A method and system for multi-vehicle cooperative digital key positioning

Abstract

The present application relates to the technical field of digital key positioning, and discloses a method for cooperative digital key positioning of multiple vehicles, which is based on a user vehicle and a cooperative vehicle with a digital key cloud service, the user vehicle and the cooperative vehicle are started for cooperative positioning, the user vehicle C1 and the cooperative vehicle C2 discover each other and establish a BLE cooperative positioning connection channel; the C1 performs ranging and positioning on the C2 based on RSSI signal strength or Channel Sounding, and outputs the position of the C2 in the coordinate system of the C1; the C2 broadcasts a Bluetooth positioning together with the C1, and waits for a digital key K to initiate a connection; the C2 obtains the position of the K in the coordinate system of the C2 in the same way as above; finally, the C2 sends the positioning result of the K to the C1, and calculates the position of the K in the coordinate system of the C1. The present application realizes cooperative positioning in a more secure manner by authorizing and cooperating with each other between vehicles with the same function. In actual use scenarios, the more vehicles, the better the cooperative positioning effect, which can greatly improve the unlocking and locking experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of digital key positioning, in particular to a multi-vehicle cooperative digital key positioning method and system. BACKGROUND

[0002] In the current digital key scene of a vehicle, the common practice is to perform one-to-one ranging and positioning between the vehicle and the authorized digital key. The application of the digital key positioning scene is realized by synchronously listening to the communication signal strength of the digital key \ physical key through multiple BLE devices arranged around \ inside the vehicle, or through high-precision ranging Bluetooth protocol Channel Sounding (CS), to realize device positioning. Due to the non-ideal nature in the actual use scene, signal interference, shielding and other problems will seriously affect the connection communication between the digital key and the vehicle, resulting in unlocking delay.

[0003] The existing digital key unlocking method is connected with multiple frequency offset modulation modules through a differential bus to transfer the connection information (instructions including ID information, connection state information, connection interval information, frequency hopping interval information, current connection event count value and last unmapped channel) established between the central node and the digital key, so as to realize digital key positioning. However, in the actual use process, due to environmental factors, signal interference, reflection and other reasons, the unlocking experience is uneven, and the user experience is very poor. SUMMARY

[0004] The present application provides a multi-vehicle cooperative digital key positioning method and system, which introduces multiple vehicles with the same function, and authorizes and cooperatively positions each other between vehicles with the same function, so as to realize cooperative positioning in a safer way. In the actual use scene, the more vehicles, the better the cooperative positioning effect, which can greatly improve the unlocking experience.

[0005] The present application provides a multi-vehicle cooperative digital key positioning method, 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 method comprises:

[0006] S1, the user vehicle C1 and the cooperative vehicle C2 discover each other and establish a BLE cooperative positioning connection channel;

[0007] S2, the user vehicle C1 uses RSSI signal strength or Channel Sounding to measure the distance and position of the cooperative vehicle C2, and outputs the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1; wherein the coordinate system of the user vehicle C1 takes the center node of the user vehicle C1 as the origin;

[0008] S3, the cooperative vehicle C2 cooperates with the user vehicle C1 to broadcast a Bluetooth positioning, and waits for the digital key K to initiate a connection;

[0009] S4, the cooperative vehicle C2 adopts RSSI signal strength or Channel Sounding to measure the distance and position of the digital key K, and outputs 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 taken as the origin in the coordinate system of the cooperative vehicle C2;

[0010] S5, the cooperative vehicle C2 sends the positioning result of the digital key K to the user vehicle C1;

[0011] 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 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.

[0012] Further, the step S1 specifically comprises:

[0013] S101, the user vehicle C1 sends a cooperative Bluetooth broadcast with a vehicle capable of cooperative positioning to simultaneously start scanning;

[0014] S102, when the user vehicle C1 and the vehicle capable of cooperative positioning find each other's broadcast, they perform BLE connection and complete the authentication of the cooperative positioning BLE Bluetooth service;

[0015] S103, the vehicle connected with the user vehicle C1 is taken as the cooperative vehicle C2.

[0016] Further, when the user vehicle C1 adopts RSSI signal strength to measure the distance and position of the cooperative vehicle C2, the step S2 specifically comprises:

[0017] S201, the user vehicle C1 matches the signal strength received by the center node and multiple anchor points with the preset calibration data to obtain the position of the center node of the cooperative vehicle C2 through fingerprint algorithm;

[0018] S202, according to the position of the center node of the cooperative vehicle C2, the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 is outputted.

[0019] Further, when the user vehicle C1 adopts Channel Sounding to measure the distance and position of the cooperative vehicle C2, the step S2 specifically comprises:

[0020] S211, the user vehicle C1 obtains the position of the center node of the cooperative vehicle C2 through trilateration algorithm after the center node of the user vehicle C1 respectively measures the distances to the plurality of anchor points and the center node of the cooperative vehicle C2;

[0021] S212, 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.

[0022] Further, when the cooperative vehicle C2 uses RSSI signal strength to measure the distance and position of the digital key K, the step S4 specifically includes:

[0023] S401, the cooperative vehicle C2 obtains the position of the digital key K through fingerprint algorithm matching of the signal strength received by the center node of the cooperative vehicle C2 and the plurality of anchor points with the preset calibration data;

[0024] S402, output the position of the digital key K in the coordinate system of the cooperative vehicle C2 according to the position of the digital key K.

[0025] Further, when the cooperative vehicle C2 uses Channel Sounding to measure the distance and position of the digital key K, the step S4 specifically includes:

[0026] S411, the cooperative vehicle C2 obtains the position of the digital key K through trilateration algorithm after the center node of the cooperative vehicle C2 respectively measures the distances to the plurality of anchor points and the digital key K;

[0027] S412, output the position of the digital key K in the coordinate system of the cooperative vehicle C2 according to the position of the digital key K.

[0028] Further, the step S6 specifically includes:

[0029] S601, the user vehicle C1 and the cooperative vehicle C2 always use the coordinate system of the north to convert the position;

[0030] S602, define the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 as , and define the position of the digital key K in the coordinate system of the cooperative vehicle C2 as ;

[0031] 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: , .

[0032] ​Furthermore, after step S6, the method further includes:

[0033] S7. Calculate the distance between the digital key K and the user vehicle C1 based on the position of the digital key K in the coordinate system of the user vehicle C1;

[0034] S8. Determine whether the distance between the digital key K and the user vehicle C1 is less than a set distance;

[0035] S9. If the distance between the digital key K and the user vehicle C1 is less than a 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, then return to step S4 for cyclic calculation.

[0036] This invention also provides a multi-vehicle collaborative digital key positioning system, based on a user vehicle and a collaborative vehicle with a digital key cloud service, wherein the user vehicle and the collaborative vehicle activate collaborative positioning, and the system includes:

[0037] The connection module is used for the user vehicle C1 and the cooperating vehicle C2 to discover each other and establish a BLE cooperative positioning connection channel;

[0038] The first ranging and positioning module is used by the user vehicle C1 to perform ranging and positioning of the cooperating vehicle C2 based on RSSI signal strength or Channel Sounding, and outputs the position of the cooperating 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.

[0039] The broadcast module is used for the cooperating vehicle C2 to cooperate with the user vehicle C1 to broadcast Bluetooth positioning, waiting for the digital key K to initiate a connection;

[0040] The second ranging and positioning module is used by the cooperative vehicle C2 to perform ranging and positioning of the digital key K based on 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.

[0041] A sending module is used for the collaborative vehicle C2 to send the location result of the digital key K to the user vehicle C1;

[0042] The positioning module is used to calculate the position of the digital key K in the coordinate system of the user vehicle C1 based on the position of the cooperating 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 cooperating vehicle C2.

[0043] The application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method when executing the computer program.

[0044] The application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method when executed by a processor.

[0045] The application has the following beneficial effects:

[0046] The application is based on a user vehicle and a collaborative vehicle with a digital key cloud service, the user vehicle and the collaborative vehicle start collaborative positioning, the user vehicle C1 and the collaborative vehicle C2 discover each other and establish a BLE collaborative positioning connection channel; C1 uses RSSI signal strength or Channel Sounding for ranging and positioning on C2, and outputs the position of C2 in the coordinate system of C1; C2 collaborates with C1 to broadcast a Bluetooth positioning, and waits for a digital key K to initiate a connection; C2 uses the same method as above to obtain the position of K in the coordinate system of C2; finally, C2 sends the positioning result of K to C1, and calculates the position of K in the coordinate system of C1. The application uses multi-vehicle collaboration for RSSI or CS positioning keys, which can effectively solve the problem of signal obstruction by objects around the vehicle or channel interference affecting the unlocking efficiency, greatly improves the user unlocking experience, and avoids the problem of frequent penalties. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 It is a collaborative positioning scene structure schematic diagram in the application.

[0048] Figure 2 It is a flowchart of the method of multi-vehicle collaborative digital key positioning in the application.

[0049] Figure 3 It is a coordinate conversion schematic diagram for calculating the position of the digital key K in the application.

[0050] Figure 4 It is a device structure schematic diagram of an embodiment of the application.

[0051] Figure 5 It is a computer device internal structure schematic diagram of an embodiment of the application.

[0052] The implementation of the application, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0054] The application is applied to the fields of digital car key positioning, storage and logistics, and finds objects, digital tags, intelligent door locks, etc., multiple vehicles with the same function are introduced, and the vehicles with the same function are authorized and cooperatively positioned to achieve cooperative positioning in a safer way. In actual use scenarios, the more vehicles, the better the cooperative positioning effect, which can greatly improve the unlocking and locking experience.

[0055] As shown in Figure 1 The application provides a multi-vehicle cooperative digital key positioning method. Figure 1 The lower vehicle is a cooperative positioning vehicle C2. Since the user and his own vehicle are blocked by an object, the Bluetooth signal RSSI strength cannot meet the unlocking requirement, or the ranging accuracy of the CS ranging scheme is not high, and the vehicle cannot be unlocked in time. The authorized cooperative ranging vehicle below communicates well with the digital key and the vehicle to be unlocked, and the ranging result is transferred therefrom, and the coordinates of the two vehicles are converted to let the vehicle to be unlocked know the actual position of the key, and then trigger the unlocking.

[0056] As shown in Figure 2 The application provides a multi-vehicle cooperative digital key positioning method, based on a user vehicle C1 with a digital key cloud service and a cooperative vehicle C2, the user vehicle C1 and the cooperative vehicle C2 are enabled for cooperative positioning, and the same digital key cooperative positioning scheme is adopted, the user vehicle C1 and the cooperative vehicle C2 adopt the north coordinate system, and the origin is preset as the position of the vehicle center node. This process needs the digital key cloud service of the vehicle factory to realize the cooperative function, and the vehicle owner allows to enable this function.

[0057] The method specifically comprises the following steps.

[0058] S1, the user vehicle C1 and the cooperative vehicle C2 discover each other and establish a BLE cooperative positioning connection channel.

[0059] Step S1 specifically comprises the following steps.

[0060] S101, the user vehicle C1 and the vehicle with cooperative positioning send a cooperative Bluetooth broadcast to start scanning at the same time.

[0061] S102, when the user vehicle C1 and the vehicle with cooperative positioning discover each other, BLE connection is performed, and the cooperative positioning BLE Bluetooth service is authenticated.

[0062] S103, the vehicle connected with the user vehicle C1 is taken as the cooperative vehicle C2.

[0063] S2. The user vehicle C1 uses RSSI signal strength or Channel Sounding to measure distance and locate the cooperating vehicle C2, and outputs the position of the cooperating vehicle C2 in the coordinate system of the user vehicle C1; wherein, the center node of the user vehicle C1 is taken as the origin in the coordinate system of the user vehicle C1.

[0064] (1) When the user vehicle C1 uses RSSI signal strength to perform ranging and positioning on the cooperating vehicle C2, step S2 specifically includes:

[0065] S201, the user vehicle C1 passes through its central node ( Figure 1 (Middle red dot) and multiple anchor points ( Figure 1 The signal strength received by the green dot (in the middle) is matched with the preset calibration data using a fingerprint algorithm to obtain the position of the C2 central node of the cooperative vehicle;

[0066] Currently, digital keys based on the RSSI scheme all use fingerprint algorithms for pre-calibration.

[0067] RSSI, or Received Signal Strength Indication, is a technique that estimates distance by measuring signal attenuation during transmission. In digital key systems, using RSSI, the vehicle-mounted device can receive signals from a device carrying the digital key (such as a mobile phone) and infer the distance between the digital key and the vehicle based on the signal strength.

[0068] Fingerprint algorithm: A fingerprint algorithm is a positioning algorithm based on signal characteristics. In the application of digital keys, feature data such as RSSI values ​​of the digital key signal are collected in advance at different locations around the vehicle to form a fingerprint database. This data contains the intensity distribution of the digital key signal at each specific location and the corresponding location information.

[0069] Pre-calibration: Pre-calibration is a process of calibration and setting performed in advance. In digital key systems, fingerprint algorithms are used for pre-calibration. This involves establishing an accurate fingerprint database by collecting a large number of signal features and marking their locations in the vehicle's surrounding environment before the system is officially put into use. This process requires multiple collections under different environmental conditions (such as different weather conditions, different time periods, and whether there is human movement) to ensure that the fingerprint database can comprehensively and accurately reflect the signal characteristics under various circumstances.

[0070] By pre-calibrating based on the RSSI scheme and fingerprint algorithm, the digital key system can more accurately determine the location of the digital key, thereby enabling more reliable vehicle unlocking, starting, and other functions. When a user approaches the vehicle with the digital key, the system matches the real-time collected signal features with the pre-calibrated fingerprint database, finds the most similar fingerprint record, and then determines the approximate location of the digital key to determine whether the conditions for unlocking and other operations are met.

[0071] S202. Based on the position of the center node of the cooperative vehicle C2, output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1.

[0072] Describe the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1, that is, the position of the center node of the cooperative vehicle C2 in the coordinate system of the center node of the user vehicle C1, in XY coordinates.

[0073] (2) When the user vehicle C1 uses Channel Sounding to measure distance and locate the cooperating vehicle C2, step S2 specifically includes:

[0074] S211, the user vehicle C1 passes through its central node ( Figure 1 (Middle red dot) and multiple anchor points ( Figure 1 After measuring the distance between the green dot and the center node of the cooperative vehicle C2, the position of the center node of the cooperative vehicle C2 is obtained by a three-point positioning algorithm.

[0075] S212. Based on the position of the center node of the cooperative vehicle C2, output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1.

[0076] S3. After the location of the cooperating vehicle C2 and the user vehicle C1 is locked, the cooperating vehicle C2 and the user vehicle C1 shall conduct Bluetooth positioning broadcast and wait for the digital key K to initiate the connection.

[0077] S4. The cooperative vehicle C2 uses RSSI signal strength or ChannelSounding to measure distance and locate the digital key K, and outputs 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 taken as the origin in the coordinate system of the cooperative vehicle C2.

[0078] (1) When the cooperative vehicle C2 uses RSSI signal strength to perform ranging and positioning on the digital key K, step S4 specifically includes:

[0079] S401, the cooperative vehicle C2 passes through its central node ( Figure 1 (Middle red dot) and multiple anchor points ( Figure 1The received signal strength is matched with preset calibration data by fingerprint algorithm to obtain the position of the digital key K;

[0080] S402, output the position of the digital key K in the coordinate system of the cooperative vehicle C2 according to the position of the digital key K.

[0081] (2) When the cooperative vehicle C2 uses Channel Sounding to measure the distance and position of the digital key K, the step S4 specifically includes:

[0082] S411, the cooperative vehicle C2 measures the distance from the center node (A) to the digital key K, and the distance from the anchor point (B) to the digital key K. Figure 1 The middle red dot) and a plurality of anchor points (The middle green dot) respectively measure the distance from the digital key K, and obtain the position of the digital key K by three-point positioning algorithm. Figure 3

[0083] Three-point positioning algorithm is a positioning method for calculating the accurate position of a target by measuring the distance or angle from the target to at least three known position reference points. It is based on geometric principles, and through the spatial constraints of multiple reference points, the calculation range of the target position is narrowed down to determine a unique coordinate.

[0084] In three-point positioning algorithm, the coordinates of three points are known, and the distance from the measured object to the three points is known. The coordinates of the measured object are calculated by equation set. That is, assuming that there are three reference points with known coordinates in space, the distance from the target point to the three points is determined, and equation set can be established according to the distance formula and coordinate points. The unique coordinate can be obtained by solving the equation set by square elimination method.

[0085] S412, output the position of the digital key K in the coordinate system of the cooperative vehicle C2 according to the position of the digital key K.

[0086] S5, the cooperative vehicle C2 sends the positioning result (the position of the digital key K in the coordinate system of the cooperative vehicle C2) of the digital key K to the user vehicle C1.

[0087] 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 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.

[0088] Step S6 specifically includes:

[0089] S601, the user vehicle C1 and the cooperative vehicle C2 always use the coordinate system of the North to convert the position;

[0090] S602, define the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 as​ At the same time, define the position of the digital key K in the coordinate system of the cooperative vehicle C2 as ;

[0091] S603, according to Calculate the position of the digital key K in the coordinate system of the user vehicle C1 , the calculation formula is: 、 .

[0092] As Figure 4 shown, specifically:

[0093] 1) The user vehicle C1 and the cooperative vehicle C2 always use the coordinate system of the north to convert the position.

[0094] 2) The position of the cooperative vehicle C2 origin in the coordinate system of the user vehicle C1 is: <C2_in_C1.x, C2_in_C1.y>;

[0095] 3) The position of the digital key K in the coordinate system of the cooperative vehicle C2 is: <K_in_C2.x, K_in_C2.y>;

[0096] 4) Calculate the position of the digital key K in the coordinate system of the user vehicle C1:

[0097] X=C2_in_C1.x+K_in_C2.x

[0098] Y=C2_in_C1.y+K_in_C2.y

[0099] S7, according to the position of the digital key K in the coordinate system of the user vehicle C1, calculate the distance between the digital key K and the user vehicle C1;

[0100] S8, judge whether the distance between the digital key K and the user vehicle C1 is less than the set distance (such as 2M); When the key is close to the vehicle within a certain distance, such as 2M, the vehicle is unlocked, and the function of entering the vehicle without feeling can be realized.

[0101] 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, and 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.

[0102] The application 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, the user vehicle C1 and the cooperative vehicle C2 discover each other and establish a BLE cooperative positioning connection channel; C1 uses RSSI signal strength or Channel Sounding for ranging and positioning on C2, and outputs the position of C2 in the coordinate system of C1; C2 cooperates with C1 to broadcast a Bluetooth positioning, and waits for a digital key K to initiate a connection; C2 uses the same method as above to obtain the position of K in the coordinate system of C2; finally, C2 sends the positioning result of K to C1, and calculates the position of K in the coordinate system of C1. The application uses multi-vehicle cooperation to position the key by RSSI or CS, which can effectively solve the problem of signal blocking by objects around the vehicle or channel interference affecting the unlocking efficiency, greatly improve the user unlocking experience, and avoid the problem of frequent penalties.

[0103] As shown in Figure 5 The application 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 comprises:

[0104] A connection module 1 is used for the user vehicle C1 and the cooperative vehicle C2 to discover each other and establish a BLE cooperative positioning connection channel;

[0105] A first ranging and positioning module 2 is used for the user vehicle C1 to use RSSI signal strength or Channel Sounding for ranging and positioning on the cooperative vehicle C2, 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 taken as the origin in the coordinate system of the user vehicle C1;

[0106] A broadcast module 3 is used for the cooperative vehicle C2 to cooperate with the user vehicle C1 to broadcast a Bluetooth positioning, and wait for a digital key K to initiate a connection;

[0107] A second ranging and positioning module 4 is used for the cooperative vehicle C2 to use RSSI signal strength or Channel Sounding for ranging and positioning on the digital key K, 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 taken as the origin in the coordinate system of the cooperative vehicle C2;

[0108] A 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;

[0109] A positioning module 6 is configured to calculate a position of the digital key K in a coordinate system of the user vehicle C1 according to a position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 and a position of the digital key K in a coordinate system of the cooperative vehicle C2.

[0110] In one embodiment, the connection module 1 specifically comprises:

[0111] A Bluetooth broadcasting unit is configured to send a cooperative Bluetooth broadcast by the user vehicle C1 and the vehicle with cooperative positioning to simultaneously start scanning;

[0112] A connection unit is configured to perform BLE connection and complete authentication of the cooperative positioning BLE Bluetooth service when the user vehicle C1 and the vehicle with cooperative positioning find the broadcast of the other party.

[0113] A naming unit is configured to take the vehicle connected with the user vehicle C1 as the cooperative vehicle C2.

[0114] In one embodiment, when the user vehicle C1 uses RSSI signal strength-based ranging and positioning on the cooperative vehicle C2, the first ranging and positioning module 2 specifically comprises:

[0115] A first position calculation unit is configured to obtain the position of the center node of the cooperative vehicle C2 by performing fingerprint algorithm matching on the signal strength received by the center node of the user vehicle C1 and a plurality of anchor points and preset calibration data.

[0116] A first output unit is configured 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.

[0117] In one embodiment, when the user vehicle C1 uses Channel Sounding for ranging and positioning on the cooperative vehicle C2, the first ranging and positioning module 2 specifically comprises:

[0118] A second position calculation unit is configured to obtain the position of the center node of the cooperative vehicle C2 by performing three-point positioning algorithm after the center node of the user vehicle C1 and a plurality of anchor points respectively perform ranging on the center node of the cooperative vehicle C2.

[0119] A first output unit is configured 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.

[0120] In one embodiment, when the cooperative vehicle C2 uses RSSI signal strength-based ranging and positioning on the digital key K, the second ranging and positioning module 4 specifically comprises:

[0121] a third position calculation unit, configured to match the signal strength received by the center node of the cooperative vehicle C2 and the plurality of anchor points with the preset calibration data through a fingerprint algorithm to obtain the position of the digital key K;

[0122] a second output unit, configured to output the position of the digital key K in the coordinate system of the cooperative vehicle C2 according to the position of the digital key K.

[0123] In one embodiment, when the cooperative vehicle C2 adopts Channel Sounding to measure the distance and position of the digital key K, the second distance and position measurement module 4 specifically includes:

[0124] a fourth position calculation unit, configured to obtain the position of the digital key K through a three-point positioning algorithm after the cooperative vehicle C2 measures the distance from the digital key K through the center node and the plurality of anchor points respectively;

[0125] a second output unit, configured to output the position of the digital key K in the coordinate system of the cooperative vehicle C2 according to the position of the digital key K.

[0126] In one embodiment, the positioning module 6 specifically includes:

[0127] a setting unit, configured to set that the user vehicle C1 and the cooperative vehicle C2 always adopt the coordinate system of the North Pole for position conversion;

[0128] a definition unit, configured to define the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 as and define the position of the digital key K in the coordinate system of the cooperative vehicle C2 as ;

[0129] 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: 、 .

[0130] In one embodiment, the positioning module 6 further includes:

[0131] 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;

[0132] 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;

[0133] ​The circulation module is used for returning to step S4 for circulation calculation when the distance between the digital key K and the user vehicle C1 is greater than or equal to the set distance.

[0134] The above modules and units are used for corresponding execution of each step in the method for positioning the multi-vehicle cooperative digital key, and the specific implementation manners are described with reference to the above method embodiments, which will not be described here.

[0135] As shown in Figure 5 The present application also provides a computer device, which can be a server, and the internal structure thereof can be as shown in Figure 5 The computer device includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer device is used for providing calculation 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 operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for storing all data required by the process of the method for positioning the multi-vehicle cooperative digital key. The network interface of the computer device is used for communication with an external terminal through a network connection. The computer program is executed by the processor to implement the method for positioning the multi-vehicle cooperative digital key.

[0136] Those skilled in the art can understand, ​ The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied.

[0137] The present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to implement any one of the above methods for positioning the multi-vehicle cooperative digital key.

[0138] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, storage, databases, or other media in this application and in examples used herein, unless specifically stated otherwise, can include non-volatile and / or volatile memory. 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. As an illustration but 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 (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct RAM bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0139] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, device, article, or method that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, device, article, or method. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, device, article, or method that includes the element.

[0140] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, based on the content of the present application specification and drawings, is also included in the patent protection scope of the present application.

Claims

1. A method for multi-vehicle collaborative digital key positioning, characterized in that, Based on a user vehicle and a cooperating vehicle with digital key cloud service, the user vehicle and the cooperating vehicle initiate collaborative positioning, the method including: S1. The user vehicle C1 and the cooperating vehicle C2 discover each other and establish a BLE cooperative positioning connection channel; specifically including: S101, The user vehicle C1 and the vehicle with cooperative positioning send a cooperative Bluetooth broadcast to simultaneously start scanning; S102. When the user vehicle C1 and any of the vehicles with cooperative positioning detect each other's broadcast, they establish a BLE connection and complete the authentication of the cooperative positioning BLE Bluetooth service. S103. The vehicle connected to the user vehicle C1 is designated as the cooperating vehicle C2; S2. The user vehicle C1 uses RSSI signal strength or Channel Sounding to measure distance and locate the cooperating vehicle C2, and outputs the position of the cooperating vehicle C2 in the coordinate system of the user vehicle C1; wherein, the center node of the user vehicle C1 is taken as the origin in the coordinate system of the user vehicle C1. S3. The collaborating vehicle C2, in collaboration with the user vehicle C1, broadcasts Bluetooth location information and waits for the digital key K to initiate a connection. S4. The cooperative vehicle C2 uses RSSI signal strength or Channel Sounding to measure distance and locate the digital key K, and outputs 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 taken as the origin in the coordinate system of the cooperative vehicle C2. S5. The cooperating vehicle C2 sends the location 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 cooperating 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 cooperating vehicle C2.

2. The method for multi-vehicle collaborative digital key positioning according to claim 1, characterized in that, When the user vehicle C1 uses RSSI signal strength to perform ranging and positioning on the cooperating vehicle C2, step S2 specifically includes: S201. The user vehicle C1 uses a fingerprint algorithm to match the signal strength received by its central node and multiple anchor points with the preset calibration data to obtain the position of the central node of the cooperative vehicle C2. S202. Based on the position of the center node of the cooperative vehicle C2, output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1.

3. The method for multi-vehicle collaborative digital key positioning according to claim 1, characterized in that, When the user vehicle C1 uses Channel Sounding to measure distance and locate the cooperating vehicle C2, step S2 specifically includes: S211. After the user vehicle C1 measures the distance to the center node of the cooperating vehicle C2 through its center node and multiple anchor points, the position of the center node of the cooperating vehicle C2 is obtained through a three-point positioning algorithm. S212. Based on the position of the center node of the cooperative vehicle C2, output the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1.

4. The method for multi-vehicle collaborative digital key positioning according to claim 1, characterized in that, When the cooperative vehicle C2 uses RSSI signal strength-based ranging and positioning for the digital key K, step S4 specifically includes: S401, the cooperative vehicle C2 uses the signal strength received by its central node and multiple anchor points to match the fingerprint algorithm with the preset calibration data to obtain the position of the digital key K; S402. Based on the position of the digital key K, output the position of the digital key K in the coordinate system of the cooperative vehicle C2.

5. The method for multi-vehicle collaborative digital key positioning according to claim 1, characterized in that, When the cooperative vehicle C2 uses Channel Sounding to measure distance and locate the digital key K, step S4 specifically includes: S411. The cooperative vehicle C2 measures the distance to the digital key K through its central node and multiple anchor points, and then obtains the position of the digital key K through a three-point positioning algorithm. S412. Based on the position of the digital key K, output the position of the digital key K in the coordinate system of the cooperative vehicle C2.

6. The method for multi-vehicle collaborative digital key positioning according to claim 1, characterized in that, Step S6 specifically includes: S601. The user vehicle C1 and the cooperating vehicle C2 always use a north-pointing coordinate system for position conversion. S602. Define the position of the cooperative vehicle C2 in the coordinate system of the user vehicle C1 as follows: Meanwhile, the position of the digital key K in the coordinate system of the cooperative vehicle C2 is defined as follows: ; S603, according to Calculate the position of the digital key K in the user vehicle's C1 coordinate system. The calculation formula is: , .

7. The method for multi-vehicle collaborative digital key positioning according to claim 1, characterized in that, After step S6, the method further includes: S7. Calculate the distance between the digital key K and the user vehicle C1 based on 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 a 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, then return to step S4 for cyclic calculation.

8. A system for locating multiple vehicles using a digital key, comprising the method for locating multiple vehicles using a digital key according to any one of claims 1-7, characterized in that, Based on a user vehicle and a cooperating vehicle with a digital key cloud service, the user vehicle and the cooperating vehicle initiate collaborative positioning. The system includes: The connection module is used for the user vehicle C1 and the cooperating vehicle C2 to discover each other and establish a BLE cooperative positioning connection channel; The first ranging and positioning module is used by the user vehicle C1 to perform ranging and positioning of the cooperating vehicle C2 based on RSSI signal strength or Channel Sounding, and outputs the position of the cooperating 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. The broadcast module is used for the cooperating vehicle C2 to cooperate with the user vehicle C1 to broadcast Bluetooth positioning, waiting for the digital key K to initiate a connection; The second ranging and positioning module is used by the cooperative vehicle C2 to perform ranging and positioning of the digital key K based on 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. A sending module is used for the collaborative vehicle C2 to send the location result of the digital key K to the user vehicle C1; The positioning module is used to calculate the position of the digital key K in the coordinate system of the user vehicle C1 based on the position of the cooperating 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 cooperating vehicle C2.

9. A computer device comprising a memory and a processor, wherein the memory stores 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 7.

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