Multi-vehicle cooperative digital key positioning method and system

Abstract

The invention relates to the technical field of digital key positioning, and discloses a multi-vehicle cooperative digital key positioning method, which is based on a user vehicle and a cooperative vehicle with a digital key cloud service, the user vehicle and the cooperative vehicle start cooperative positioning, and a user vehicle C1 and a cooperative vehicle C2 discover each other and establish a BLE cooperative positioning connection channel; the C1 carries out distance measurement and positioning on the C2 based on RSSI signal intensity or Channel Sounding, and outputs the position of the C2 in the C1 coordinate system; the C2 cooperates with the C1 to carry out Bluetooth positioning broadcasting and waits for a digital key K to initiate connection; c2 obtains the position of the K in the C2 coordinate system by adopting the same way for the K; and finally, the C2 sends the positioning result of the K to the C1, and the position of the K in the C1 coordinate system is obtained through calculation. According to the invention, mutual authorization cooperative positioning is carried out among the vehicles with the same function, so that cooperative positioning is realized in a safer manner. In an actual use scene, the more the vehicles are, the better the cooperative positioning effect is, and the unlocking and locking experience can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of digital key positioning, and particularly relates to a method and system for multi-vehicle collaborative digital key positioning. Background Art

[0002] In the current automotive digital key scenario, the common practice is to perform ranging and positioning one-to-one between a vehicle and an authorized digital key. For the application of the digital key positioning scenario, multiple BLE devices arranged around / inside the vehicle synchronously listen to the communication signal strength of the digital key / physical key, or implement device positioning through the high-precision ranging Bluetooth protocol ChannelSounding (CS). Due to non-ideality in the actual usage scenario, problems such as signal interference and occlusion will seriously affect the connection and communication between the digital key and the vehicle, resulting in unlocking delays.

[0003] The existing digital key unlocking method is connected to multiple frequency offset modulation modules through a differential bus to transmit the connection information established between the central node and the digital key (the instructions include ID information, connection status information, connection interval information, hopping interval information, current connection event count value, and the previous unmapped channel) to achieve digital key positioning. However, in the actual usage process, due to environmental factors such as signal interference and reflection, the unlocking and locking experience varies, and the user experience is very poor. Summary of the Invention

[0004] The present invention provides a method and system for multi-vehicle collaborative digital key positioning, which introduces multiple vehicles with the same functions and performs mutual authorization and collaborative positioning between the vehicles with the same functions to achieve collaborative positioning in a more secure manner. In the actual usage scenario, the more vehicles there are, the better the collaborative positioning effect, which can greatly improve the unlocking and locking experience.

[0005] The present invention provides a method for multi-vehicle collaborative digital key positioning, based on a user vehicle and collaborative vehicles with digital key cloud services. The user vehicle and the collaborative vehicles initiate collaborative positioning. The method includes: S1. The user vehicle C1 and the collaborative vehicle C2 discover each other and establish a BLE collaborative positioning connection channel; S2. The user vehicle C1 performs ranging and positioning on the collaborative vehicle C2 based on RSSI signal strength or Channel Sounding, and outputs the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1; wherein, the central node of the user vehicle C1 is used as the origin in the coordinate system of the user vehicle C1; S3. The collaborative vehicle C2 collaborates with the user vehicle C1 to perform Bluetooth positioning broadcasts and waits for the digital key K to initiate a connection; S4. The collaborative vehicle C2 measures the distance and locates the digital key K based on the RSSI signal strength or Channel Sounding, and outputs the position of the digital key K in the coordinate system of the collaborative vehicle C2; wherein, the central node of the collaborative vehicle C2 is used as the origin in the coordinate system of the collaborative vehicle C2. S5. The collaborative vehicle C2 sends the positioning result of the digital key K to the user vehicle C1. S6. The user vehicle C1 calculates the position of the digital key K in the coordinate system of the user vehicle C1 according to the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 and the position of the digital key K in the coordinate system of the collaborative vehicle C2.

[0006] Further, the step S1 specifically includes: S101. The user vehicle C1 sends a collaborative Bluetooth broadcast to the vehicle with collaborative positioning to start scanning simultaneously. S102. When either the user vehicle C1 or the vehicle with collaborative positioning discovers the other's broadcast, a BLE connection is established, and the authentication of the collaborative positioning BLE Bluetooth service is completed. S103. The vehicle connected to the user vehicle C1 is used as the collaborative vehicle C2.

[0007] Further, when the user vehicle C1 measures the distance and locates the collaborative vehicle C2 based on the RSSI signal strength, the step S2 specifically includes: S201. The user vehicle C1 matches the signal strengths received by its central node and multiple anchors with the preset calibration data through a fingerprint algorithm to obtain the position of the central node of the collaborative vehicle C2. S202. According to the position of the central node of the collaborative vehicle C2, the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 is output.

[0008] Further, when the user vehicle C1 measures the distance and locates the collaborative vehicle C2 using Channel Sounding, the step S2 specifically includes: S211. After the user vehicle C1 measures the distance between its central node and multiple anchors and the central node of the collaborative vehicle C2 respectively, the position of the central node of the collaborative vehicle C2 is obtained through a three-point positioning algorithm. S212. According to the position of the central node of the collaborative vehicle C2, the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 is output.

[0009] Further, when the collaborative vehicle C2 performs ranging and positioning on the digital key K based on the RSSI signal strength, the step S4 specifically includes: S401. The collaborative vehicle C2 matches the signal strengths received by its central node and multiple anchors with the preset calibration data through a fingerprint algorithm to obtain the position of the digital key K; S402. According to the position of the digital key K, output the position of the digital key K in the coordinate system of the collaborative vehicle C2.

[0010] Further, when the collaborative vehicle C2 performs ranging and positioning on the digital key K using Channel Sounding, the step S4 specifically includes: S411. After the collaborative vehicle C2 measures the distance to the digital key K through its central node and multiple anchors respectively, obtain the position of the digital key K through a three-point positioning algorithm; S412. According to the position of the digital key K, output the position of the digital key K in the coordinate system of the collaborative vehicle C2.

[0011] Further, the step S6 specifically includes: S601. The user vehicle C1 and the collaborative vehicle C2 always perform position conversion using a coordinate system pointing north; S602. Define the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 as and at the same time define the position of the digital key K in the coordinate system of the collaborative vehicle C2 as ; S603. According to calculate the position of the digital key K in the coordinate system of the user vehicle C1 , and the calculation formula is: , .

[0012] Further, after the step S6, it further includes: S7. Calculate the distance between the digital key K and the user vehicle C1 according to the position of the digital key K in the coordinate system of the user vehicle C1; S8. Determine whether the distance between the digital key K and the user vehicle C1 is less than a set distance; S9. If the distance between the digital key K and the user vehicle C1 is less than the set distance, then the user vehicle C1 is unlocked. If the distance between the digital key K and the user vehicle C1 is greater than or equal to the set distance, return to step S4 for loop calculation.

[0013] The present invention also provides a system for multi-vehicle collaborative digital key positioning, based on a user vehicle and collaborative vehicles with digital key cloud services. The user vehicle and the collaborative vehicles initiate collaborative positioning. The system includes: A connection module, configured to enable the user vehicle C1 and the collaborative vehicle C2 to discover each other and establish a BLE collaborative positioning connection channel; A first ranging and positioning module, configured to perform ranging and positioning on the collaborative vehicle C2 by the user vehicle C1 based on RSSI signal strength or Channel Sounding, and output the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1; wherein, the central node of the user vehicle C1 is used as the origin in the coordinate system of the user vehicle C1; A broadcast module, configured to enable the collaborative vehicle C2 to collaborate with the user vehicle C1 to perform Bluetooth positioning broadcast and wait for the digital key K to initiate a connection; A second ranging and positioning module, configured to perform ranging and positioning on the digital key K by the collaborative vehicle C2 based on RSSI signal strength or Channel Sounding, and output the position of the digital key K in the coordinate system of the collaborative vehicle C2; wherein, the central node of the collaborative vehicle C2 is used as the origin in the coordinate system of the collaborative vehicle C2; A sending module, configured to enable the collaborative vehicle C2 to send the positioning result of the digital key K to the user vehicle C1; A positioning module, configured to enable the user vehicle C1 to calculate the position of the digital key K in the coordinate system of the user vehicle C1 according to the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 and the position of the digital key K in the coordinate system of the collaborative vehicle C2.

[0014] The present invention also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

[0015] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0016] The beneficial effects of the present invention are: The present invention is based on a user vehicle and a collaborative vehicle with a digital key cloud service. The user vehicle and the collaborative vehicle enable collaborative positioning. The user vehicle C1 and the collaborative vehicle C2 discover each other and establish a BLE collaborative positioning connection channel. C1 measures the distance and locates C2 based on the RSSI signal strength or Channel Sounding, and outputs the position of C2 in the coordinate system of C1. C2 collaborates with C1 to perform Bluetooth positioning broadcasts and waits for the digital key K to initiate a connection. C2 obtains the position of K in the coordinate system of C2 in the same manner as above. Finally, C2 sends the positioning result of K to C1, and calculates the position of K in the coordinate system of C1. The present invention uses multiple vehicles to collaborate for RSSI or CS key positioning, which can effectively solve the problem that the unlocking efficiency is affected by signal occlusion or channel interference of surrounding objects of the vehicle, greatly improve the user unlocking experience, and avoid the problem of frequent standing penalties. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of a collaborative positioning scenario in the present invention.

[0018] Figure 2 It is a schematic flowchart of a method for multi-vehicle collaborative digital key positioning in the present invention.

[0019] Figure 3 It is a schematic diagram of coordinate transformation for calculating the position of the digital key K in the present invention.

[0020] Figure 4 It is a schematic structural diagram of a device according to an embodiment of the present invention.

[0021] Figure 5 It is a schematic internal structure diagram of a computer device according to an embodiment of the present invention.

[0022] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] The present invention is applied to digital car key positioning, item search in the fields of warehousing and logistics, digital tags, smart door locks, etc. It introduces multiple vehicles with the same functions, and authorizes mutual collaborative positioning between vehicles with the same functions to achieve collaborative positioning in a safer manner. In the actual use scenario, the more vehicles there are, the better the collaborative positioning effect, which can greatly improve the unlocking and locking experience.

[0025] As Figure 1 shown, in the application scenario of the present invention, it consists of at least two vehicles with collaborative positioning and a digital key mobile phone. Figure 1The vehicle in the green frame is the user vehicle C1, and the vehicle below is the collaborative positioning vehicle C2. Since there are objects blocking between the user and their own vehicle, the RSSI intensity of the Bluetooth signal cannot meet the unlocking requirements, or the ranging accuracy of the CS ranging scheme is not high, making it impossible to achieve timely unlocking. The authorized collaborative ranging vehicle below has good communication with both the digital key and the vehicle to be unlocked. It relays the ranging result and, through the coordinate system transformation of the two vehicles, enables the vehicle to be unlocked to know the actual position of the key, thereby triggering the unlocking.

[0026] As Figure 2 shown, the present invention provides a method for multi-vehicle collaborative digital key positioning, based on the user vehicle C1 with a digital key cloud service and the collaborative vehicle C2. The user vehicle C1 and the collaborative vehicle C2 initiate collaborative positioning and adopt the same digital key collaborative positioning scheme. Both the user vehicle C1 and the collaborative vehicle C2 use a north-referenced coordinate system, and the origin is preset at the position of the vehicle center node. This process requires the digital key cloud service of the vehicle factory to enable the collaborative function, and the vehicle owner allows this function to be enabled.

[0027] The method specifically includes: S1. The user vehicle C1 and the collaborative vehicle C2 discover each other and establish a BLE collaborative positioning connection channel.

[0028] Step S1 specifically includes the following steps: S101. The user vehicle C1 and the vehicle with collaborative positioning send collaborative Bluetooth broadcasts to start scanning simultaneously. S102. When either the user vehicle C1 or the vehicle with collaborative positioning discovers the other's broadcast, a BLE connection is established, and the authentication of the collaborative positioning BLE Bluetooth service is completed. S103. The vehicle connected to the user vehicle C1 is taken as the collaborative vehicle C2.

[0029] S2. The user vehicle C1 ranges and locates the collaborative vehicle C2 based on the RSSI signal strength or Channel Sounding and outputs the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1; wherein, the center node of the user vehicle C1 is used as the origin in the coordinate system of the user vehicle C1.

[0030] (1) When the user vehicle C1 ranges and locates the collaborative vehicle C2 based on the RSSI signal strength, step S2 specifically includes: S201. The user vehicle C1 passes through its center node ( Figure 1 the red dot in the middle) and multiple anchor points ( Figure 1The signal strength received by the green dot is matched with the pre-set calibration data using a fingerprint algorithm to obtain the position of the central node of the cooperative vehicle C2. Currently, digital keys are based on the RSSI scheme and all use fingerprint algorithms for pre-calibration.

[0031] RSSI, i.e., Received Signal Strength Indicator, is a technology for estimating distance by measuring the signal strength attenuation during transmission. In a digital key system, using the RSSI scheme, the vehicle device can receive signals from a digital key (such as a mobile phone) and infer the distance between the digital key and the vehicle based on the signal strength.

[0032] Fingerprint algorithm: The fingerprint algorithm is a positioning algorithm based on signal characteristics. In the application of digital keys, characteristic data such as RSSI values of digital key signals are collected at different positions around the vehicle in advance to form a fingerprint database. These data contain the signal strength distribution of digital key signals at each specific position and the corresponding position information.

[0033] Pre-calibration: Pre-calibration is a calibration and setting process carried out in advance. In a digital key system, using a fingerprint algorithm for pre-calibration means that before the system is officially used, a large number of signal characteristic collections and position markings are carried out in the vehicle's surrounding environment to establish an accurate fingerprint database. This process needs to be carried out multiple times under different environmental conditions (such as different weather, different time periods, presence or absence of people walking, etc.) to ensure that the fingerprint database can comprehensively and accurately reflect the signal characteristics in various situations.

[0034] Through pre-calibration based on the RSSI scheme and fingerprint algorithm, the digital key system can more accurately determine the position of the digital key, thus realizing more reliable vehicle unlocking, starting and other functions. When the user brings the digital key close to the vehicle, the system matches the signal characteristics collected in real time with the pre-calibrated fingerprint database, finds the most similar fingerprint record, and then determines the approximate position of the digital key to judge whether the conditions for operations such as unlocking are met.

[0035] S202. Output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 according to the position of the central node of the cooperative vehicle C2.

[0036] Describing the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1, that is, the position of the central node of the cooperative vehicle C2 in the coordinate system of the central node of the user vehicle C1, is the XY coordinate.

[0037] (2) When the user vehicle C1 uses Channel Sounding to measure distance and position the cooperative vehicle C2, the step S2 specifically includes: S211. The user vehicle C1 measures the distance between its central node ( Figure 1 the red dot in it) and multiple anchor points ( Figure 1 the green dots in it) respectively with the central node of the collaborative vehicle C2, and then obtains the position of the central node of the collaborative vehicle C2 through a three-point positioning algorithm; S212. Output the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 according to the position of the central node of the collaborative vehicle C2.

[0038] S3. After the positions of the collaborative vehicle C2 and the user vehicle C1 are locked, the collaborative vehicle C2 collaborates with the user vehicle C1 to perform Bluetooth positioning broadcast and waits for the digital key K to initiate a connection.

[0039] S4. The collaborative vehicle C2 measures and locates the digital key K based on the RSSI signal strength or Channel Sounding, and outputs the position of the digital key K in the coordinate system of the collaborative vehicle C2; wherein, the central node of the collaborative vehicle C2 is used as the origin in the coordinate system of the collaborative vehicle C2.

[0040] (1) When the collaborative vehicle C2 measures and locates the digital key K based on the RSSI signal strength, the step S4 specifically includes: S401. The collaborative vehicle C2 matches the signal strengths received by its central node ( Figure 1 the red dot in it) and multiple anchor points ( Figure 1 the green dots in it) with the pre-set calibration data through a fingerprint algorithm to obtain the position of the digital key K; S402. Output the position of the digital key K in the coordinate system of the collaborative vehicle C2 according to the position of the digital key K.

[0041] (2) When the collaborative vehicle C2 uses Channel Sounding to measure and locate the digital key K, the step S4 specifically includes: S411. The collaborative vehicle C2 measures the distance between its central node ( Figure 1 the red dot in it) and multiple anchor points ( Figure 1 the green dots in it) respectively with the digital key K, and then obtains the position of the digital key K through a three-point positioning algorithm; The three-point positioning algorithm is a positioning method that calculates the precise position of a target by measuring the distance or angle between the target and at least three known position reference points. Based on geometric principles, through the spatial constraints of multiple reference points, it narrows the solution range of the target position and finally determines the unique coordinates.

[0042] In the three-point positioning algorithm, given the coordinates of three points and the distances from the object to be measured to these three points, the coordinates of the object to be measured are calculated through a system of equations. That is, assuming there are three reference points with known coordinates in space, the distances from the target point to these three points are determined. According to the distance formula and the coordinate points, a system of equations can be established, and by using the method of eliminating variables by squaring to solve the system of equations, a unique coordinate can be obtained.

[0043] S412. Output the position of the digital key K in the coordinate system of the collaborative vehicle C2 according to the position of the digital key K.

[0044] S5. The collaborative vehicle C2 sends the positioning result of the digital key K (the position of the digital key K in the coordinate system of the collaborative vehicle C2) to the user vehicle C1.

[0045] S6. The user vehicle C1 calculates the position of the digital key K in the coordinate system of the user vehicle C1 according to the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 and the position of the digital key K in the coordinate system of the collaborative vehicle C2.

[0046] Step S6 specifically includes: S601. The user vehicle C1 and the collaborative vehicle C2 always use a north-pointing coordinate system for position conversion. S602. Define the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 as and at the same time define the position of the digital key K in the coordinate system of the collaborative vehicle C2 as ; S603. Calculate the position of the digital key K in the coordinate system of the user vehicle C1 according to , and the calculation formula is: , . .

[0047] As Figure 3 shown, specifically: 1) The user vehicle C1 and the collaborative vehicle C2 always use a north-pointing coordinate system for position conversion.

[0048] 2) The position of the origin of the collaborative vehicle C2 in the coordinate system of the user vehicle C1: <C2_in_C1.x, C2_in_C1.y>; 3) The position of the digital key K in the coordinate system of the collaborative vehicle C2: <K_in_C2.x, K_in_C2.y>; 4) Calculate the position of the digital key K in the coordinate system of the user vehicle C1: X = C2_in_C1.x + K_in_C2.x Y = C2_in_C1.y + K_in_C2.y S7. Calculate the distance between the digital key K and the user vehicle C1 according to the position of the digital key K in the coordinate system of the user vehicle C1; S8. Determine whether the distance between the digital key K and the user vehicle C1 is less than a set distance (such as 2M); when the key is within a certain distance from the vehicle, such as 2M, the vehicle is unlocked, and the function of entering the vehicle without sensing can be realized.

[0049] S9. If the distance between the digital key K and the user vehicle C1 is less than the set distance, the user vehicle C1 is unlocked; if the distance between the digital key K and the user vehicle C1 is greater than or equal to the set distance, return to step S4 for cyclic calculation.

[0050] Based on a user vehicle and a cooperative vehicle with a digital key cloud service, the user vehicle and the cooperative vehicle start cooperative positioning. The user vehicle C1 and the cooperative vehicle C2 discover each other and establish a BLE cooperative positioning connection channel; C1 performs ranging and positioning on C2 based on the RSSI signal strength or Channel Sounding and outputs the position of C2 in the coordinate system of C1; C2 cooperates with C1 to perform Bluetooth positioning broadcasts and waits for the digital key K to initiate a connection; C2 obtains the position of K in the coordinate system of C2 in the same way as above for K; finally, C2 sends the positioning result of K to C1, and calculates to obtain the position of K in the coordinate system of C1. The present invention uses multi-vehicle cooperation to perform RSSI or CS positioning of the key, which can effectively solve the problem that the unlocking efficiency is affected by problems such as signal occlusion by surrounding objects of the vehicle or channel interference, greatly improve the user unlocking experience, and avoid the problem of frequent standing penalties.

[0051] As Figure 4 shown, the present invention also provides a multi-vehicle cooperative digital key positioning system, based on a user vehicle and a cooperative vehicle with a digital key cloud service, the user vehicle and the cooperative vehicle start cooperative positioning, and the system includes: A connection module 1, configured to enable the user vehicle C1 and the cooperative vehicle C2 to discover each other and establish a BLE cooperative positioning connection channel; A first ranging and positioning module 2, configured to perform ranging and positioning on the cooperative vehicle C2 by the user vehicle C1 based on the RSSI signal strength or Channel Sounding and output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1; wherein, the center node of the user vehicle C1 is used as the origin in the coordinate system of the user vehicle C1; A broadcast module 3, configured to enable the cooperative vehicle C2 to cooperate with the user vehicle C1 to perform Bluetooth positioning broadcasts and wait for the digital key K to initiate a connection; The second ranging and positioning module 4 is used for the cooperative vehicle C2 to range and position the digital key K based on the RSSI signal strength or Channel Sounding, and output the position of the digital key K in the coordinate system of the cooperative vehicle C2; wherein, the center node of the cooperative vehicle C2 is used as the origin in the coordinate system of the cooperative vehicle C2; The sending module 5 is used for the cooperative vehicle C2 to send the positioning result of the digital key K to the user vehicle C1; The positioning module 6 is used for the user vehicle C1 to calculate the position of the digital key K in the coordinate system of the user vehicle C1 according to the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 and the position of the digital key K in the coordinate system of the cooperative vehicle C2.

[0052] In one embodiment, the connection module 1 specifically includes: The Bluetooth broadcast unit is used for the user vehicle C1 and the vehicle with cooperative positioning to send cooperative Bluetooth broadcasts to start scanning simultaneously; The connection unit is used for BLE connection when either the user vehicle C1 or the vehicle with cooperative positioning discovers the other party's broadcast, and complete the authentication of the cooperative positioning BLE Bluetooth service; The naming unit is used to take the vehicle connected to the user vehicle C1 as the cooperative vehicle C2.

[0053] In one embodiment, when the user vehicle C1 ranges and positions the cooperative vehicle C2 based on the RSSI signal strength, the first ranging and positioning module 2 specifically includes: The first position calculation unit is used for the user vehicle C1 to perform fingerprint algorithm matching on the signal strengths received by its center node and multiple anchor points with the preset calibration data to obtain the position of the center node of the cooperative vehicle C2; The first output unit is used to output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 according to the position of the center node of the cooperative vehicle C2.

[0054] In one embodiment, when the user vehicle C1 ranges and positions the cooperative vehicle C2 using Channel Sounding, the first ranging and positioning module 2 specifically includes: The second position calculation unit is used for the user vehicle C1 to range from its center node and multiple anchor points to the center node of the cooperative vehicle C2 respectively, and obtain the position of the center node of the cooperative vehicle C2 through the three-point positioning algorithm; The first output unit is used to output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 according to the position of the center node of the cooperative vehicle C2.

[0055] In one embodiment, when the collaborative vehicle C2 performs ranging and positioning on the digital key K based on the RSSI signal strength, the second ranging and positioning module 4 specifically includes: A third position calculation unit, configured to match the signal strengths received by the collaborative vehicle C2 through its central node and multiple anchor points with pre-set calibration data by using a fingerprint algorithm to obtain the position of the digital key K; A second output unit, configured to output the position of the digital key K in the coordinate system of the collaborative vehicle C2 according to the position of the digital key K.

[0056] In one embodiment, when the collaborative vehicle C2 performs ranging and positioning on the digital key K by using Channel Sounding, the second ranging and positioning module 4 specifically includes: A fourth position calculation unit, configured to perform ranging between the collaborative vehicle C2 and the digital key K through its central node and multiple anchor points respectively, and obtain the position of the digital key K through a three-point positioning algorithm; A second output unit, configured to output the position of the digital key K in the coordinate system of the collaborative vehicle C2 according to the position of the digital key K.

[0057] In one embodiment, the positioning module 6 specifically includes: A setting unit, configured to set that the user vehicle C1 and the collaborative vehicle C2 always use a coordinate system pointing north for position conversion; A definition unit, configured to define the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 as , and at the same time define the position of the digital key K in the coordinate system of the collaborative vehicle C2 as ; A coordinate calculation unit, configured to calculate the position of the digital key K in the coordinate system of the user vehicle C1 according to , and the calculation formula is: , , .

[0058] In one embodiment, after the positioning module 6, it further includes: A distance calculation module, configured to calculate the distance between the digital key K and the user vehicle C1 according to the position of the digital key K in the coordinate system of the user vehicle C1; A judgment module, configured to judge whether the distance between the digital key K and the user vehicle C1 is less than a set distance; A loop module, configured to unlock the user vehicle C1 when the distance between the digital key K and the user vehicle C1 is less than a set distance, and return to step S4 for loop calculation when the distance between the digital key K and the user vehicle C1 is greater than or equal to the set distance.

[0059] Each of the above modules and units is configured to correspondingly execute each step in the method for multi-vehicle collaborative digital key positioning. The specific implementation manner refers to the method embodiments described above, and will not be elaborated herein.

[0060] As Figure 5 shown, the present invention further provides a computer device, which may be a server, and its internal structure may be as Figure 5 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store all data required for the process of the method for multi-vehicle collaborative digital key positioning. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements the method for multi-vehicle collaborative digital key positioning.

[0061] Those skilled in the art can understand that Figure 5 the structure shown in

[0062] is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.

[0063] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium provided in this application and used in the embodiments can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0064] It should be noted that in this text, the term "including", "comprising", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, apparatus, article, or method including that element.

[0065] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for multi-vehicle collaborative digital key positioning, characterized in that, Based on a user vehicle and a collaborative vehicle with a digital key cloud service, the user vehicle and the collaborative vehicle initiate collaborative positioning. The method includes: S1. The user vehicle C1 and the collaborative vehicle C2 discover each other and establish a BLE collaborative positioning connection channel. S2. The user vehicle C1 measures the distance and locates the collaborative vehicle C2 based on the RSSI signal strength or Channel Sounding, and outputs the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1. Among them, the central node of the user vehicle C1 is used as the origin in the coordinate system of the user vehicle C1. S3. The collaborative vehicle C2 collaborates with the user vehicle C1 to perform Bluetooth positioning broadcasts and waits for the digital key K to initiate a connection. S4. The collaborative vehicle C2 measures the distance and locates the digital key K based on the RSSI signal strength or Channel Sounding, and outputs the position of the digital key K in the coordinate system of the collaborative vehicle C2. Among them, the central node of the collaborative vehicle C2 is used as the origin in the coordinate system of the collaborative vehicle C2. S5. The collaborative vehicle C2 sends the positioning result of the digital key K to the user vehicle C1. S6. The user vehicle C1 calculates the position of the digital key K in the coordinate system of the user vehicle C1 based on the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 and the position of the digital key K in the coordinate system of the collaborative vehicle C2.

2. The method for multi-vehicle collaborative digital key positioning according to claim 1, wherein The step S1 specifically includes: S101. The user vehicle C1 and the vehicle with collaborative positioning send collaborative Bluetooth broadcasts to start scanning simultaneously. S102. When either the user vehicle C1 or the vehicle with collaborative positioning discovers the other's broadcast, a BLE connection is made and the authentication of the collaborative positioning BLE Bluetooth service is completed. S103. The vehicle connected to the user vehicle C1 is taken as the collaborative vehicle C2.

3. The method for multi-vehicle collaborative digital key positioning according to claim 1, wherein When the user vehicle C1 measures the distance and locates the collaborative vehicle C2 based on the RSSI signal strength, the step S2 specifically includes: S201. The user vehicle C1 matches the signal strengths received by its central node and multiple anchors with the pre-set calibration data through a fingerprint algorithm to obtain the position of the central node of the collaborative vehicle C2. S202. According to the position of the central node of the collaborative vehicle C2, the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 is output.

4. The method for multi-vehicle collaborative digital key positioning according to claim 1, wherein When the user vehicle C1 measures the distance and locates the collaborative vehicle C2 using Channel Sounding, the step S2 specifically includes: S211. After the user vehicle C1 measures the distance between its central node and multiple anchors and the central node of the collaborative vehicle C2 respectively, the position of the central node of the collaborative vehicle C2 is obtained through a three-point positioning algorithm. S212. According to the position of the central node of the collaborative vehicle C2, the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 is output.

5. The method for multi-vehicle collaborative digital key positioning according to claim 1, wherein When the collaborative vehicle C2 performs ranging and positioning on the digital key K based on the RSSI signal strength, step S4 specifically includes: S401. The collaborative vehicle C2 matches the signal strengths received by its central node and multiple anchor points with the preset calibration data through a fingerprint algorithm to obtain the position of the digital key K. S402. According to the position of the digital key K, output the position of the digital key K in the coordinate system of the collaborative vehicle C2.

6. The method for multi-vehicle collaborative digital key positioning according to claim 1, wherein, When the collaborative vehicle C2 performs ranging and positioning on the digital key K using Channel Sounding, step S4 specifically includes: S411. After the collaborative vehicle C2 performs ranging with the digital key K through its central node and multiple anchor points respectively, obtain the position of the digital key K through a three-point positioning algorithm. S412. According to the position of the digital key K, output the position of the digital key K in the coordinate system of the collaborative vehicle C2.

7. The method for multi-vehicle collaborative digital key positioning according to claim 1, wherein Step S6 specifically includes: S601. The user vehicle C1 and the collaborative vehicle C2 always perform position conversion using a coordinate system pointing north. S602. Define the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 as , and at the same time define the position of the digital key K in the coordinate system of the collaborative vehicle C2 as ; S603. According to calculate the position of the digital key K in the coordinate system of the user's vehicle C1 , and the calculation formula is: , .

8. The method for multi-vehicle collaborative digital key positioning according to claim 1, characterized in that After step S6, it further includes: S7. Calculate the distance between the digital key K and the user vehicle C1 according to the position of the digital key K in the coordinate system of the user vehicle C1. S8. Determine whether the distance between the digital key K and the user vehicle C1 is less than a set distance. S9. If the distance between the digital key K and the user vehicle C1 is less than the set distance, the user vehicle C1 is unlocked; if the distance between the digital key K and the user vehicle C1 is greater than or equal to the set distance, return to step S4 for cyclic calculation.

9. A system for multi-vehicle collaborative digital key positioning, characterized in that, Based on a user vehicle and a collaborative vehicle with digital key cloud services, the user vehicle and the collaborative vehicle enable collaborative positioning. The system includes: A connection module, used for the user vehicle C1 and the collaborative vehicle C2 to discover each other and establish a BLE collaborative positioning connection channel. A first ranging and positioning module, used for the user vehicle C1 to perform ranging and positioning on the collaborative vehicle C2 based on the RSSI signal strength or Channel Sounding, and output the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1; wherein, the central node of the user vehicle C1 is used as the origin in the coordinate system of the user vehicle C1. A broadcast module, used for the collaborative vehicle C2 to collaborate with the user vehicle C1 to perform Bluetooth positioning broadcasts and wait for the digital key K to initiate a connection. A second ranging and positioning module, used for the collaborative vehicle C2 to perform ranging and positioning on the digital key K based on the RSSI signal strength or Channel Sounding, and output the position of the digital key K in the coordinate system of the collaborative vehicle C2; wherein, the central node of the collaborative vehicle C2 is used as the origin in the coordinate system of the collaborative vehicle C2. A sending module, used for the collaborative vehicle C2 to send the positioning result of the digital key K to the user vehicle C1. A positioning module is configured to calculate the position of the digital key K in the coordinate system of the user vehicle C1 based on the position of the collaborative vehicle C2 in the coordinate system of the user vehicle C1 and the position of the digital key K in the coordinate system of the collaborative vehicle C2.

10. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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