholds for the sum of the UWB master anchor and the UWB slave anchor in the corresponding judgment conditions respectively;

[0023] DistThsld_4 and DistThsld_5 are the ranging value thresholds of the UWB master anchor in the corresponding judgment conditions respectively;

[0024] DiffDistThsld_1 is the threshold for the difference between the ranging values of the UWB master anchor and the UWB slave anchor in the corresponding judgment condition;

[0025] DistThsld_6 is the ranging value threshold of the UWB slave anchor in the corresponding judgment condition.

[0026] As an embodiment, the multiple judgment conditions for out-of-vehicle judgment include:

[0027] Judge whether Dist_2 > DistThsld_7 is satisfied. If so, judge it as outside the vehicle;

[0028] Otherwise, it is determined whether abs(Dist_1 - Dist_2) > DiffDistThsld_2 or abs(Dist_1 - Dist_2) < DiffDistThsld_3 is satisfied. If so, it is determined to be outside the vehicle;

[0029] Otherwise, it is determined whether DistThsld_6 < Dist_1 < DistThsld_5 and Dist_2 > DistThsld_7 are satisfied. If so, it is determined to be outside the vehicle;

[0030] Otherwise, it is determined whether Dist_1 > DistThsld_6 and DistThsld_8 < Dist_2 < DistThsld_7 are satisfied. If so, it is determined to be outside the vehicle;

[0031] Otherwise, the UWB in-vehicle / out-of-vehicle prediction result Area_Pred is obtained based on the historical UWB in-vehicle / out-of-vehicle judgment result and the UWB positioning information;

[0032] Among them, DistThsld_7 and DistThsld_8 are the ranging value thresholds of the UWB slave anchor points in the corresponding judgment conditions; DiffDistThsld_2 and DiffDistThsld_3 are the absolute value thresholds of the difference between the ranging values of the UWB main anchor point and the UWB slave anchor point in the corresponding judgment conditions respectively; DistThsld_6 is reused as the ranging value threshold of the UWB main anchor point in the corresponding judgment conditions.

[0033] As an embodiment, obtaining the UWB in-vehicle / out-of-vehicle judgment result by using multiple judgment conditions according to the positioning information of the UWB main anchor point and the UWB slave anchor point includes:

[0034] When there is no valid ranging value and received power for the UWB main anchor point and there are valid ranging value and received power for the UWB slave anchor point, it is determined whether Dist_2 < DistThsld_6 is satisfied. If so, it is determined to be inside the vehicle; if not, it is determined to be outside the vehicle.

[0035] As an embodiment, the out-of-vehicle area judgment results include: the PE area, the LOCK area, the WELCOME area, and the CONNECT area;

[0036] Obtaining the UWB out-of-vehicle area judgment result Area_UWB_1 corresponding to the UWB main anchor point according to the positioning information of the UWB main anchor point includes:

[0037] If Dist_1 < UnlockThrsld_1, it is determined to be the PE area;

[0038] If UnlockThrsld_1 <= Dist_1 < LockThrsld_1, it is determined as the LOCK area;

[0039] If LockThrsld_1 <= Dist_1 < WelThrsld_1, it is determined as the WELCOME area;

[0040] If Dist_1 >= WelThrsld_1, it is determined as the CONNECT area;

[0041] Among them, UnlockThrsld_1, LockThrsld_1, and WelThrsld_1 are respectively the ranging value thresholds for judging the UWB main anchor point in the vehicle exterior areas corresponding to the PE area, LOCK area, and WELCOME area.

[0042] Obtaining the UWB vehicle exterior area judgment result Area_UWB_2 corresponding to the UWB slave anchor point according to the positioning information of the UWB slave anchor point includes:

[0043] If Dist_2 < UnlockThrsld_2, it is determined as the PE area;

[0044] If UnlockThrsld_2 <= Dist_2 < LockThrsld_2, it is determined as the LOCK area;

[0045] If LockThrsld_2 <= Dist_2 < WelThrsld_2, it is determined as the WELCOME area;

[0046] If Dist_2 >= WelThrsld_2, it is determined as the CONNECT area;

[0047] Among them, UnlockThrsld_2, LockThrsld_2, and WelThrsld_2 are respectively the ranging value thresholds for judging the UWB slave anchor point in the vehicle exterior areas corresponding to the PE area, LOCK area, and WELCOME area.

[0048] As an embodiment, obtaining the UWB vehicle exterior area judgment result Area_UWB according to Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB main anchor point and the UWB slave anchor point, and the Bluetooth judgment result Area_BLE includes:

[0049] When both the UWB main anchor point and the UWB slave anchor point are LOS or NLOS, the vehicle exterior area closer to the vehicle in Area_UWB_1 and Area_UWB_2 is used as Area_UWB;

[0050] When one of the UWB master anchor or the UWB slave anchor is LOS and the other is NLOS, if the judgment result of the NLOS anchor is farther from the vehicle, then the judgment result of the LOS anchor is used as Area_UWB; if the judgment result of the NLOS anchor is closer to the vehicle, then the confidence levels of Area_UWB_1 and Area_UWB_2 are calculated based on the historical Area_UWB, and Area_UWB is obtained according to the confidence levels of Area_UWB_1 and Area_UWB_2.

[0051] In a second aspect, an embodiment of the present invention provides a dual-mode dual-anchor digital key positioning device, including:

[0052] An acquisition module, configured to acquire the positioning information of the UWB and BLE dual-mode dual-anchors at a preset position on the vehicle; the positioning information includes: the received signal strength indication value RSSI_BLE of the BLE dual-anchors, the ranging values and received powers of the UWB master anchor and the UWB slave anchor;

[0053] A BLE judgment module, configured to obtain a Bluetooth judgment result Area_BLE according to the RSSI_BLE;

[0054] A UWB inside / outside vehicle judgment module, configured to obtain a UWB inside / outside vehicle judgment result by using multiple judgment conditions according to the positioning information of the UWB master anchor and the UWB slave anchor; wherein, when both the UWB master anchor and the UWB slave anchor include valid ranging values and received powers, the multiple judgment conditions include the UWB master anchor and multiple groups of judgment conditions corresponding to the master anchor and the slave anchor; the multiple groups of judgment conditions are executed in a preset order;

[0055] A UWB outside vehicle area judgment module, configured to, when the UWB inside / outside vehicle judgment result is outside the vehicle, if the respective outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 are obtained according to the positioning information of the UWB master anchor and / or the UWB slave anchor, then obtain an outside vehicle area judgment result Area_UWB according to Area_UWB_1 and / or Area_UWB_2 and the NLOS conditions of the UWB master anchor and the UWB slave anchor;

[0056] A BLE outside vehicle area auxiliary judgment module, configured to, if the outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained, then obtain an outside vehicle area judgment result according to the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE.

[0057] In a third aspect, an embodiment of the present invention provides a positioning device, including a memory and a processor;

[0058] A memory for storing a computer program; the processor is configured to read the computer program in the memory and implement the dual-mode dual-anchor digital key positioning method as described above when executing the program.

[0059] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the dual-mode dual-anchor digital key positioning method as described in the first aspect.

[0060] The technical solutions provided by the embodiments of the present invention have at least the following positive effects compared with the prior art:

[0061] In the technical solution of the embodiment of the present invention, UWB and BLE dual-mode dual-anchors at preset positions on the vehicle are used for positioning. When judging inside and outside the vehicle, according to the positioning information of the UWB main anchor and the UWB slave anchor, multiple judgment conditions are used to obtain the UWB inside / outside vehicle judgment result. When both the UWB main anchor and the UWB slave anchor contain valid ranging values and received powers, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB main anchor, the UWB main anchor and the slave anchor, and the multiple groups of judgment conditions are executed in a preset order, so that the inside / outside vehicle judgment result can be obtained efficiently and accurately. When judging the outside vehicle area, according to the positioning information of the UWB main anchor, the UWB outside vehicle area judgment result Area_UWB_1 corresponding to the UWB main anchor is obtained, and according to the positioning information of the UWB slave anchor, the UWB outside vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor is obtained. Then, according to Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB main anchor and the UWB slave anchor, and the Bluetooth judgment result Area_BLE, the UWB outside vehicle area judgment result Area_UWB is obtained. If Area_UWB_1 and Area_UWB_2 are not obtained, the outside vehicle area judgment result is obtained according to the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE. Therefore, precise positioning is achieved through dual UWB anchors, and at the same time, dual BLE anchors are integrated for assistance, so as to achieve precise positioning and high positioning accuracy at a relatively low cost. Description of the Drawings

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0063] Figure 1 It is an example layout diagram of the vehicle body UWB and BLE dual-mode dual-anchors provided by the embodiment of the present invention;

[0064] Figure 2 It is a schematic flowchart of the dual - mode dual - anchor digital key positioning method provided in the first embodiment of the present invention;

[0065] Figure 3 It is a schematic flowchart of the UWB in - vehicle and out - of - vehicle judgment process in an embodiment of the dual - mode dual - anchor digital key positioning method of the present invention;

[0066] Figure 4 It is a schematic structural diagram of the dual - mode dual - anchor digital key positioning device provided in the second embodiment of the present invention;

[0067] Figure 5 It is a schematic structural diagram of the positioning device provided in the third embodiment of the present invention. Detailed implementation manners

[0068] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0069] The dual-mode dual-anchor digital key positioning method, device, positioning equipment, and storage medium according to the embodiments of the present application will be described below with reference to the accompanying drawings. Aiming at the problem of the high implementation cost of the 4-6 UWB anchor digital key solution mentioned in the background technology, the present application provides a dual-mode dual-anchor digital key positioning method. In this method, the positioning information of the UWB and BLE dual-mode dual-anchor at a preset position on the vehicle is obtained; the positioning information includes: the received signal strength indication value RSSI_BLE of the BLE dual-anchor, the ranging values and received powers of the UWB master anchor and the UWB slave anchor. According to RSSI_BLE, the Bluetooth judgment result Area_BLE is obtained. According to the positioning information of the UWB master anchor and the UWB slave anchor, multiple judgment conditions are used to obtain the UWB in-vehicle / out-of-vehicle judgment result. Among them, when both the UWB master anchor and the UWB slave anchor include valid ranging values and received powers, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB master anchor, the UWB master anchor, and the slave anchor. The multiple groups of judgment conditions are executed in a preset order to obtain a high-precision UWB in-vehicle / out-of-vehicle judgment result; if the UWB in-vehicle / out-of-vehicle judgment result is out of the vehicle, the UWB out-of-vehicle area judgment result Area_UWB_1 corresponding to the UWB master anchor is obtained according to the positioning information of the UWB master anchor, and the UWB out-of-vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor is obtained according to the positioning information of the UWB slave anchor. Then, according to Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB master anchor and the UWB slave anchor, and the Bluetooth judgment result Area_BLE, the UWB out-of-vehicle area judgment result Area_UWB is obtained, so as to obtain an accurate UWB out-of-vehicle area judgment result, and the cost is relatively low.

[0070] Figure 1 It is a layout diagram of the UWB and BLE dual-mode dual-anchor on the vehicle in the dual-mode dual-anchor digital key positioning method provided by the embodiments of the present application. As Figure 1 shown, each group of dual-mode anchors includes a UWB anchor and a BLE anchor, which are electrically connected. The master anchor 100 in the two groups of dual-mode anchors can be installed under the front-row rearview mirror in the vehicle, and the slave anchor 102 can be installed in the middle of the vehicle tail. Or according to the vehicle structure characteristics and requirements, other installation positions can be selected, and no excessive restrictions are imposed on this.

[0071] Figure 2 It is a flowchart of the dual-mode dual-anchor digital key positioning method provided by the embodiments of the present invention, which can be applied to PEPS (Passive Entry Passive Start). This method can be executed by a dual-mode dual-anchor digital key positioning device provided by the embodiments of the present invention. The device can be implemented in software and / or hardware and is configured in the positioning equipment at the vehicle end. As Figure 2As shown in the figure, the dual-mode dual-anchor digital key positioning method of the present application includes the following steps:

[0072] Step 201: Obtain the positioning information of the UWB and BLE dual-mode dual-anchor at a preset position on the vehicle. The positioning information includes: the received signal strength indication value RSSI_BLE of the BLE dual-anchor, the ranging values and received powers of the UWB main anchor and the UWB slave anchor.

[0073] When the user carries a UWB / BLE dual-mode digital key (such as a mobile phone) inside or near the vehicle, the dual-mode dual-anchor on the vehicle body respectively receives the UWB and BLE signals of the digital key, obtains their respective positioning information, and then sends it to the positioning device, which can be the digital key module on the vehicle.

[0074] Step 202: Obtain the Bluetooth judgment result Area_BLE according to RSSI_BLE.

[0075] The Bluetooth judgment result Area_BLE may include: the target area where the digital key is inside the vehicle, in the mixed area, or outside the vehicle.

[0076] The mixed area is the area between PE and PS. Due to the limitation of positioning accuracy, an area within 10 cm inside and outside the window, which cannot be clearly defined as inside or outside the vehicle, is defined as the PE / PS area. The area outside the vehicle may include: the PE (Passive Entry) area, the LOCK (locking) area, the WELCOME (greeting) area, and the CONNECT (connection) area. The Bluetooth judgment result can be any one of inside the vehicle, the PE / PS area, or the area outside the vehicle. Among them, when the digital key is in the PS area, the vehicle can be allowed to start; when it is in the PE area, the door can be allowed to be opened; when it is in the LOCK area, the vehicle can be locked; when it is in the WELCOME area, the vehicle can be controlled to perform a preset greeting operation; when entering the CONNECT area, BLE establishes and maintains a connection with the vehicle; when leaving the CONNECT area, the connection with the vehicle can be disconnected. It can be understood that the present embodiment does not specifically limit the vehicle control function division for each positioning area.

[0077] Specifically, obtaining the Bluetooth judgment result according to RSSI_BLE in step 202 may include: obtaining the main Bluetooth judgment result Area_BLE_1 according to the BLE main anchor, obtaining the slave Bluetooth judgment result Area_BLE_2 according to the BLE slave anchor, and then obtaining the Bluetooth judgment result Area_BLE according to Area_BLE_1 and Area_BLE_2.

[0078] Among them, the main Bluetooth judgment result Area_BLE_1 can be obtained by the following method: Determine whether RSSI_BLE_1 > INCAR_RSSIBLE_1_TH1 is satisfied. If so, it is determined that it is inside the vehicle. If not, the target area corresponding to the digital key is identified according to the boundary RSSI thresholds corresponding to each area outside the vehicle. Among them, RSSI_BLE_1 is the RSSI of the BLE main anchor point, INCAR_RSSIBLE_1_TH1 is the first Bluetooth RSSI threshold for judging inside and outside the vehicle of the preset BLE main anchor point, and INCAR_RSSIBLE_1_TH1 is used to identify the situation of being inside the vehicle according to RSSI_BLE_1. INCAR_RSSIBLE_1_TH1 can be obtained through pre-calibration. INCAR_RSSIBLE_1_TH1 can be determined according to the minimum value of RSSI_BLE_1 when the digital key is inside the vehicle and the maximum value of RSSI_BLE_1 when the digital key is within a predetermined range outside the vehicle in the calibration data. It can be understood that the setting method and size of INCAR_RSSIBLE_1_TH1 in this embodiment are not overly restricted as long as the situation of the digital key being inside the vehicle can be strictly and accurately identified. Similarly, the boundary RSSI thresholds corresponding to the hybrid zone and each area outside the vehicle (PE, LOCK, WELCOM) can be obtained.

[0079] Identify the target area corresponding to the digital key according to the boundary RSSI thresholds corresponding to each area outside the vehicle. For example, when RSSI_BLE_1 > PE_RSSIBLE_1_TH1, it is judged as the PE area. When RSSI_BLE_1 > LOCK_RSSIBLE_1_TH, it is judged as the LOCK area. When RSSI_BLE_1 > WEL_RSSIBLE_1_TH, it is judged as the CONNECT area. Otherwise, it is judged as the CONNECT area. Each threshold required for Bluetooth judgment can be obtained by known methods and will not be elaborated here.

[0080] The calculation method of the Bluetooth judgment result Area_BLE_2 is similar to that of the main Bluetooth judgment result Area_BLE_1 and will not be elaborated here. When obtaining the Bluetooth judgment result Area_BLE based on Area_BLE_1 and Area_BLE_2, the BLE anchor point with better received signal strength can be judged according to RSSI_BLE_1 and RSSI_BLE_2, and then its positioning result is used as the final Bluetooth judgment result. However, it is not limited to this, and other methods can also be used to fuse the positioning results of the two Bluetooth anchor points to obtain the Bluetooth judgment result.

[0081] Step 203: Obtain the UWB inside / outside vehicle judgment result by using multiple judgment conditions based on the positioning information of the UWB main anchor point and the UWB slave anchor point.

[0082] Among them, when both the UWB main anchor and the UWB slave anchor contain valid ranging values and received powers, the multiple judgment conditions include multiple sets of judgment conditions corresponding to the UWB main anchor, the UWB main anchor and the slave anchor. The multiple sets of judgment conditions are executed in a preset order. Exemplarily, the multiple sets of judgment conditions being executed in a preset order includes: sequentially executing the judgment conditions corresponding to the UWB main anchor, the UWB main anchor and the UWB slave anchor in sequence, that is, first executing a set of judgment conditions corresponding to the UWB main anchor, and then executing a set of judgment conditions corresponding to the master-slave anchor. According to the positioning information of the UWB main anchor and its corresponding judgment conditions, the determination of inside and outside the vehicle can be quickly and accurately completed in most cases, and according to the positioning information of the UWB main anchor and the UWB slave anchor and the judgment conditions corresponding to the two UWB anchors, more inside and outside vehicle determinations can be completed, and through the combination of multiple judgment conditions, the requirement for signal accuracy of a single judgment condition can be reduced, and the calibration difficulty can be reduced.

[0083] When the UWB main anchor does not have valid ranging values and received powers, the UWB inside / outside vehicle judgment result can be obtained based on the ranging value and received power of the UWB slave anchor. When performing the UWB inside / outside vehicle judgment, when both the UWB main anchor and the UWB slave anchor do not have valid ranging values and received powers, the predicted inside / outside vehicle judgment result can be obtained based on the historical UWB inside / outside vehicle judgment result.

[0084] In step 203, judging whether it is inside or outside the vehicle based on the positioning information corresponding to the UWB main anchor point includes: judging whether Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1 is satisfied. If so, it is judged to be inside the vehicle; if not, then judge whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, it is judged to be inside the vehicle; if not, then judge whether Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, it is judged to be outside the vehicle; if not, then judge whether there are valid ranging values Dist_2 and valid received power RxPower_2 for the UWB slave anchor point. If so, continue to judge whether it is inside or outside the vehicle based on the positioning information of the UWB main anchor point and the UWB slave anchor point; if not, judge that it is in the mixed zone. Among them, DistThsld_1, DistThsld_2, and DistThsld_3 are respectively the ranging value thresholds of the UWB main anchor point in the corresponding judgment conditions, and DistThsld_1 < DistThsld_2 < DistThsld_3; RxThsld_1, RxThsld_2, and RxThsld_3 are respectively the received power thresholds of the UWB main anchor point in the corresponding judgment conditions, and RxThsld_1 > RxThsld_2 > RxThsld_3. Through Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1 and the corresponding ranging value threshold and received power threshold, the situation most likely to be inside the vehicle can be screened out. Through Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 and the corresponding ranging value threshold and received power threshold, the situation very likely to be inside the vehicle can be screened out. Through Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 and the corresponding ranging value threshold and received power threshold, the situation very likely to be outside the vehicle can be screened out. Thus, most of the judgments of whether it is inside or outside the vehicle in the actual application scenario can be solved. It can be understood that the ranging value and received power thresholds in the multiple judgment conditions can be obtained through pre-calibration, which will not be elaborated here.

[0085] Continuing to judge whether it is inside or outside the vehicle based on the positioning information of the UWB main anchor point and the UWB slave anchor point in step 203 may include: sequentially executing multiple judgment conditions for judging inside and outside the vehicle in sequence.

[0086] Among the multiple judgment conditions for in-vehicle and out-of-vehicle judgments executed in sequence, the multiple judgment conditions for in-vehicle judgment may include: judging whether Dist_1 + Dist_2 < SumDistThsld_1 is satisfied. If so, it is judged as in-vehicle; if not, then judge whether DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 are satisfied. If so, it is judged as in-vehicle; if not, then judge whether 0 < Dist_1 - Dist_2 < DiffDistThsld_1 and Dist_1 + Dist_2 < SumDistThsld_2 and Dist_2 < DistThsld_6 are satisfied. If so, it is judged as in-vehicle; if not, execute the multiple judgment conditions for out-of-vehicle judgment. Among them, SumDistThsld_1 and SumDistThsld_2 are the thresholds for the sum of the UWB main anchor and the UWB slave anchor in the corresponding judgment conditions respectively, and SumDistThsld_1 < SumDistThsld_2. DistThsld_4 and DistThsld_5 are the ranging value thresholds of the UWB main anchor in the corresponding judgment conditions respectively. The judgment condition of Dist_1 + Dist_2 < SumDistThsld_1 considers the case where the sum of the ranging values of the UWB main anchor and the UWB slave anchor is relatively small. The judgment condition of DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 appropriately increases the sum of the ranging values of the UWB main anchor and the UWB slave anchor and at the same time limits the size of the ranging value of the UWB main anchor. The judgment condition of 0 < Dist_1 - Dist_2 < DiffDistThsld_1 and Dist_1 + Dist_2 < SumDistThsld_2 and Dist_2 < DistThsld_6 considers the difference and sum of the ranging values of the UWB main anchor and the UWB slave anchor and the ranging value range of the UWB slave anchor alone, and is applicable to the in-vehicle and out-of-vehicle judgment when the digital key is relatively close to the UWB slave anchor. The above judges in-vehicle and out-of-vehicle through the combination of one or more of the sum of the ranging values of the UWB dual anchors, the difference of the ranging values, and the ranging value sizes of the UWB main anchor and the UWB slave anchor, which can make full use of the positioning information of the dual UWB anchors to judge in-vehicle and out-of-vehicle, so as to cover the in-vehicle and out-of-vehicle judgments in enough cases.

[0087] The multiple judgment conditions for performing the out-of-vehicle judgment may include: judging whether Dist_2 > DistThsld_7 is satisfied. If so, it is judged as out-of-vehicle; if not, then judge whether abs( Dist_1 - Dist_2) > DiffDistThsld_2 or abs( Dist_1 - Dist_2) < DiffDistThsld_3 is satisfied. If so, it is judged as out-of-vehicle; if not, then judge whether DistThsld_6 < Dist_1 < DistThsld_5 and Dist_2 > DistThsld_7 are satisfied. If so, it is judged as out-of-vehicle; if not, then judge whether Dist_1 > DistThsld_6 and DistThsld_8 < Dist_2 < DistThsld_7 are satisfied. If so, it is judged as out-of-vehicle; if not, obtain the UWB in-vehicle / out-of-vehicle prediction result Area_Pred according to the historical UWB in-vehicle / out-of-vehicle judgment result and the UWB positioning information. Among them, DistThsld_7 and DistThsld_8 are the ranging value thresholds of the UWB slave anchor in the corresponding judgment conditions. DiffDistThsld_2 and DiffDistThsld_3 are respectively the absolute value thresholds of the difference between the ranging values of the UWB master anchor and the UWB slave anchor in the corresponding judgment conditions. DistThsld_6 is reused as the ranging value threshold of the UWB master anchor in the corresponding judgment conditions.

[0088] Obtaining the UWB in-vehicle / out-of-vehicle judgment result according to the positioning information of the UWB master anchor and the UWB slave anchor in step 203 by using multiple judgment conditions may include: when there is no valid ranging value and received power for the UWB master anchor and there are valid ranging value and received power for the UWB slave anchor, judge whether Dist_2 < DistThsld_6 is satisfied. If so, it is judged as in-vehicle; if not, it is judged as out-of-vehicle. It can be understood that this application does not overly limit the order of the multiple judgment steps based on different judgment conditions such as UWB ranging values and UWB received power. In step 203, the UWB judgment result is stored to obtain the historical UWB judgment result.

[0089] Step 204: When the UWB in-vehicle / out-of-vehicle judgment result is out-of-vehicle, if the respective out-of-vehicle area judgment results Area_UWB_1 and Area_UWB_2 are obtained according to the positioning information of the UWB master anchor and / or the UWB slave anchor, then obtain the out-of-vehicle area judgment result Area_UWB according to Area_UWB_1 and / or Area_UWB_2, and the NLOS conditions of the UWB master anchor and the UWB slave anchor.

[0090] In step 204, the UWB vehicle exterior area determination result Area_UWB_1 corresponding to the UWB main anchor point obtained based on the positioning information of the UWB main anchor point may include:

[0091] If Dist_1 < UnlockThrsld_1, it is determined as the PE area;

[0092] If UnlockThrsld_1 <= Dist_1 < LockThrsld_1, it is determined as the LOCK area;

[0093] If LockThrsld_1 <= Dist_1 < WelThrsld_1, it is determined as the WELCOME area;

[0094] If Dist_1 >= WelThrsld_1, it is determined as the CONNECT area.

[0095] Among them, UnlockThrsld_1, LockThrsld_1, and WelThrsld_1 are respectively the ranging value thresholds for judging the UWB main anchor point in the vehicle exterior areas corresponding to the PE area, LOCK area, and WELCOME area.

[0096] In step 204, the UWB vehicle exterior area determination result Area_UWB_2 corresponding to the UWB slave anchor point obtained based on the positioning information of the UWB slave anchor point may include:

[0097] If Dist_2 < UnlockThrsld_2, it is determined as the PE area;

[0098] If UnlockThrsld_2 <= Dist_2 < LockThrsld_2, it is determined as the LOCK area;

[0099] If LockThrsld_2 <= Dist_2 < WelThrsld_2, it is determined as the WELCOME area;

[0100] If Dist_2 >= WelThrsld_2, it is determined as the CONNECT area.

[0101] Among them, UnlockThrsld_2, LockThrsld_2, and WelThrsld_2 are respectively the ranging value thresholds for judging the UWB slave anchor point in the vehicle exterior areas corresponding to the PE area, LOCK area, and WELCOME area.

[0102] In step 204, the UWB vehicle exterior area determination result Area_UWB is obtained based on Area_UWB_1, Area_UWB_2, and the NLOS conditions of the UWB main anchor point and the UWB slave anchor point.

[0103] The positioning information of the UWB anchor points includes: the channel impulse response (CIR). NLOS identification is performed based on the CIR. Specifically, known techniques can be used for NLOS identification, which will not be elaborated here. When both the UWB master anchor point and the UWB slave anchor point are LOS or NLOS, the out-of-vehicle area closer to the vehicle in Area_UWB_1 and Area_UWB_2 can be used as Area_UWB. When one of the UWB master anchor point or the UWB slave anchor point is LOS and the other is NLOS, if the judgment result of the NLOS anchor point is farther from the vehicle, the judgment result of the LOS anchor point is used as Area_UWB. If the judgment result of the NLOS anchor point is closer to the vehicle, the confidence levels of Area_UWB_1 and Area_UWB_2 are calculated based on the historical ranging values, and Area_UWB is obtained based on the confidence levels of Area_UWB_1 and Area_UWB_2. For example, the judgment result with a high confidence level is used as Area_UWB. When calculating the confidence levels of Area_UWB_1 and Area_UWB_2 based on the historical ranging values, the variation law of the ranging values, such as the variation speed, can be calculated based on the historical ranging values, and the confidence level of the judgment result corresponding to the ranging value that conforms to the variation law is set to high. It can be understood that other appropriate methods can also be used to determine the confidence levels of Area_UWB_1 and Area_UWB_2, and no excessive restrictions are imposed here.

[0104] Step 205: If the out-of-vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained, the out-of-vehicle area judgment result is obtained based on the historical out-of-vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE. Specifically, the duration of UWB signal loss TimeLostUWB can be statistically counted and the UWB judgment result AreaLastValidUWB at the last moment before the UWB signal loss is obtained; the out-of-vehicle area judgment result is obtained based on TimeLostUWB, the Bluetooth judgment result, and AreaLastValidUWB. Known methods can be used to obtain the out-of-vehicle area judgment result based on TimeLostUWB, the Bluetooth judgment result, and AreaLastValidUWB, which will not be elaborated here.

[0105] Please refer to Figure 3 , the following uses an example to elaborate in detail on the method for judging inside and outside the vehicle of the dual-mode dual-anchor digital key positioning method, including the following steps:

[0106] Step 1: Whether the UWB master anchor point has valid ranging values and received power.

[0107] If the UWB main anchor has valid ranging value Dist_1 and valid received power RxPower_1, go to 2; otherwise, go to 13.

[0108] Step2: Determine whether Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1 is satisfied. If so, it is determined to be inside the vehicle; if not, go to 3.

[0109] Step3: Determine whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, it is determined to be inside the vehicle; if not, go to 4.

[0110] Step4: Determine whether Dist_1 < DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, it is determined to be outside the vehicle; if not, go to 5.

[0111] Step5: Does the UWB slave anchor have valid ranging value and received power?

[0112] If the UWB slave anchor has valid ranging value Dist_2 and valid received power RxPower_2, go to 6; otherwise, go to 15.

[0113] Step6: Determine whether Dist_1 + Dist_2 < SumDistThsld_1 is satisfied. If so, it is determined to be inside the vehicle; if not, go to 7.

[0114] Step7: Determine whether DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 are satisfied. If so, it is determined to be inside the vehicle; if not, go to 8.

[0115] Step8: Determine whether 0 < Dist_1 - Dist_2 < DiffDistThsld_1, Dist_1 + Dist_2 < SumDistThsld_2, and Dist_2 < DistThsld_6 are satisfied. If so, it is determined to be inside the vehicle; if not, go to 9.

[0116] Step9: Determine whether Dist_2 > DistThsld_7 is satisfied. If so, it is determined to be outside the vehicle; if not, go to 10.

[0117] Step 10: Determine whether abs(Dist_1 - Dist_2) > DiffDistThsld_2 or abs(Dist_1 - Dist_2) < DiffDistThsld_3 is satisfied. If so, it is determined to be outside the vehicle; if not, proceed to 11.

[0118] Step 11: Determine whether DistThsld_6 < Dist_1 < DistThsld_5 and Dist_2 > DistThsld_7 are satisfied. If so, it is determined to be outside the vehicle; if not, proceed to 12.

[0119] Step 12: Determine whether Dist_1 > DistThsld_6 and DistThsld_8 < Dist_2 < DistThsld_7 are satisfied. If so, it is determined to be outside the vehicle; if not, proceed to 15.

[0120] Step 13: Whether there are valid ranging values and received power from the UWB anchor point. If so, proceed to 14; if not, proceed to 15.

[0121] Step 14: Determine whether Dist_2 < DistThsld_6 is satisfied. If so, it is determined to be inside the vehicle; if not, it is determined to be outside the vehicle.

[0122] Step 15: Based on the historical judgment result and whether the UWB positioning information can predict the current area Area_Pred. If so, obtain the UWB prediction result Area_Pred; if not, it is determined to be a mixed area.

[0123] Specifically, static detection can be performed according to the sliding standard deviation of the UWB ranging value. Based on the static detection result and the historical judgment result, the prediction result Area_Pred is obtained, and the prediction algorithm is not limited. If it cannot be predicted, it is determined to be a mixed area. Thus, the determination of inside and outside the vehicle based on UWB dual anchor points is realized, and the inside and outside of the vehicle can be quickly and accurately judged. It should be noted that the ranging value thresholds and received power thresholds of the UWB master and slave anchor points in the multiple judgment conditions for inside and outside the vehicle can be obtained through data collection and data analysis, as long as the inside and outside of the vehicle can be accurately judged. The specific values of each threshold in this embodiment are not specifically limited.

[0124] According to the embodiments of the present invention, the in-vehicle allowable start test and the out-of-vehicle automatic unlocking and locking function test are respectively carried out, and the test results are as follows:

[0125] In-vehicle and out-of-vehicle judgment test: When the digital key is placed in the front row, rear row, and trunk of the vehicle, the vehicle can be started successfully 100%. The test scenarios include various LOS / NLOS usage scenarios such as holding the digital key, placing the digital key on the seat, under the windshield, in the tester's clothes pocket, under the seat, in the armrest box, and in the side pockets of the left and right doors. In addition, in the full-vehicle scenario test including the trunk, the vehicle start success rate is also higher than that of a simple BLE digital key. Compared with only using BLE for in-vehicle and out-of-vehicle judgment, the coverage and stability of in-vehicle and out-of-vehicle judgment are greatly improved, ensuring the safety of vehicle use, and at the same time achieving a good balance between cost and user experience.

[0126] Out-of-vehicle automatic unlocking and locking test: Conduct round-trip tests around the vehicle, including straight round-trips in an open environment and zigzag round-trips in a complex environment, that is, walking from a distance to the car door and then walking away. It is required that the tester automatically unlocks when approaching the vehicle and automatically locks when moving away from the vehicle. After testing, all routes can be automatically unlocked and locked successfully 100%. Among them, the automatic unlocking distance is between 0 and 2 meters from the vehicle, and the automatic locking is between 5 and 8 meters from the vehicle.

[0127] Compared with the prior art, in the in-vehicle and out-of-vehicle judgment of the dual-mode dual-anchor-point digital key positioning method according to the embodiments of the present invention, multiple judgment conditions are used to obtain the UWB in-vehicle and out-of-vehicle judgment result based on the positioning information of the UWB main anchor point and the UWB slave anchor point. When both the UWB main anchor point and the UWB slave anchor point contain valid ranging values and received powers, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB main anchor point, the UWB main anchor point, and the slave anchor point. The multiple groups of judgment conditions are executed in a preset order, so that the in-vehicle and out-of-vehicle judgment result can be obtained efficiently and accurately. When performing out-of-vehicle area judgment, the UWB out-of-vehicle area judgment result Area_UWB_1 corresponding to the UWB main anchor point is obtained according to the positioning information of the UWB main anchor point, and the UWB out-of-vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor point is obtained according to the positioning information of the UWB slave anchor point. Then, the UWB out-of-vehicle area judgment result Area_UWB is obtained according to Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB main anchor point and the UWB slave anchor point, and the Bluetooth judgment result Area_BLE. If Area_UWB_1 and Area_UWB_2 are not obtained, the out-of-vehicle area judgment result is obtained according to the historical out-of-vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE. Therefore, precise positioning is achieved through dual UWB anchors, and dual BLE anchors are fused for assistance, so as to achieve precise positioning and high positioning accuracy at a relatively low cost.

[0128] Embodiment 2 of the present invention provides a dual-mode dual-anchor-point digital key positioning device, which is a digital key positioning device configured on the vehicle head unit. AsFigure 4 As shown in the figure, the determination device 400 includes: an acquisition module 402, a BLE determination module 404, a UWB in-vehicle and out-of-vehicle determination module 406, a UWB out-of-vehicle area determination module 408, and a BLE out-of-vehicle area auxiliary determination module 410.

[0129] The acquisition module 402 is configured to acquire the positioning information of the UWB and BLE dual-mode dual-anchor points at a preset position on the vehicle; the positioning information includes: the received signal strength indication value RSSI_BLE of the BLE dual-anchor points, the ranging values and received powers of the UWB main anchor point and the UWB slave anchor point;

[0130] The BLE determination module 404 is configured to obtain a Bluetooth determination result Area_BLE according to the RSSI_BLE;

[0131] The UWB in-vehicle and out-of-vehicle determination module 406 is configured to obtain a UWB in-vehicle and out-of-vehicle determination result by using multiple determination conditions according to the positioning information of the UWB main anchor point and the UWB slave anchor point; wherein, when both the UWB main anchor point and the UWB slave anchor point include valid ranging values and received powers, the multiple determination conditions include the UWB main anchor point and multiple groups of determination conditions corresponding to the main anchor point and the slave anchor point; the multiple groups of determination conditions are executed in a preset order;

[0132] The UWB out-of-vehicle area determination module 408 is configured to, when the UWB in-vehicle and out-of-vehicle determination result is out-of-vehicle, if the corresponding out-of-vehicle area determination results Area_UWB_1 and Area_UWB_2 are obtained according to the positioning information of the UWB main anchor point and / or the UWB slave anchor point, then obtain an out-of-vehicle area determination result Area_UWB according to the Area_UWB_1 and / or Area_UWB_2 and the NLOS conditions of the UWB main anchor point and the UWB slave anchor point;

[0133] The BLE out-of-vehicle area auxiliary determination module 410 is configured to, if the out-of-vehicle area determination results Area_UWB_1 and Area_UWB_2 are not obtained, obtain an out-of-vehicle area determination result according to the historical out-of-vehicle area determination result Area_UWB and the Bluetooth determination result Area_BLE.

[0134] Optionally, the UWB in-vehicle and out-of-vehicle determination module 406 is specifically configured to sequentially execute the determination conditions corresponding to the UWB main anchor point, the UWB main anchor point and the UWB slave anchor point in sequence.

[0135] In the UWB in-vehicle and out-of-vehicle judgment module 406, judging in-vehicle and out-of-vehicle based on the positioning information corresponding to the UWB main anchor point may include: judging whether Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1 is satisfied. If so, it is judged as inside the vehicle; if not, then judge whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, it is judged as inside the vehicle; if not, then judge whether Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, it is judged as outside the vehicle; if not, then judge whether there are valid ranging values Dist_2 and valid received power RxPower_2 for the UWB slave anchor point. If so, continue to judge in-vehicle and out-of-vehicle based on the positioning information of the UWB main anchor point and the UWB slave anchor point; if not, it is judged to be in the mixed zone. Among them, DistThsld_1, DistThsld_2, and DistThsld_3 are respectively the ranging value thresholds of the UWB main anchor point in the corresponding judgment conditions, and DistThsld_1 < DistThsld_2 < DistThsld_3; RxThsld_1, RxThsld_2, and RxThsld_3 are respectively the received power thresholds of the UWB main anchor point in the corresponding judgment conditions, and RxThsld_1 > RxThsld_2 > RxThsld_3.

[0136] In the UWB in-vehicle and out-of-vehicle judgment module 406, continuing to judge in-vehicle and out-of-vehicle based on the positioning information of the UWB main anchor point and the UWB slave anchor point may include: sequentially executing multiple judgment conditions for in-vehicle and out-of-vehicle judgments in order.

[0137] Among the multiple judgment conditions for in-vehicle and out-of-vehicle judgments executed in order in the UWB in-vehicle and out-of-vehicle judgment module 406, the multiple judgment conditions for in-vehicle judgment may include:

[0138] Judging whether Dist_1 + Dist_2 < SumDistThsld_1 is satisfied. If so, it is judged as inside the vehicle;

[0139] If not, then judge whether DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 are satisfied. If so, it is judged as inside the vehicle;

[0140] If not, then judge whether 0 < Dist_1 - Dist_2 < DiffDistThsld_1 and Dist_1 + Dist_2 < SumDistThsld_2 and Dist_2 < DistThsld_6 are satisfied. If so, it is judged as inside the vehicle;

[0141] Otherwise, execute the multiple judgment conditions for out-of-vehicle judgment;

[0142] Among them, SumDistThsld_1 and SumDistThsld_2 are the thresholds for the sum of the UWB master anchor and the UWB slave anchor in the corresponding judgment conditions respectively;

[0143] DistThsld_4 and DistThsld_5 are the ranging value thresholds of the UWB master anchor in the corresponding judgment conditions respectively;

[0144] DiffDistThsld_1 is the threshold for the difference between the ranging values of the UWB master anchor and the UWB slave anchor in the corresponding judgment condition;

[0145] DistThsld_6 is the ranging value threshold of the UWB slave anchor in the corresponding judgment condition.

[0146] The multiple judgment conditions for out-of-vehicle judgment executed in the UWB in-vehicle / out-of-vehicle judgment module 406 may include:

[0147] Judge whether Dist_2 > DistThsld_7 is satisfied. If so, judge as out-of-vehicle;

[0148] Otherwise, judge whether abs(Dist_1 - Dist_2) > DiffDistThsld_2 or abs(Dist_1 - Dist_2) < DiffDistThsld_3 is satisfied. If so, judge as out-of-vehicle;

[0149] Otherwise, judge whether DistThsld_6 < Dist_1 < DistThsld_5 and Dist_2 > DistThsld_7 are satisfied. If so, judge as out-of-vehicle;

[0150] Otherwise, judge whether Dist_1 > DistThsld_6 and DistThsld_8 < Dist_2 < DistThsld_7 are satisfied. If so, judge as out-of-vehicle;

[0151] Otherwise, obtain the UWB in-vehicle / out-of-vehicle prediction result Area_Pred according to the historical UWB in-vehicle / out-of-vehicle judgment result and the UWB positioning information;

[0152] Among them, DistThsld_7 and DistThsld_8 are the ranging value thresholds of the UWB slave anchor points in the corresponding judgment conditions; DiffDistThsld_2 and DiffDistThsld_3 are respectively the absolute value thresholds of the differences between the ranging values of the UWB master anchor point and the UWB slave anchor points in the corresponding judgment conditions; DistThsld_6 is reused as the ranging value threshold of the UWB master anchor point in the corresponding judgment condition.

[0153] The UWB in-vehicle and out-of-vehicle judgment module 406 is further configured to, when there is no valid ranging value and received power for the UWB master anchor point and there are valid ranging value and received power for the UWB slave anchor point, determine whether Dist_2 < DistThsld_6 is satisfied. If so, it is determined to be inside the vehicle; if not, it is determined to be outside the vehicle.

[0154] The out-of-vehicle area judgment results include: the PE area, the LOCK area, the WELCOME area, and the CONNECT area. The UWB out-of-vehicle area judgment result Area_UWB_1 corresponding to the UWB master anchor point obtained based on the positioning information of the UWB master anchor point in the UWB out-of-vehicle area judgment module 408 may include:

[0155] If Dist_1 < UnlockThrsld_1, it is determined to be the PE area;

[0156] If UnlockThrsld_1 <= Dist_1 < LockThrsld_1, it is determined to be the LOCK area;

[0157] If LockThrsld_1 <= Dist_1 < WelThrsld_1, it is determined to be the WELCOME area;

[0158] If Dist_1 >= WelThrsld_1, it is determined to be the CONNECT area;

[0159] Among them, UnlockThrsld_1, LockThrsld_1, and WelThrsld_1 are respectively the ranging value thresholds of the UWB master anchor points for the out-of-vehicle area judgment corresponding to the PE area, the LOCK area, and the WELCOME area.

[0160] The UWB out-of-vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor point obtained based on the positioning information of the UWB slave anchor point may include:

[0161] If Dist_2 < UnlockThrsld_2, it is determined to be the PE area;

[0162] If UnlockThrsld_2 <= Dist_2 < LockThrsld_2, it is determined as the LOCK area;

[0163] If LockThrsld_2 <= Dist_2 < WelThrsld_2, it is determined as the WELCOME area;

[0164] If Dist_2 >= WelThrsld_2, it is determined as the CONNECT area;

[0165] Among them, UnlockThrsld_2, LockThrsld_2, and WelThrsld_2 are the ranging value thresholds of the UWB slave anchor for judging the vehicle exterior area corresponding to the PE area, LOCK area, and WELCOME area respectively.

[0166] In the BLE vehicle exterior area auxiliary judgment module 410, the UWB vehicle exterior area judgment result Area_UWB is obtained based on Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB master anchor and the UWB slave anchor, and the Bluetooth judgment result Area_BLE, which may include:

[0167] When both the UWB master anchor and the UWB slave anchor are LOS or NLOS, the vehicle exterior area closer to the vehicle in Area_UWB_1 and Area_UWB_2 is used as Area_UWB;

[0168] When one of the UWB master anchor or the UWB slave anchor is LOS and the other is NLOS, if the judgment result of the NLOS anchor is farther from the vehicle, the judgment result of the LOS anchor is used as Area_UWB; if the judgment result of the NLOS anchor is closer to the vehicle, the confidence levels of Area_UWB_1 and Area_UWB_2 are calculated according to the historical Area_UWB, and Area_UWB is obtained based on the confidence levels of Area_UWB_1 and Area_UWB_2.

[0169] Compared with the prior art, when judging whether the vehicle is inside or outside, the dual-mode digital key positioning device according to the embodiments of the present invention uses multiple judgment conditions based on the positioning information of the UWB main anchor point and the UWB slave anchor point to obtain the UWB vehicle inside / outside judgment result. When both the UWB main anchor point and the UWB slave anchor point contain valid ranging values and received powers, the multiple judgment conditions include multiple sets of judgment conditions corresponding to the UWB main anchor point, the UWB main anchor point and the slave anchor point, and the multiple sets of judgment conditions are executed in a preset order, so that the vehicle inside / outside judgment result can be obtained efficiently and accurately. When judging the outside area of the vehicle, the UWB outside area judgment result Area_UWB_1 corresponding to the UWB main anchor point is obtained according to the positioning information of the UWB main anchor point, and the UWB outside area judgment result Area_UWB_2 corresponding to the UWB slave anchor point is obtained according to the positioning information of the UWB slave anchor point. Then, the UWB outside area judgment result Area_UWB is obtained according to Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB main anchor point and the UWB slave anchor point, and the Bluetooth judgment result Area_BLE. If Area_UWB_1 and Area_UWB_2 are not obtained, the outside area judgment result is obtained according to the historical outside area judgment result Area_UWB and the Bluetooth judgment result Area_BLE. Therefore, precise positioning is achieved through dual UWB anchors, and dual BLE anchors are fused for assistance, so as to achieve precise positioning and high positioning accuracy at a relatively low cost.

[0170] Figure 5 FIG. 4 is a schematic structural diagram of a positioning device provided in Embodiment 3 of the present invention. The positioning device 50 includes a memory 51 and a processor 52;

[0171] The memory 51 is used to store a computer program; the processor 52 is configured to read the computer program in the memory 51 and implement the dual-mode dual-anchor digital key positioning method as described in the foregoing embodiments when executing the program.

[0172] Embodiment 4 of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program is used to execute the technical solutions of any method embodiment when executed by a computer processor.

[0173] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disc of a computer, etc., including several instructions to enable a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the methods described in various embodiments of the present invention.

[0174] It should be noted that in the embodiments of the above device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0175] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A dual-mode dual-anchor digital key positioning method, characterized in that, Including: Obtaining the positioning information of the UWB and BLE dual-mode dual-anchor points at a preset position on the vehicle; The positioning information includes: the received signal strength indication value RSSI_BLE of the BLE dual-anchor points, the ranging values and received powers of the UWB main anchor point and the UWB slave anchor point; Obtaining a Bluetooth judgment result Area_BLE based on the RSSI_BLE; Obtaining a UWB inside / outside vehicle judgment result by using multiple judgment conditions according to the positioning information of the UWB main anchor point and the UWB slave anchor point; where when both the UWB main anchor point and the UWB slave anchor point include valid ranging values and received powers, the multiple judgment conditions include the UWB main anchor point and multiple groups of judgment conditions corresponding to the main anchor point and the slave anchor point; the multiple groups of judgment conditions are executed in a preset order; When the UWB inside / outside vehicle judgment result is outside the vehicle, if respective outside-vehicle area judgment results Area_UWB_1 and Area_UWB_2 are obtained according to the positioning information of the UWB main anchor point and / or the UWB slave anchor point, then an outside-vehicle area judgment result Area_UWB is obtained according to Area_UWB_1 and / or Area_UWB_2 and the NLOS conditions of the UWB main anchor point and the UWB slave anchor point; if the outside-vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained, then an outside-vehicle area judgment result is obtained according to the historical outside-vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE.

2. The dual-mode dual-anchor digital key positioning method according to claim 1, wherein The multiple groups of judgment conditions being executed in a preset order includes: sequentially executing the judgment conditions corresponding to the UWB main anchor point, the UWB main anchor point and the UWB slave anchor point in sequence.

3. The dual-mode dual-anchor digital key positioning method according to claim 2, wherein Judging inside / outside the vehicle according to the positioning information corresponding to the UWB main anchor point includes: Judging whether Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1 is satisfied. If so, it is judged to be inside the vehicle; If not, then judging whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, it is judged to be inside the vehicle; If not, then judging whether Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, it is judged to be outside the vehicle; if not, then judging whether there are valid ranging value Dist_2 and valid received power RxPower_2 for the UWB slave anchor point. If so, continue to judge inside / outside the vehicle according to the positioning information of the UWB main anchor point and the UWB slave anchor point; if not, it is judged to be in the mixed zone; Among them, DistThsld_1, DistThsld_2, and DistThsld_3 are the ranging value thresholds of the UWB main anchor points in the corresponding judgment conditions, and DistThsld_1 < DistThsld_2 < DistThsld_3; RxThsld_1, RxThsld_2, and RxThsld_3 are the received power thresholds of the UWB main anchor points in the corresponding judgment conditions, and RxThsld_1 > RxThsld_2 > RxThsld_3.

4. The dual-mode dual-anchor digital key positioning method according to claim 3, wherein, Continuously judge inside and outside the vehicle according to the positioning information of the UWB main anchor point and the UWB slave anchor point, including: Execute the multiple judgment conditions for in-vehicle and out-of-vehicle judgments in sequence.

5. The dual-mode dual-anchor digital key positioning method according to claim 4, wherein Among the multiple judgment conditions for in-vehicle and out-of-vehicle judgments executed in sequence, the multiple judgment conditions for in-vehicle judgment include: Judge whether Dist_1 + Dist_2 < SumDistThsld_1 is satisfied. If so, judge as inside the vehicle; If not, judge whether DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 are satisfied. If so, judge as inside the vehicle; If not, judge whether 0 < Dist_1 - Dist_2 < DiffDistThsld_1 and Dist_1 + Dist_2 < SumDistThsld_2 and Dist_2 < DistThsld_6 are satisfied. If so, judge as inside the vehicle; If not, execute the multiple judgment conditions for out-of-vehicle judgment; Among them, SumDistThsld_1 and SumDistThsld_2 are the thresholds for the sum of the UWB main anchor point and the UWB slave anchor point in the corresponding judgment conditions; DistThsld_4 and DistThsld_5 are the ranging value thresholds of the UWB main anchor point in the corresponding judgment conditions; DiffDistThsld_1 is the threshold for the difference in the ranging values of the UWB main anchor point and the UWB slave anchor point in the corresponding judgment conditions; DistThsld_6 is the ranging value threshold of the UWB slave anchor point in the corresponding judgment conditions.

6. The dual-mode dual-anchor digital key positioning method according to claim 5, wherein Execute the multiple judgment conditions for out-of-vehicle judgment, including: Judge whether Dist_2 > DistThsld_7 is satisfied. If so, judge as outside the vehicle; If not, judge whether abs(Dist_1 - Dist_2) > DiffDistThsld_2 or abs(Dist_1 - Dist_2) < DiffDistThsld_3 is satisfied. If so, judge as outside the vehicle; If not, judge whether DistThsld_6 < Dist_1 < DistThsld_5 and Dist_2 > DistThsld_7 are satisfied. If so, judge as outside the vehicle; If not, then determine whether Dist_1 > DistThsld_6 and DistThsld_8 < Dist_2 < DistThsld_7 are satisfied. If so, then it is determined to be outside the vehicle; If not, then obtain the UWB in-vehicle / out-of-vehicle prediction result Area_Pred based on the historical UWB in-vehicle / out-of-vehicle determination result and the UWB positioning information; Among them, DistThsld_7 and DistThsld_8 are the ranging value thresholds of the UWB slave anchor points in the corresponding judgment conditions; DiffDistThsld_2 and DiffDistThsld_3 are respectively the absolute value thresholds of the differences between the ranging values of the UWB master anchor point and the UWB slave anchor points in the corresponding judgment conditions; DistThsld_6 is reused as the ranging value threshold of the UWB master anchor point in the corresponding judgment condition.

7. The dual-mode dual-anchor digital key positioning method according to claim 5, wherein The UWB in-vehicle / out-of-vehicle judgment result is obtained by using multiple judgment conditions based on the positioning information of the UWB master anchor point and the UWB slave anchor point, including: When there is no valid ranging value and received power for the UWB master anchor point and there are valid ranging values and received power for the UWB slave anchor point, determine whether Dist_2 < DistThsld_6 is satisfied. If so, then it is determined to be inside the vehicle; if not, then it is determined to be outside the vehicle.

8. The dual-mode dual-anchor digital key positioning method according to claim 1, wherein, The out-of-vehicle area judgment results include: PE area, LOCK area, WELCOME area, and CONNECT area; The UWB out-of-vehicle area judgment result Area_UWB_1 corresponding to the UWB master anchor point is obtained according to the positioning information of the UWB master anchor point, including: If Dist_1 < UnlockThrsld_1, then it is determined to be the PE area; If UnlockThrsld_1 <= Dist_1 < LockThrsld_1, then it is determined to be the LOCK area; If LockThrsld_1 <= Dist_1 < WelThrsld_1, then it is determined to be the WELCOME area; If Dist_1 >= WelThrsld_1, then it is determined to be the CONNECT area; Among them, UnlockThrsld_1, LockThrsld_1, and WelThrsld_1 are respectively the ranging value thresholds of the UWB master anchor points for the out-of-vehicle area judgment corresponding to the PE area, LOCK area, and WELCOME area; The UWB out-of-vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor point is obtained according to the positioning information of the UWB slave anchor point, including: If Dist_2 < UnlockThrsld_2, then it is determined to be the PE area; If UnlockThrsld_2 <= Dist_2 < LockThrsld_2, then it is determined to be the LOCK area; If LockThrsld_2 <= Dist_2 < WelThrsld_2, then it is determined to be the WELCOME area; If Dist_2 >= WelThrsld_2, then it is determined to be the CONNECT area; Among them, UnlockThrsld_2, LockThrsld_2, and WelThrsld_2 are the ranging value thresholds of the UWB slave anchors for judging the outside vehicle areas corresponding to the PE area, LOCK area, and WELCOME area respectively.

9. The dual-mode dual-anchor digital key positioning method according to claim 1, wherein The obtaining of the UWB outside vehicle area judgment result Area_UWB according to the Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB master anchor and UWB slave anchors, and the Bluetooth judgment result Area_BLE includes: When both the UWB master anchor and the UWB slave anchor are LOS or NLOS, the outside vehicle area closer to the vehicle in Area_UWB_1 and Area_UWB_2 is used as Area_UWB; When one of the UWB master anchor or the UWB slave anchor is LOS and the other is NLOS, if the judgment result of the NLOS anchor is farther from the vehicle, the judgment result of the LOS anchor is used as Area_UWB; if the judgment result of the NLOS anchor is closer to the vehicle, the confidence levels of Area_UWB_1 and Area_UWB_2 are calculated based on the historical Area_UWB, and Area_UWB is obtained according to the confidence levels of Area_UWB_1 and Area_UWB_2.

10. A dual-mode dual-anchor digital key positioning device, characterized in that, Including: An acquisition module, configured to acquire the positioning information of the UWB and BLE dual-mode dual-anchors at preset positions on the vehicle; The positioning information includes: the received signal strength indication value RSSI_BLE of the BLE dual-anchors, the ranging values and received powers of the UWB master anchor and UWB slave anchors; A BLE judgment module, configured to obtain the Bluetooth judgment result Area_BLE according to the RSSI_BLE; A UWB inside / outside vehicle judgment module, configured to obtain the UWB inside / outside vehicle judgment result by using multiple judgment conditions according to the positioning information of the UWB master anchor and UWB slave anchors; among them, when both the UWB master anchor and UWB slave anchor include valid ranging values and received powers, the multiple judgment conditions include the UWB master anchor and multiple groups of judgment conditions corresponding to the UWB master anchor and slave anchor; the multiple groups of judgment conditions are executed in a preset order; A UWB outside vehicle area judgment module, configured to, when the UWB inside / outside vehicle judgment result is outside the vehicle, if the outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 corresponding to the UWB master anchor and / or UWB slave anchor are obtained according to the positioning information, obtain the outside vehicle area judgment result Area_UWB according to the Area_UWB_1 and / or Area_UWB_2, and the NLOS conditions of the UWB master anchor and UWB slave anchors; A BLE outside vehicle area auxiliary judgment module, configured to, if the outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained, obtain the outside vehicle area judgment result according to the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE.

11. A positioning device, characterized in that, Including a memory and a processor; A memory for storing a computer program; the processor is configured to read the computer program in the memory and implement the dual-mode dual-anchor digital key positioning method according to any one of claims 1-9 when executing the program.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the dual-mode dual-anchor digital key positioning method according to any one of claims 1-9.

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