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

Abstract

The embodiment of the present invention relates to the field of digital key positioning technology, and discloses a dual-mode dual-anchor digital key positioning method and device, positioning equipment and storage medium. The method includes: obtaining the positioning information of the UWB and Bluetooth dual-mode dual-anchor points at a preset position on the vehicle, and using multiple judgment conditions to obtain the inside and outside vehicle judgment results based on the positioning information of the UWB master and slave anchor points; the UWB master anchor point, the multiple groups of judgment conditions corresponding to the UWB master anchor point and the slave anchor point are executed in a preset order. If the inside and outside vehicle judgment result is outside the vehicle, the corresponding outside vehicle area judgment results are obtained according to the positioning information of the UWB master and slave anchor points, and the outside vehicle area judgment results are obtained according to the outside vehicle area judgment results of the UWB master and slave anchor points, the NLOS conditions of the UWB master and slave anchor points, and the Bluetooth judgment results. By combining the positioning information collected by the dual-mode dual anchor points with the combination of multi-dimensional judgment conditions, good positioning performance can be achieved while reducing costs.

Description

Technical Field

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

[0002] Ultra-Wide Band (UWB) digital key technology has been gaining popularity in recent years. As an advanced wireless communication technology, UWB enables high-precision positioning and data transmission. Compared with traditional Bluetooth Low Energy (BLE) technology, UWB offers significant advantages in signal penetration and anti-interference capabilities, making it widely used in smart devices such as car keys. UWB digital keys not only provide a faster unlocking experience but also effectively enhance security, preventing unauthorized intrusion through precise positioning, and improving user convenience and security.

[0003] Currently, mainstream UWB digital keys require the installation of 4 to 6 UWB anchor points 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 point 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 apparatus, a positioning device, and a storage medium. By utilizing BLE and UWB dual-mode anchor points for positioning, the invention aims to ensure positioning performance while reducing costs.

[0005] In a first aspect, an embodiment of the present invention provides a dual-mode dual-anchor digital key positioning method, comprising: obtaining positioning information of UWB and BLE dual-mode dual anchors at preset positions on a vehicle; the positioning information includes: the received signal strength indicator RSSI_BLE value of the BLE dual anchor points, the ranging value and received power of the UWB master anchor point and the UWB slave anchor point;

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

[0007] A UWB inside-outside vehicle judgment result is obtained using multiple judgment conditions based on the positioning information of the UWB primary anchor point and the UWB secondary anchor point; wherein, when the UWB primary anchor point and the UWB secondary anchor point both contain valid ranging values ​​and received power, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB primary anchor point, the UWB primary anchor point, and the secondary anchor point; and 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 the 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 based on 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 based on 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 based on 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 as 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 as 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 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 / out-of-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;

[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, further determining whether inside or outside the vehicle is performed based on the positioning information of the UWB primary anchor point and the UWB secondary anchor point includes:

[0016] Multiple judgment conditions for inside and outside the vehicle are executed in sequence.

[0017] As an embodiment, among the multiple judgment conditions for determining whether the vehicle is inside the vehicle and outside the vehicle, the multiple judgment conditions for determining whether the vehicle is inside the vehicle include:

[0018] Determine whether Dist_1 + Dist_2 < SumDistThsld_1. If so, it is determined to be inside the car;

[0019] If not, determine whether DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 are satisfied. If so, determine that it is inside the car;

[0020] If not, determine whether 0 < Dist_1 - Dist_2 < DiffDistThsld_1 and Dist_1 + Dist_2 < SumDistThsld_2 and Dist_2 < DistThsld_6 are satisfied. If so, determine that it is inside the car;

[0021] If not, multiple judgment conditions for outside vehicle judgment are executed;

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

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

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

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

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

[0027] Determine whether Dist_2 > DistThsld_7. If so, determine that the vehicle is outside the vehicle.

[0028] Otherwise, 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;

[0029] Otherwise, 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;

[0030] Otherwise, 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;

[0031] Otherwise, obtain the UWB in-vehicle / out-of-vehicle prediction result Area_Pred 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 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.

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

[0034] 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, 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.

[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 master anchor according to the positioning information of the UWB master anchor 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 the 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 among Area_UWB_1 and Area_UWB_2 is used as Area_UWB;

[0050] When one of the UWB main 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 away 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 of Area_UWB_1 and Area_UWB_2 is calculated based on the historical Area_UWB, and Area_UWB is obtained based on the confidence 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 point digital key positioning device, comprising:

[0052] An acquisition module is configured to acquire 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 indicator RSSI_BLE of the BLE dual anchor points, the ranging value and received power of the UWB master anchor point and the UWB slave anchor point;

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

[0054] A UWB inside-outside vehicle judgment module is configured to obtain a UWB inside-outside vehicle judgment result using multiple judgment conditions based on the positioning information of the UWB primary anchor point and the UWB secondary anchor point; wherein, when the UWB primary anchor point and the UWB secondary anchor point both contain valid ranging values ​​and received power, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB primary anchor point, the UWB primary anchor point, and the secondary anchor point; and the multiple groups of judgment conditions are executed in a preset order;

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

[0056] The BLE outside vehicle area auxiliary judgment module is used to obtain the outside vehicle area judgment result based on the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE if the outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained.

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

[0058] A memory is used to store a computer program; the processor is used 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 having a computer program stored thereon, which, when executed by a processor, implements the dual-mode dual-anchor digital key positioning method as described in the first aspect.

[0060] Compared with the prior art, the technical solution provided by the embodiments of the present invention has at least the following positive effects:

[0061] In the technical solution of the embodiment of the present invention, UWB and BLE dual-mode dual anchor points at a preset position on the vehicle are used for positioning. When judging inside and outside the vehicle, multiple judgment conditions are used to obtain the UWB inside and outside vehicle judgment results based on the positioning information of the UWB main anchor point and the UWB slave anchor point. When the UWB main anchor point and the UWB slave anchor point both contain valid ranging values ​​and received power, the multiple judgment conditions include the UWB main anchor point, the multiple groups of judgment conditions corresponding to the UWB main anchor point and the slave anchor point, and the multiple groups of judgment conditions are executed in a preset order, so that the inside and outside vehicle judgment results can be obtained efficiently and accurately. When judging the area outside the vehicle, the UWB main anchor point corresponding to the UWB main anchor point is obtained according to the positioning information of the UWB main anchor point. The UWB outside area judgment result Area_UWB_1 is obtained based on the positioning information of the UWB slave anchor point, and the UWB outside area judgment result Area_UWB_2 corresponding to the UWB slave anchor point is obtained. Then, the UWB outside area judgment result Area_UWB is obtained based on the NLOS situation of Area_UWB_1, Area_UWB_2, the UWB master 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 based on the historical outside area judgment result Area_UWB and the Bluetooth judgment result Area_BLE. Therefore, precise positioning is achieved through dual UWB anchor points, and dual BLE anchor points are integrated for assistance, thereby achieving precise positioning and high positioning accuracy at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0063] Figure 1 An example diagram of the layout of dual-mode dual anchor points for UWB and BLE on a vehicle body provided by an embodiment of the present invention;

[0064] Figure 2 A schematic diagram of the process of the dual-mode dual-anchor digital key positioning method provided in the first embodiment of the present invention;

[0065] Figure 3 A schematic diagram of the UWB in-vehicle and out-of-vehicle judgment process in one embodiment of the dual-mode dual-anchor digital key positioning method of the present invention;

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

[0067] Figure 5 This is a structural diagram of a positioning device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0068] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0069] The following describes the dual-mode dual-anchor digital key positioning method and apparatus, positioning equipment and storage medium of the embodiment of the present application with reference to the accompanying drawings. In response to the problem of high implementation cost of the 4 to 6 UWB anchor digital key solutions 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 anchors at a preset position on the vehicle is obtained; the positioning information includes: the received signal strength indicator RSSI_BLE of the BLE dual anchor points, the ranging value and receiving power of the UWB main anchor point and the UWB slave anchor point, and the Bluetooth judgment result Area_BLE is obtained according to RSSI_BLE. According to the positioning information of the UWB main anchor point and the UWB slave anchor point, multiple judgment conditions are used to obtain the UWB inside and outside vehicle judgment result, wherein, when the UWB main anchor point and the UWB slave anchor point both contain valid ranging values ​​and receiving power, the multiple judgment conditions include the UWB main anchor point, the UWB Multiple groups of judgment conditions corresponding to the main anchor point and the slave anchor point are executed in a preset order to obtain high-precision UWB inside and outside vehicle judgment results; if the UWB inside and outside vehicle judgment result is outside the vehicle, the UWB outside 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 outside 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, and then the UWB outside 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, thereby obtaining an accurate UWB outside vehicle area judgment result with low cost.

[0070] Figure 1 This is a schematic diagram of the layout of the UWB and BLE dual-mode dual-anchor points on the vehicle in the dual-mode dual-anchor point digital key positioning method provided in the embodiment of the present application. Figure 1 As shown, each set of dual-mode anchor points includes a UWB anchor point and a BLE anchor point, which are electrically connected. The primary anchor point 100 of the two dual-mode anchor points can be installed below the front rearview mirror inside the vehicle, while the secondary anchor point 102 can be installed in the middle of the rear of the vehicle. Other installation locations can also be selected based on the vehicle's structural characteristics and needs, and there are no specific restrictions on this.

[0071] Figure 2 This is a flow chart of a dual-mode dual-anchor digital key positioning method provided by an embodiment 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 an embodiment of the present invention. The device can be implemented in software and / or hardware and configured in a vehicle-side positioning device. Figure 2As shown, the dual-mode dual-anchor digital key positioning method of the present application includes the following steps:

[0072] Step 201: Acquire positioning information of the UWB and BLE dual-mode dual anchor points at a preset location on the vehicle. The positioning information includes the received signal strength indicator RSSI_BLE of the BLE dual anchor points, the ranging values ​​and received power of the UWB primary anchor point and the UWB secondary anchor point.

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

[0074] Step 202: Obtain a Bluetooth determination result Area_BLE according to RSSI_BLE.

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

[0076] The mixed zone is the area between PE and PS. Due to the limitations of positioning accuracy, areas that cannot be clearly defined as inside or outside the vehicle, such as the area within 10 cm inside and outside the window, are defined as PE / PS zones. The area outside the vehicle may include: PE (Passive Entry) zone, LOCK zone, WELCOME zone, and CONNECT zone. The Bluetooth judgment result can be any of the areas inside the vehicle, PE / PS zone, or outside the vehicle. Among them, when the digital key is in the PS zone, it can allow the vehicle to be started; when it is in the PE zone, it can allow the door to be opened; when it is in the LOCK zone, it can lock the vehicle; when it is in the WELCOME zone, it can control the vehicle to perform preset welcome operations; when entering the CONNECT zone, the BLE will establish and maintain a connection with the vehicle; when leaving the CONNECT zone, it can disconnect from the vehicle. It can be understood that this embodiment does not impose specific restrictions on the division of vehicle control functions in each positioning zone.

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

[0078] The primary Bluetooth determination result, Area_BLE_1, can be obtained using the following method: Determine whether RSSI_BLE_1 > INCAR_RSSIBLE_1_TH1. If so, the key is considered to be inside the vehicle. If not, the target area corresponding to the digital key is identified based on the boundary RSSI thresholds corresponding to various areas outside the vehicle. RSSI_BLE_1 represents the RSSI of the primary BLE anchor point, and INCAR_RSSIBLE_1_TH1 represents the preset first Bluetooth RSSI threshold for determining whether the key is inside the vehicle. INCAR_RSSIBLE_1_TH1 is used to identify the key as being inside the vehicle based on RSSI_BLE_1. INCAR_RSSIBLE_1_TH1 can be obtained through pre-calibration. INCAR_RSSIBLE_1_TH1 can be determined based on the minimum RSSI_BLE_1 value when the digital key is inside the vehicle and the maximum RSSI_BLE_1 value when the digital key is outside the vehicle within a predetermined range, as determined in the calibration data. It should be understood that this embodiment does not impose any restrictions on the configuration and value of INCAR_RSSIBLE_1_TH1, as long as it can strictly and accurately identify the digital key inside the vehicle. Similarly, the boundary RSSI thresholds corresponding to the mixed zone and each area outside the vehicle (PE, LOCK, WELCOM) can be obtained.

[0079] The target area corresponding to the digital key is identified based on the boundary RSSI thresholds corresponding to various areas outside the vehicle. For example, when RSSI_BLE_1>PE_RSSIBLE_1_TH1, it is determined to be in the PE area; when RSSI_BLE_1>LOCK_RSSIBLE_1_TH, it is determined to be in the LOCK area; when RSSI_BLE_1>WEL_RSSIBLE_1_TH, it is determined to be in the CONNECT area; otherwise, it is determined to be in the CONNECT area. The thresholds required for Bluetooth determination can be obtained using known methods and will not be detailed here.

[0080] The calculation method for the secondary Bluetooth determination result, Area_BLE_2, is similar to that for the primary Bluetooth determination result, Area_BLE_1, and is not further described here. When the Bluetooth determination result, Area_BLE, is derived from Area_BLE_1 and Area_BLE_2, the BLE anchor point with the better received signal strength can be determined based on RSSI_BLE_1 and RSSI_BLE_2, and its positioning result can be used as the final Bluetooth determination result. However, this is not limited to this method, and other methods can also be used to combine the positioning results of the two Bluetooth anchor points to obtain the Bluetooth determination result.

[0081] Step 203: A UWB inside-outside vehicle judgment result is obtained using multiple judgment conditions according to the positioning information of the UWB main anchor point and the UWB secondary anchor point.

[0082] Among them, when the UWB master anchor point and the UWB slave anchor point both contain valid ranging values ​​and received power, the multiple judgment conditions include the UWB master anchor point, the multiple groups of judgment conditions corresponding to the UWB master anchor point and the slave anchor point. The multiple groups of judgment conditions are executed in a preset order. Exemplarily, the multiple groups of judgment conditions are executed in a preset order including: executing the judgment conditions corresponding to the UWB master anchor point, the UWB master anchor point and the UWB slave anchor point in sequence, that is, first executing a group of judgment conditions corresponding to the UWB master anchor point, and then executing a group of judgment conditions corresponding to the master and slave anchor points. Based on the positioning information of the UWB master anchor point and its corresponding judgment conditions, the inside and outside judgment of the vehicle can be completed quickly and accurately in most cases, while based on the positioning information of the UWB master anchor point and the UWB slave anchor point and the judgment conditions corresponding to the two UWB anchor points, more inside and outside judgments can be completed, and through the combination of multiple judgment conditions, the requirements for signal accuracy of the individual judgment conditions can be reduced, reducing the difficulty of calibration.

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

[0084] In step 203, judging whether it is inside or 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, it is judged whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, it is judged to be inside the vehicle; if not, it is judged whether Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, it is judged to be outside the vehicle; if not, it is judged 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 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 point 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 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 judgment situations of inside and 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] In step 203, continuing to judge whether it is inside or outside the vehicle according to the positioning information of the UWB main anchor point and the UWB slave anchor point may include: sequentially executing multiple judgment conditions for judging inside and outside the vehicle in order.

[0086] Among the multiple judgment conditions for performing in-vehicle and out-of-vehicle judgments 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. Here, 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 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 DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 increases the sum of the ranging values of the UWB main anchor and the UWB slave anchor appropriately and at the same time limits the size of the ranging value of the UWB main anchor. The judgment condition 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 range of the ranging value 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. By judging the in-vehicle and out-of-vehicle through the combination of one or more of the sum of the ranging values of the two UWB anchors, the difference between the ranging values, and the size of the ranging values of the UWB main anchor and the UWB slave anchor, the positioning information of the two UWB anchors can be fully utilized to judge the in-vehicle and out-of-vehicle, so as to cover the in-vehicle and out-of-vehicle judgment in enough cases.

[0087] Multiple judgment conditions for executing outside-vehicle judgment may include: judging whether Dist_2 > DistThsld_7 is satisfied, and if so, judging as outside the vehicle; if not, judging whether abs( Dist_1 - Dist_2) > DiffDistThsld_2 or abs( Dist_1 - Dist_2) < DiffDistThsld_3 is satisfied, and if so, judging as outside the vehicle; if not, judging whether DistThsld_6 < Dist_1 < DistThsld_5 and Dist_2 > DistThsld_7 are satisfied, and if so, judging as outside the vehicle; if not, judging whether Dist_1 > DistThsld_6 and DistThsld_8 < Dist_2 < DistThsld_7 are satisfied, and if so, judging as outside the vehicle; if not, obtaining the UWB inside-outside-vehicle prediction result Area_Pred based on the historical UWB inside-outside-vehicle judgment results and the UWB positioning information. Among them, DistThsld_7 and DistThsld_8 are the ranging value thresholds of the UWB slave anchor point in the corresponding judgment conditions. DiffDistThsld_2 and DiffDistThsld_3 are the absolute value thresholds of the difference in ranging values ​​between the UWB master anchor point and the UWB slave anchor point in the corresponding judgment conditions. DistThsld_6 is multiplexed as the ranging value threshold of the UWB master anchor point in the corresponding judgment conditions.

[0088] In step 203, the UWB inside / outside vehicle determination result may be obtained by applying multiple determination conditions based on the positioning information of the UWB primary anchor point and the UWB secondary anchor point. This may include: when the UWB primary anchor point does not have a valid ranging value and received power, and the UWB secondary anchor point does have a valid ranging value and received power, determining whether Dist_2 < DistThsld_6 is satisfied. If so, the determination is made as inside the vehicle; if not, the determination is made as outside the vehicle. It should be understood that this application does not impose any restrictions on the order of the multiple determination steps based on different determination conditions, such as UWB ranging values ​​and UWB received power. In step 203, the UWB determination result is stored to obtain a historical UWB determination result.

[0089] Step 204: When the UWB inside-outside judgment result is outside the vehicle, if the corresponding outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 are obtained based on the positioning information of the UWB main anchor point and / or the UWB slave anchor point, the outside vehicle area judgment result Area_UWB is obtained based on the NLOS conditions of Area_UWB_1 and / or Area_UWB_2, the UWB main anchor point and the UWB slave anchor point.

[0090] In step 204, the UWB out-of-vehicle area judgment 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 judged as the PE area;

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

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

[0094] If Dist_1 >= WelThrsld_1, it is judged 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 out-of-vehicle areas corresponding to the PE area, LOCK area, and WELCOME area.

[0096] In step 204, 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:

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

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

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

[0100] If Dist_2 >= WelThrsld_2, it is judged 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 out-of-vehicle areas corresponding to the PE area, LOCK area, and WELCOME area.

[0102] In step 204, the UWB out-of-vehicle area judgment 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 UWB anchor point's positioning information includes the Channel Impulse Response (CIR). NLOS detection is performed based on the CIR. Known techniques can be used for NLOS detection and are not detailed here. When both the primary and secondary UWB anchor points are in LOS or NLOS, the area outside the vehicle closer to the vehicle in Area_UWB_1 or Area_UWB_2 can be used as Area_UWB. When one of the UWB main 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 away 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 of Area_UWB_1 and Area_UWB_2 is calculated based on the historical ranging value, and Area_UWB is obtained based on the confidence of Area_UWB_1 and Area_UWB_2. For example, the judgment result with higher confidence is used as Area_UWB. When calculating the confidence of Area_UWB_1 and Area_UWB_2 based on historical ranging values, the variation pattern of the ranging values, such as the variation speed, can be calculated based on the historical ranging values, and the confidence of the judgment result corresponding to the ranging value that conforms to the variation pattern can be set to high. It is understandable that other appropriate methods can also be used to determine the confidence of Area_UWB_1 and Area_UWB_2, and no excessive restrictions are imposed here.

[0104] Step 205: If the exterior area determination results Area_UWB_1 and Area_UWB_2 are not obtained, an exterior area determination result is obtained based on the historical exterior area determination results Area_UWB and Bluetooth determination results Area_BLE. Specifically, the UWB signal loss duration TimeLostUWB can be calculated and the UWB determination result AreaLastValidUWB at the last moment before the UWB signal loss can be obtained. The exterior area determination result is obtained based on TimeLostUWB, the Bluetooth determination result, and AreaLastValidUWB. Known methods can be used to determine the exterior area determination result based on TimeLostUWB, the Bluetooth determination result, and AreaLastValidUWB, which will not be further described here.

[0105] See also Figure 3 The following example describes in detail the method for determining inside and outside the vehicle using the dual-mode dual-anchor digital key positioning method, including the following steps:

[0106] Step 1: Check whether the UWB primary anchor point has valid ranging value and receiving power.

[0107] If the UWB primary anchor point has a valid ranging value Dist_1 and a valid received power RxPower_1, proceed to step 2; otherwise, proceed to step 13.

[0108] Step 2: Determine whether Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1. If so, determine that the vehicle is inside the vehicle. If not, proceed to step 3.

[0109] Step 3: Determine whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, determine that the vehicle is inside the vehicle. If not, proceed to step 4.

[0110] Step 4: Determine whether Dist_1 < DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, determine that the vehicle is outside the vehicle. If not, proceed to step 5.

[0111] Step 5: Check whether the UWB has a valid ranging value and received power from the anchor point.

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

[0113] Step 6: Determine whether Dist_1+Dist_2 < SumDistThsld_1. If so, determine that the vehicle is inside the vehicle. If not, proceed to step 7.

[0114] Step 7: Determine whether DistThsld_4 < Dist_1 < DistThsld_5 and Dist_1 + Dist_2 < SumDistThsld_2 are satisfied. If so, determine that the vehicle is inside the vehicle. If not, proceed to Step 8.

[0115] Step 8: Determine whether 0 < Dist_1 - Dist_2 < DiffDistThsld_1 and Dist_1 + Dist_2 < SumDistThsld_2 and Dist_2 < DistThsld_6 are satisfied. If so, determine that the vehicle is inside the vehicle. If not, proceed to step 9.

[0116] Step 9: Determine whether Dist_2 > DistThsld_7 is satisfied. If so, determine that the vehicle is outside the vehicle. If not, proceed to step 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 Step 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 Step 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 Step 15.

[0120] Step 13: Whether there are valid ranging values and received powers from the UWB anchors. If so, proceed to Step 14; if not, proceed to Step 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: According to the historical judgment results 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 values. Based on the static detection results and historical judgment results, 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 judgment of inside and outside the vehicle based on two UWB anchors is realized, and the inside and outside of the vehicle can be judged quickly and accurately. It should be noted that the ranging value thresholds and received power thresholds of the UWB master and slave anchors 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, rear, and trunk of the car, the vehicle can be started successfully 100%. Test scenarios include comprehensive LOS / NLOS usage scenarios such as holding the digital key, placing the digital key on the car seat, under the windshield, in the tester's pocket, under the seat, in the armrest box, and in the left and right door pockets. In addition, in the full-scene test of the entire vehicle, including the trunk, the vehicle's success rate is also higher than that of a simple BLE digital key. Compared with using only 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 the car, while also achieving a good balance between cost and user experience.

[0126] External automatic unlocking tests: The vehicle was tested in a round trip around the vehicle, including both a straight line in an open environment and a zigzag line in a complex environment, i.e., walking from a distance to the vehicle door and then back to the vehicle. The tester was required to automatically unlock the vehicle as they approached it and automatically lock it as they moved away from it. All routes achieved 100% successful automatic unlocking, with automatic unlocking achieved at a distance of 0-2 meters from the vehicle and automatic locking achieved at a distance of 5-8 meters.

[0127] Compared with the prior art, the dual-mode dual-anchor digital key positioning method of the embodiment of the present invention adopts multiple judgment conditions to obtain the UWB inside and outside vehicle judgment results based on the positioning information of the UWB master anchor point and the UWB slave anchor point when judging inside and outside the vehicle. When the UWB master anchor point and the UWB slave anchor point both contain valid ranging values ​​and receiving powers, the multiple judgment conditions include the UWB master anchor point, the UWB master anchor point and the multiple groups of judgment conditions corresponding to the slave anchor point. The multiple groups of judgment conditions are executed in a preset order, so that the inside and outside vehicle judgment results can be obtained efficiently and accurately. When judging the outside vehicle area, the UWB outside vehicle area corresponding to the UWB master anchor point is obtained according to the positioning information of the UWB master anchor point. The judgment result Area_UWB_1 is used to obtain the UWB outside vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor point based on the positioning information of the UWB slave anchor point. Then, the UWB outside vehicle area judgment result Area_UWB is obtained based on the NLOS conditions of Area_UWB_1, Area_UWB_2, the UWB master anchor point, and the UWB slave anchor point, as well as the Bluetooth judgment result Area_BLE. If Area_UWB_1 and Area_UWB_2 are not obtained, the outside vehicle area judgment result is obtained based on the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE. Therefore, precise positioning is achieved through dual UWB anchor points, and dual BLE anchor points are integrated for assistance, thereby achieving precise positioning and high positioning accuracy at a low cost.

[0128] The second embodiment of the present invention provides a dual-mode dual-anchor digital key positioning device, which is configured on the digital key positioning device at the vehicle end. Figure 4 As shown, the judgment device 400 includes: an acquisition module 402, a BLE judgment module 404, a UWB inside-outside-vehicle judgment module 406, a UWB outside-vehicle area judgment module 408, and a BLE outside-vehicle area auxiliary judgment module 410.

[0129] The acquisition module 402 is used to obtain 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 indicator RSSI_BLE value of the BLE dual anchor points, the ranging value and received power of the UWB master 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 inside-outside-vehicle judgment module 406 is configured to obtain a UWB inside-outside-vehicle judgment result using multiple judgment conditions based on the positioning information of the UWB primary anchor point and the UWB secondary anchor point. When both the UWB primary anchor point and the UWB secondary anchor point contain valid ranging values ​​and received powers, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB primary anchor point, the UWB primary anchor point, and the secondary anchor point. The multiple groups of judgment conditions are executed in a preset order.

[0132] The UWB outside-vehicle area determination module 408 is configured to, when the UWB inside-outside-vehicle determination result is outside the vehicle, obtain the corresponding outside-vehicle area determination results Area_UWB_1 and Area_UWB_2 based on the positioning information of the UWB primary anchor point and / or the UWB secondary anchor point, and then obtain the outside-vehicle area determination result Area_UWB based on the NLOS conditions of Area_UWB_1 and / or Area_UWB_2, the UWB primary anchor point, and the UWB secondary anchor point;

[0133] The BLE outside vehicle area auxiliary judgment module 410 is used to obtain an outside vehicle area judgment result based on the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE if the outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained.

[0134] Optionally, the UWB inside-outside vehicle judgment module 406 is specifically configured to sequentially execute judgment conditions corresponding to the UWB main anchor point, the UWB main anchor point, and the UWB secondary 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, it is judged whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, it is judged as inside the vehicle; if not, it is judged whether Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, it is judged as outside the vehicle; if not, it is judged 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, it is judged 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, it is judged 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 respectively the thresholds for the sum of the UWB main anchor point and the UWB slave anchor point in the corresponding judgment conditions;

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

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

[0145] DistThsld_6 is the ranging value threshold of the UWB slave anchor point 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 difference 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 conditions.

[0153] The UWB inside / outside vehicle judgment module 406 is further configured to determine whether Dist_2 < DistThsld_6 is satisfied 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. If so, it is determined to be inside the vehicle; if not, it is determined to be outside the vehicle.

[0154] The judgment results of the outside vehicle area include: the PE area, the LOCK area, the WELCOME area, and the CONNECT area. The UWB outside vehicle area judgment result Area_UWB_1 corresponding to the UWB master anchor point obtained according to the positioning information of the UWB master anchor point in the UWB outside 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; [[ID=...]]

[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 corresponding to the PE area, the LOCK area, and the WELCOME area for the outside vehicle area judgment.

[0160] The UWB outside vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor point obtained according to 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 based on 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, the dual-mode digital key positioning device of the embodiment of the present invention adopts multiple judgment conditions to obtain the UWB inside and outside vehicle judgment results according to the positioning information of the UWB main anchor point and the UWB slave anchor point when judging inside and outside the vehicle. When the UWB main anchor point and the UWB slave anchor point both contain valid ranging values ​​and receiving powers, the multiple judgment conditions include the UWB main anchor point, the multiple groups of judgment conditions corresponding to 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 inside and outside vehicle judgment results can be obtained efficiently and accurately. When judging the outside vehicle area, the UWB outside vehicle area judgment corresponding to the UWB main anchor point is obtained according to the positioning information of the UWB main anchor point. The result Area_UWB_1 is obtained. Based on the positioning information of the UWB slave anchor point, the UWB outside vehicle area judgment result Area_UWB_2 corresponding to the UWB slave anchor point is obtained. Then, based on the NLOS conditions of Area_UWB_1, Area_UWB_2, the UWB master anchor point, and the UWB slave anchor point, as well as 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 based on the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE. Therefore, precise positioning is achieved through dual UWB anchor points, and dual BLE anchor points are integrated for assistance, thereby achieving precise positioning and high positioning accuracy at a low cost.

[0170] Figure 5 This is a schematic diagram of the structure 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 computer programs; the processor 52 is used to read the computer program in the memory 51 and implement the dual-mode dual-anchor digital key positioning method as described in the above embodiment when executing the program.

[0172] A fourth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computer processor, the computer program is used to execute the technical solution of any method embodiment.

[0173] Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware. Of course, it can also be implemented with hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or grid device, etc.) to execute the methods described in various embodiments of the present invention.

[0174] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned 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 distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0175] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. 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: include: Obtain positioning information of UWB and BLE dual-mode dual anchor points at preset locations on the vehicle; The positioning information includes: the received signal strength indicator RSSI_BLE of the BLE dual anchor point, the ranging value and the received power of the UWB master anchor point and the UWB slave anchor point; Obtaining a Bluetooth determination result Area_BLE according to the RSSI_BLE; A UWB inside-outside vehicle judgment result is obtained using multiple judgment conditions based on the positioning information of the UWB primary anchor point and the UWB secondary anchor point; wherein, when the UWB primary anchor point and the UWB secondary anchor point both contain valid ranging values ​​and received power, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB primary anchor point, the UWB primary anchor point, and the secondary anchor point; and 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 the corresponding 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 or the UWB slave anchor point, the outside vehicle area judgment result Area_UWB is obtained according to the NLOS conditions of Area_UWB_1 and Area_UWB_2, 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, the outside vehicle area judgment result is obtained according to the historical outside vehicle area judgment results Area_UWB and the Bluetooth judgment result Area_BLE.

2. The dual-mode dual-anchor digital key positioning method according to claim 1, characterized in that: The executing of the multiple groups of judgment conditions in a preset order includes: executing the judgment conditions corresponding to the UWB master anchor point, the UWB secondary anchor point and the UWB secondary anchor point in sequence.

3. The dual-mode dual-anchor digital key positioning method according to claim 2, characterized in that: The positioning information corresponding to the UWB main anchor point is used to determine whether the inside and outside of the vehicle are: Determine whether Dist_1 < DistThsld_1 or RxPower_1 > RxThsld_1. If so, determine that the vehicle is inside the vehicle. If not, determine whether Dist_1 < DistThsld_2 and RxPower_1 > RxThsld_2 are satisfied. If so, determine that the vehicle is inside the vehicle. If not, determine whether Dist_1 > DistThsld_3 or RxPower_1 < RxThsld_3 is satisfied. If so, determine that it is outside the vehicle. If not, determine whether the UWB slave anchor point has a valid ranging value Dist_2 and a valid received power RxPower_2. If so, continue to determine 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, determine that it is in a mixed area. Among them, DistThsld_1, DistThsld_2, and DistThsld_3 are respectively 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 respectively 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, characterized in that: Continue to 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 judging inside and outside the vehicle in sequence.

5. The dual-mode dual-anchor digital key positioning method according to claim 4, characterized in that: Among the multiple judgment conditions for judging inside and outside the vehicle executed in sequence, the multiple judgment conditions for judging inside the vehicle 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 judging outside the vehicle; Among them, SumDistThsld_1 and SumDistThsld_2 are respectively the thresholds of 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 respectively the ranging value thresholds of the UWB main anchor point in the corresponding judgment conditions; DiffDistThsld_1 is the threshold of the difference between 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, characterized in that: Execute the multiple judgment conditions for judging outside the vehicle, 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, characterized in that: 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 value 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, characterized in that: 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 thresholds for judging the ranging value of UWB from the anchor point in the vehicle outside area 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, characterized in that: The obtaining of a UWB outside vehicle area judgment result Area_UWB according to Area_UWB_1, Area_UWB_2, the NLOS conditions of the UWB primary anchor point and the UWB secondary anchor point, and the Bluetooth judgment result Area_BLE includes: When both the UWB primary anchor point and the UWB secondary anchor point are LOS or NLOS, the area outside the vehicle that is closer to the vehicle in Area_UWB_1 and Area_UWB_2 is used as Area_UWB; When one of the UWB main 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 away 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 of Area_UWB_1 and Area_UWB_2 is calculated based on the historical Area_UWB, and Area_UWB is obtained based on the confidence of Area_UWB_1 and Area_UWB_2.

10. A dual-mode dual-anchor digital key positioning device, characterized in that: include: An acquisition module is used to obtain positioning information of the UWB and BLE dual-mode dual anchor points at preset positions on the vehicle; The positioning information includes: the received signal strength indicator RSSI_BLE of the BLE dual anchor point, the ranging value and the received power of the UWB master anchor point and the UWB slave anchor point; A BLE determination module, configured to obtain a Bluetooth determination result Area_BLE according to the RSSI_BLE; A UWB inside-outside vehicle judgment module is configured to obtain a UWB inside-outside vehicle judgment result using multiple judgment conditions based on the positioning information of the UWB primary anchor point and the UWB secondary anchor point; wherein, when the UWB primary anchor point and the UWB secondary anchor point both contain valid ranging values ​​and received power, the multiple judgment conditions include multiple groups of judgment conditions corresponding to the UWB primary anchor point, the UWB primary anchor point, and the secondary anchor point; and the multiple groups of judgment conditions are executed in a preset order; A UWB outside vehicle area judgment module is configured to, when the UWB inside / outside vehicle judgment result is outside the vehicle, obtain the corresponding outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 according to the positioning information of the UWB main anchor point or the UWB slave anchor point, and then obtain the outside vehicle area judgment result Area_UWB according to the NLOS conditions of Area_UWB_1 and Area_UWB_2 and the UWB main anchor point and the UWB slave anchor point; The BLE outside vehicle area auxiliary judgment module is used to obtain the outside vehicle area judgment result based on the historical outside vehicle area judgment result Area_UWB and the Bluetooth judgment result Area_BLE if the outside vehicle area judgment results Area_UWB_1 and Area_UWB_2 are not obtained.

11. A positioning device, characterized in that: including memory and processor; A memory for storing a computer program; the processor is used to read the computer program in the memory and implement the dual-mode dual-anchor digital key positioning method as described in 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 a processor, the dual-mode dual-anchor digital key positioning method as described in any one of claims 1-9 is implemented.

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