Vehicle key positioning method and related equipment

Abstract

The invention provides a vehicle key positioning method and related equipment, and the method comprises the steps: dividing the internal space of a vehicle into a plurality of functional regions, and enabling each functional region to correspond to at least one calibration point; determining a first coordinate of each calibration point according to a preset vehicle body coordinate system of the vehicle; receiving a wireless signal sent by a vehicle key of the vehicle, and determining a second coordinate of the vehicle key according to the wireless signal; and comparing the second coordinate with the plurality of first coordinates, and determining a target first coordinate, a target calibration point corresponding to the target first coordinate and a target functional area corresponding to the target calibration point from the plurality of first coordinates according to a comparison result. The specific position of the vehicle key in the in-vehicle space can be accurately locked, so that a user can conveniently determine the position of the vehicle key.

Description

Technical Field

[0001] The present application relates to the field of communication positioning, and in particular to a vehicle key positioning method and related equipment. Background Art

[0002] With the continuous development of vehicle technology, vehicle keys have become increasingly versatile, and the convenient and seamless travel experience has led to more and more frequent use of vehicle keys. When a user accidentally leaves their vehicle key in the car, they have to spend a lot of time searching for it, which greatly reduces the user experience. Summary of the Invention

[0003] In view of this, the present application provides a vehicle key positioning method and related equipment, which can accurately lock the specific position of the vehicle key in the space inside the vehicle, thereby making it convenient for users to determine the location of the vehicle key.

[0004] In a first aspect, an embodiment of the present application provides a vehicle key positioning method, including: dividing the interior space of a vehicle into multiple functional areas, each functional area corresponding to at least one calibration point; determining the first coordinate of each calibration point according to a preset body coordinate system of the vehicle; receiving a wireless signal emitted by the vehicle key of the vehicle, and determining the second coordinate of the vehicle key according to the wireless signal; comparing the second coordinate with multiple first coordinates, and determining the target first coordinate, the target calibration point corresponding to the target first coordinate, and the target functional area corresponding to the target calibration point from the multiple first coordinates according to the comparison result.

[0005] Compared with the related art, the embodiments of the present application have at least the following advantages: By dividing the vehicle's interior into multiple functional areas, the functional area where the vehicle key is located can be initially located. Each functional area can then be finely divided based on the calibration points, and the functional areas can be further divided, so that the division within each functional area reaches the centimeter level, increasing the accuracy of subsequent positioning of the area where the vehicle key is located. At the same time, by comparing the first coordinate of the calibration point with the second coordinate of the vehicle key, the target calibration point corresponding to the vehicle key is determined based on the comparison result, thereby increasing the reliability of vehicle key positioning through the location of the target calibration point, so that the vehicle key accuracy reaches the centimeter level. Users can accurately determine the location of the vehicle key, reducing the time spent searching for the vehicle key and improving the convenience of finding the vehicle key.

[0006] Optionally, the method for generating the calibration points includes: dividing each functional area into equal intervals based on a preset calibration accuracy to obtain at least two partitions; and using the center point of each partition as the calibration point.

[0007] Optionally, before receiving the wireless signal emitted by the vehicle key of the vehicle and determining the second coordinate of the vehicle key based on the wireless signal, the vehicle key positioning method also includes: setting multiple anchor antennas around the vehicle so that the envelope diagram of the multiple anchor antennas covers multiple functional areas; establishing a local coordinate system based on any two anchor antennas; obtaining the anchor position of each anchor antenna in the preset vehicle body coordinate system, and establishing a conversion relationship between the local coordinate system and the preset vehicle body coordinate system based on the anchor position.

[0008] Optionally, a wireless signal emitted by a vehicle key of the vehicle is received, and the second coordinate of the vehicle key is determined based on the wireless signal, including: obtaining the distance between the vehicle key and each anchor point antenna, selecting two shortest distances from multiple distances, the two distances including a first target distance and a second target distance; determining the candidate coordinates of the vehicle key in the local coordinate system based on the first target distance and the second target distance; determining the second coordinates of the vehicle in the preset body coordinate system based on the candidate coordinates and the conversion relationship.

[0009] Optionally, receiving a wireless signal emitted by a vehicle key of a vehicle includes: establishing a first connection between the vehicle key and the vehicle; establishing a second connection between the vehicle key and the vehicle in response to a key search instruction of the vehicle, wherein the positioning accuracy of the second connection is higher than the positioning accuracy of the first connection; and receiving the wireless signal emitted by the vehicle key based on the second connection.

[0010] Optionally, the vehicle key positioning method further includes: generating prompt information according to the target functional area and the target calibration point, wherein the prompt information is used to prompt the position of the vehicle key in the interior space of the vehicle.

[0011] Optionally, the prompt information is visualization information, and the prompt information is generated according to the target functional area and the target calibration point, including: rendering the target functional area into a three-dimensional model, marking the target calibration point on the three-dimensional model to generate visualization information.

[0012] Optionally, before generating prompt information based on the target functional area and target calibration point, the vehicle key positioning method also includes: mapping multiple functional areas into dynamic three-dimensional animations, and presenting the distribution status of each functional area in animation form on the display interface of the vehicle's on-board screen.

[0013] In a second aspect, an embodiment of the present application further provides a vehicle key positioning device, comprising: A division unit, for dividing the interior space of the vehicle into multiple functional areas, each functional area corresponding to at least one calibration point; a first calibration unit, configured to determine a first coordinate of each calibration point according to a preset body coordinate system of the vehicle; a second calibration unit, configured to receive a wireless signal sent by a vehicle key of the vehicle and determine a second coordinate of the vehicle key according to the wireless signal; The comparison unit is used to compare the second coordinate with the multiple first coordinates, and determine the target first coordinate, the target calibration point corresponding to the target first coordinate, and the target functional area corresponding to the target calibration point from the multiple first coordinates according to the comparison result.

[0014] In a third aspect, an embodiment of the present application further provides an electronic device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the vehicle key locating method as in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the vehicle key locating method as in the first aspect.

[0016] The technical effects obtained in the above-mentioned second, third and fourth aspects are similar to the technical effects obtained by the corresponding technical means in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the application environment of the vehicle key locating method provided in one embodiment of the present application.

[0018] Figure 2 A flowchart of the steps of a vehicle key locating method provided in one embodiment of the present application.

[0019] Figure 3 A schematic plan view of multiple functional areas provided in one embodiment of the present application.

[0020] Figure 4 A flowchart of the steps of a vehicle key locating method provided in one embodiment of the present application.

[0021] Figure 5 A schematic diagram of prompt information provided in an embodiment of the present application.

[0022] Figure 6 This is a functional module diagram of a vehicle key locating device provided in one embodiment of the present application.

[0023] Figure 7 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0027] It should be further noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0028] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A alone, A and B together, and B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," and so on (if any) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or precedence.

[0029] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0030] To facilitate understanding, some descriptions of concepts related to the disclosed embodiments are exemplarily provided for reference.

[0031] Ultra-Wide Band (UWB) technology is a wireless carrier communication technology. The UWB positioning algorithm uses TW-TOF (tow-way-time of flight) bilateral ranging to achieve ranging. Compared to traditional Bluetooth ranging positioning, the UWB positioning algorithm can achieve centimeter-level accuracy. Furthermore, UWB operates in the 499.2MHz frequency band, which is compatible with other radio frequencies. When applied to in-vehicle communications, UWB technology offers exceptional resistance to multipath interference.

[0032] Bluetooth technology is based on narrowband communication, using frequency hopping and time division multiple access communication technology, and is mainly used for short-distance data transmission and rough positioning.

[0033] The UWB physical key is an ultra-wideband physical key that uses UWB technology for communication. The vehicle key in this application is a physical key that can perform both UWB and Bluetooth communication.

[0034] UWB (Ultra-Wideband) positioning technology is a method that uses ultra-wideband pulse signals to achieve high-precision positioning.

[0035] Anchor antennas are antennas used in wireless communication systems, typically for applications such as positioning, navigation, and tracking. Their main function is to provide a fixed reference point so that other mobile devices or antennas can be positioned relative to this fixed point.

[0036] exist Figure 1 In the embodiment of the present application, the implementation environment of the vehicle key positioning method provided in the embodiment of the present application may include a terminal 110, a body controller 120 and a vehicle key 130, wherein the vehicle key 130 and the body controller 120 are communicatively connected, and the body controller 120 and the terminal 110 are communicatively connected. For example, the vehicle key 130 and the body controller 120 may be connected using a Bluetooth communication link or an ultra-wideband communication link, etc., which is not limited in the embodiment of the present application. Optionally, in this embodiment, the terminal 110 may be integrated into the vehicle, or the terminal 110 may be independent of the vehicle. For example, the terminal 110 may be a portable electronic device installed with an application (APP) that can trigger the search for the vehicle key. The terminal 110 may include, but is not limited to, at least one of the following: a mobile phone (such as an Android phone, an iOS phone, etc.), a laptop computer, a tablet computer, a smart watch, a vehicle-mounted central control screen, a large vehicle screen, etc. The above is only an example and is not limited in this embodiment.

[0037] Optionally, when the terminal 110 is a large screen of the car computer, the key-finding function can be triggered by the touch buttons on the large screen of the car computer, or by voice commands. When the terminal 110 is a mobile phone, the key-finding function can be triggered by performing touch operations on the APP for managing the vehicle installed on the mobile phone, or by voice commands. By dividing the interior space of the vehicle into multiple functional areas; visually displaying the functional areas and the specific location information of the vehicle key in the functional area on the large screen of the car computer or the mobile phone. At the same time, the position of the entire vehicle area is divided into detailed areas and calibrated with high precision. The calibration positioning accuracy can reach the centimeter level. The calibration area in the car is made into a visual UI interface and displayed on the large screen of the car computer or the mobile phone. The specific location of the vehicle key 130 can be marked in a visual way to improve the accuracy of the position display of the vehicle key 130.

[0038] In this embodiment, the vehicle key 130 communicates with the vehicle body controller 120 via Bluetooth communication to exchange service commands, with a connection range of up to 30-40 meters. Even if the vehicle key 130 is left inside the vehicle, it can maintain a Bluetooth connection with the Bluetooth communication module of the vehicle body controller 120. The customer triggers the "Find Key" soft switch (touch icon or button) on the terminal 110, which sends the "Find Key" command to the vehicle body controller 120 via CAN-FD communication. The Bluetooth communication module then sends a "Find Key" request to the Bluetooth communication module via the vehicle body's internal CAN / LIN network. The Bluetooth communication module converts this command into Bluetooth communication data, securely encrypts it, and sends it to the vehicle key 130 via Bluetooth communication. Upon receiving the command, the vehicle key 130 decrypts it and receives the customer's "Find Key" request. The customer has successfully triggered the "Find Key" action.

[0039] Specifically, the terminal 110 responds to the user's operating instructions through the human-computer interaction function and generates an instruction to find the key. The terminal 110 can execute step S1: sending a first control instruction. For example, the terminal 110 is a large screen of the vehicle computer. The terminal 110 can encapsulate the instruction to find the vehicle key into a first control instruction through the CAN-FD protocol, and transmit it to the body controller 120 via the vehicle bus network. After receiving the first control instruction, the body controller 120 parses the first control instruction and verifies the operation authority of the terminal 110. If the authority verification passes, a second control instruction is generated and step S2 is executed: sending the second control instruction. The second control instruction is a Bluetooth signal. If the authority verification fails, the process ends. After receiving the Bluetooth signal, the vehicle key 130 executes step S3. Step S3 is used to send a third control instruction. The third control instruction is used to interact with the body controller 120 and complete the positioning action through the ultra-wideband connection between the body controller 120 and the vehicle controller 120.

[0040] In this embodiment, the vehicle key 130 only maintains the Bluetooth monitoring function in an inactive state, and automatically wakes up the ultra-wideband transmitting module after receiving a valid command. Since the Bluetooth monitoring function consumes less energy and the ultra-wideband communication consumes more energy, maintaining monitoring and waking up the ultra-wideband positioning function through Bluetooth communication can save energy of the vehicle key and maintain an ultra-long standby time of the vehicle key.

[0041] Please refer to Figure 2 , Figure 2 This is a flowchart of the steps of an embodiment of the vehicle key positioning method of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The vehicle key positioning method can be applied to vehicles, for example, Figure 1 The vehicle body controller 120 shown in the figure is not limited in the present embodiment. Figure 2 As shown, the vehicle key positioning method includes: Step 110: Divide the interior space of the vehicle into multiple functional areas, each functional area corresponding to at least one calibration point.

[0042] In some embodiments, the interior space of the vehicle can be divided into multiple functional areas according to a preset division rule. The preset division rule can be set according to actual needs and is not limited in this embodiment of the application.

[0043] For example, the pre-set division rules could be based on the seat layout along the vehicle's forward direction, such as: driver's seat and front center console area, passenger seat (passenger seat and front storage area), rear seat area (left, right, and center seats and legroom), and trunk area (storage area). Alternatively, the seats could be divided symmetrically across the vehicle's width, such as the driver's seat and left door area, and the passenger seat and right door area. Alternatively, the vehicle could be divided into upper, middle, and lower levels based on its vertical height, such as the lower level including the footwell, the middle level including the seat height, and the upper level including the windshield and storage compartment. Alternatively, the vehicle could be divided based on functional components, such as the windshield, tray, floor, storage box, and seat. Seats could be further categorized as driver's seat, passenger seat, rear left seat, rear right seat, and rear center seat.

[0044] In some embodiments, the method for generating calibration points includes: dividing each functional area into equal intervals based on a preset calibration accuracy to obtain at least two partitions.

[0045] For example, consider the vehicle as a three-dimensional space. First, divide the interior of the vehicle into multiple layers according to the preset calibration accuracy. Then, divide each layer into multiple grids in the form of a planar grid, thereby obtaining multiple partitions in the three-dimensional space. The center point of each partition is used as the calibration point. Optionally, a 30cm×30cm grid can be selected, with a preset calibration distance of 30cm. It should be noted that since the positioning range of UWB positioning technology is 10-30cm, the calibration distance and grid size are best selected within the positioning accuracy range.

[0046] In some embodiments, the functional area can be further divided into sensitive areas and non-sensitive areas. The first distance is used to divide the sensitive area into equal intervals to obtain a first type of partition, and the second distance is used to divide the non-sensitive area into equal intervals to obtain a second type of partition. The center point of the first type of partition is used as the calibration point of the first type of partition, and the center point of the second type of partition is used as the calibration point of the second type of partition. The first distance can be set to be smaller than the second distance.

[0047] In this embodiment, the non-sensitive area can be where the key is unlikely to fall, while the sensitive area is where the key is likely to fall. Calibration points can be deployed at intervals of 30-50 cm in the non-sensitive area (such as the roof of the vehicle), and at intervals of 10-30 cm in the sensitive area (such as the roof, floor, and side walls). Signal coverage: 30-50 cm spacing ensures that each location is covered by at least three calibration points.

[0048] Optionally, you can also set calibration points for locations where keys are often lost according to user preferences.

[0049] In some embodiments, the multiple functional areas may include: driver's footrest ramp, front windshield left, front windshield right, gear shift, saucer, driver's footrest floor, passenger's footrest floor, under passenger seat, under driver's seat, armrest box, passenger storage box, driver's storage box, driver's rear floor, passenger rear floor, left rear storage box, right rear storage box, under rear middle seat, under right middle seat, rear windshield, rear storage cabinet, trunk, etc. Specifically, Figure 3 As shown, Figure 3This is a planar schematic diagram of multiple functional areas. Functional area 310 is the center console at the front windshield, functional area 320 is the driver's footrest ramp, functional area 330 is the gear shift, functional area 340 is the passenger's footrest ramp, functional area 350 is the driver's footrest floor, functional area 360 is the tea tray, functional area 370 is the passenger's footrest floor, functional area 380 is the driver's storage box, functional area 390 is the driver's seat cushion, functional area 400 is the armrest box, functional area 410 is the passenger seat cushion, functional area 420 is the passenger storage box, functional area 430 is the rear seat floor, functional area 440 is the left rear storage box, functional area 450 is the left rear seat cushion, functional area 460 is the rear center seat cushion, functional area 470 is the right rear seat cushion, functional area 480 is the right rear storage box, and functional area 490 is the trunk. For example, point 500 is an exemplary calibration point in the functional area 310, and the other calibration points are not numbered. Figure 3 The positions of the calibration points in FIG. 1 are only exemplary. In actual practice, the calibration points may be set to be more dense, for example, calibration points may be set at intervals of 5 cm in each functional area.

[0050] Step 120 : determining the first coordinate of each calibration point according to a preset vehicle body coordinate system.

[0051] Determine the origin of the preset body coordinate system. The origin can be the midpoint of the front and rear axles or the intersection of the left and right symmetrical planes. The origin can also be the vehicle's center of mass or gravity, or the midpoint of the vehicle's rear axle. The X-axis of the preset body coordinate system is the vehicle's forward direction, the Y-axis is the vehicle's width direction (for example, from the driver's seat to the passenger seat), and the Z-axis is the direction perpendicular to the ground and upward.

[0052] The above-mentioned preset vehicle body coordinate systems are only some embodiments. This application does not specifically limit the coordinate axes of the preset vehicle body coordinate system, as long as the preset vehicle body coordinate system can cover the vehicle body.

[0053] After determining the preset vehicle body coordinate system, the coordinates of each calibration point can be calibrated based on the preset vehicle body coordinate system to obtain the first coordinates of each calibration point in the preset vehicle body coordinate system. For example, the functional area division and the determination of the coordinates of the calibration points can be completed before the vehicle leaves the factory and pre-stored in the vehicle, so that the vehicle can directly execute step 130 in the vehicle key search scenario.

[0054] Step 130 , receiving a wireless signal sent by a vehicle key of the vehicle, and determining a second coordinate of the vehicle key according to the wireless signal.

[0055] In some embodiments, before executing step 130, a first connection may be established between the vehicle key and the vehicle; the vehicle key and the vehicle may also establish a second connection in response to the vehicle's key search instruction; based on the second connection, a wireless signal emitted by the vehicle key is received, wherein the positioning accuracy of the second connection is higher than the positioning accuracy of the first connection.

[0056] In this embodiment, the first connection may be a Bluetooth connection, the second connection may be an ultra-wideband connection, and the wireless signal may be an ultra-wideband signal. In this embodiment, the Bluetooth connection is responsible for transmitting commands, while the wireless signal provides a centimeter-level positioning method between vehicle keys, thereby creating an operating environment in which commands are transmitted via the Bluetooth connection and the second coordinates of the vehicle key are determined based on the ultra-wideband signal. When the vehicle key is in an inactive state, it only maintains the Bluetooth listening function. Upon receiving a valid command, it automatically wakes up the ultra-wideband transmitting module and performs positioning based on the ultra-wideband signal. Because the Bluetooth listening function consumes less energy than ultra-wideband communication, maintaining the listening function and waking up the ultra-wideband positioning function through Bluetooth communication can save energy and maintain an extremely long standby time for the vehicle key.

[0057] For example, the vehicle may be deployed with multiple wireless signal receiving devices, which can receive wireless signals emitted by the vehicle key based on the multiple wireless signal receiving devices, and determine the second coordinates of the vehicle key based on the time difference / signal strength of the wireless signals received by each wireless signal receiving device.

[0058] Step 140 , comparing the second coordinate with the plurality of first coordinates, and determining the target first coordinate, the target calibration point corresponding to the target first coordinate, and the target functional area corresponding to the target calibration point from the plurality of first coordinates according to the comparison result.

[0059] In some embodiments, multiple first coordinates can be traversed based on the second coordinate, and the first coordinate with the smallest difference between the second coordinate and the target first coordinate can be found. This can be done by establishing an index vector associated with the second coordinate, searching multiple first coordinates based on the index vector, calculating the distance between the first coordinate and the second coordinate during each search, and selecting the first coordinate with the smallest distance as the target first coordinate.

[0060] For example, the calibration point deployment example includes: the first coordinate of calibration point 1 located at the center of the driver's seat is (0, +40), the first coordinate of calibration point 2 on the inside of the passenger glove box is (0, -40), the first coordinate of calibration point 3 located on the left side of the back is (-200, +50), and the first coordinate of calibration point 4 located on the rear center armrest is (-100, 0). When the second coordinate of the vehicle key is (0, +30), the most approximate calibration point is calibration point 1, and calibration point 1 is used as the target calibration point. After determining the target calibration point, the target functional area corresponding to the target calibration point can be determined based on the correspondence between the calibration point and the functional area, which can facilitate the user to determine the location of the vehicle key.

[0061] Compared with the related art, the embodiments of the present application have at least the following advantages: By dividing the vehicle's interior into multiple functional areas, the functional area where the vehicle key is located can be initially located. Each functional area can then be finely divided based on the calibration points, and the functional areas can be further divided, so that the division within each functional area reaches the centimeter level, increasing the accuracy of subsequent positioning of the area where the vehicle key is located. At the same time, by comparing the first coordinate of the calibration point with the second coordinate of the vehicle key, the target calibration point corresponding to the vehicle key is determined based on the comparison result, thereby increasing the reliability of vehicle key positioning through the location of the target calibration point, so that the vehicle key accuracy reaches the centimeter level. Users can accurately determine the location of the vehicle key, reducing the time spent searching for the vehicle key and improving the convenience of finding the vehicle key.

[0062] Please refer to Figure 4 , Figure 4 This is a flowchart of the steps of an embodiment of the vehicle key positioning method of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. Figure 2 In comparison, the vehicle key positioning method of the present application can output prompt information about the position of the vehicle key in the interior space of the vehicle, further facilitating the user to determine the position of the vehicle key.

[0063] Step 210: Divide the interior space of the vehicle into multiple functional areas, each functional area corresponding to at least one calibration point.

[0064] Step 210 of the embodiment of the present application is similar to step 110 of the aforementioned embodiment, and will not be described again here to avoid repetition.

[0065] Step 220 : determining the first coordinate of each calibration point according to a preset vehicle body coordinate system.

[0066] Step 220 of the embodiment of the present application is similar to step 120 of the aforementioned embodiment, and will not be described again here to avoid repetition.

[0067] Step 230 , receiving a wireless signal sent by a vehicle key of the vehicle, and determining a second coordinate of the vehicle key according to the wireless signal.

[0068] Step 230 of the embodiment of the present application is similar to step 130 of the aforementioned embodiment, and will not be described again here to avoid repetition.

[0069] Step 240 , comparing the second coordinate with the plurality of first coordinates, and determining the target first coordinate, the target calibration point corresponding to the target first coordinate, and the target functional area corresponding to the target calibration point from the plurality of first coordinates according to the comparison result.

[0070] Step 240 of the embodiment of the present application is similar to step 140 of the aforementioned embodiment, and will not be described again here to avoid repetition.

[0071] Step 250 : Generate prompt information based on the target functional area and the target calibration point, where the prompt information is used to indicate the location of the vehicle key in the interior space of the vehicle.

[0072] In some embodiments, the prompt information can be visual information or audio information. For example, the first coordinate of calibration point 1 located at the center of the driver's seat is (0, +40), the first coordinate of calibration point 2 inside the passenger glove box is (0, -40), the first coordinate of calibration point 3 located on the left side of the back is (-200, +50), and the first coordinate of calibration point 4 located on the rear center armrest is (-100, 0). When the second coordinate of the vehicle key is (0, +30), the most approximate calibration point is calibration point 1, and calibration point 1 is used as the target calibration point and the prompt information "below the driver's seat, 30cm to the left" is output.

[0073] In some embodiments, the prompt information can be Figure 1 The terminal shown, or output / displayed by other functional modules in the vehicle (for example, vehicle speakers, interior lighting equipment).

[0074] In some embodiments, when the prompt information is a three-dimensional animation, the functional area and the calibration point can be rendered to generate a three-dimensional animation, and the target calibration point can be highlighted to show the position of the vehicle key in the interior space of the vehicle. In this case, the prompt information can be Figure 1 When the prompt information is an audio-visual prompt, for example, the calibration point is linked to the decorative light strip of the vehicle to control the target calibration point or the functional area corresponding to the target calibration point to flash, thereby guiding the user to determine the exact location of the vehicle key.

[0075] In some embodiments, before receiving a wireless signal emitted by a vehicle key of a vehicle and determining the second coordinate of the vehicle key based on the wireless signal, the method may also include: setting multiple anchor antennas around the vehicle so that the envelope diagram of the multiple anchor antennas covers multiple functional areas; establishing a local coordinate system based on any two anchor antennas; obtaining the anchor position of each anchor antenna in the preset vehicle body coordinate system, and establishing a conversion relationship between the local coordinate system and the preset vehicle body coordinate system based on the anchor position.

[0076] In this embodiment, multiple anchor antennas are deployed around the vehicle to ensure that their signal coverage encompasses all functional areas surrounding the vehicle. The number and placement of anchor antennas are determined based on the vehicle's size and shape. Typically, anchor antennas are placed in strategic locations such as the vehicle's corners and near the doors. Ensure that the signal coverage of each anchor antenna overlaps, forming a complete envelope that covers all functional areas requiring monitoring.

[0077] Optionally, establishing a local coordinate system for any two anchor antennas may include: selecting one anchor antenna as the origin of the local coordinate system and the other anchor antenna as a reference point; determining an X-axis in the local coordinate system based on the two anchor antennas; determining a Y-axis perpendicular to the X-axis along the same plane as the X-axis; and determining a Z-axis perpendicular to the ground to establish the local coordinate system. Simultaneously, the positions of the anchor antennas in a preset vehicle body coordinate system are obtained, and the specific coordinates of each anchor antenna in the vehicle body coordinate system are measured using a measurement tool (such as a laser rangefinder or GPS). Using the known anchor point positions, a transformation relationship is established between the local coordinate system and the preset vehicle body coordinate system to facilitate subsequent conversion of positioning results in the local coordinate system to coordinates in the vehicle body coordinate system. This transformation relationship can be achieved by obtaining a first vector in the local coordinate system and a second vector corresponding to the preset vehicle body coordinate system. Based on the correspondence between the first and second vectors, a transformation matrix between the local coordinate system and the vehicle body coordinate system is determined. Subsequently, after determining the coordinates in the local coordinate system, the coordinates are multiplied by the transformation matrix to obtain the coordinates in the vehicle body coordinate system.

[0078] In some embodiments, a multi-anchor collaborative positioning algorithm may be used to calculate the correspondence between the anchor antennas and the preset vehicle body coordinate system.

[0079] The multi-anchor collaborative positioning solution uses the Time Difference of Arrival (TDOA) algorithm, a positioning technology based on signal propagation time differences. It calculates the target's location by measuring the time difference between signal arrivals at different anchor points and combining it with the known positions of the anchor points. It's important to note that time synchronization between anchor points is required (e.g., through a wired or wireless synchronization protocol) to ensure accurate TDOA calculations.

[0080] The vehicle key sends out the first signal, and each anchor point receives the signal and records the arrival time of the signal. The time difference TDOA is calculated based on the signal arrival time. For example, the time when the signal arrives at the anchor point antenna A is t A , the time it takes for the signal to reach the anchor antenna B is t B , calculate the time difference between anchor antenna A and anchor antenna B as ΔT=t A -t B Obtain the distance D1 from the vehicle key to anchor antenna A and the distance D2 to anchor antenna B. Based on the distances D1, D2, and the time difference ΔT, calculate the hyperbola between the vehicle key and anchor antennas A and B. Through multiple positioning, fit multiple hyperbola intersections to obtain the specific location of the vehicle key.

[0081] Optionally, there are 6 anchor antennas, which are evenly distributed around the vehicle body. When the vehicle key receives the command to find the key, it starts its own ultra-wideband signal ranging. The antennas involved in ultra-wideband ranging belong to the 6 UWB anchor antennas attached under the Bluetooth communication module in the vehicle. Each UWB anchor antenna combines its own T round (the time difference between the vehicle key sending the UWB signal and receiving the signal) and T reply The six anchor antennas use the data (the time difference between the UWB signal received by the anchor antenna and the time difference between the signal sent) to calculate the distance between each anchor antenna and the vehicle key through the bilateral ranging formula. Then, the six anchor antennas send the distance between each anchor antenna and the vehicle key to the control center of the Bluetooth communication module in the car. The positions of all anchor antennas are then fitted through the positioning algorithm, making it easier to locate the vehicle key through the six anchor antennas.

[0082] In some embodiments, receiving a wireless signal emitted by a vehicle key and determining the second coordinate of the vehicle key based on the wireless signal may specifically include: obtaining the distance between the vehicle key and each anchor antenna, selecting the two shortest distances from a plurality of distances: a first target distance and a second target distance; determining candidate coordinates of the vehicle key in a local coordinate system based on the first target distance and the second target distance; and determining the second coordinate of the vehicle in a preset body coordinate system based on the candidate coordinates and a transformation relationship. This embodiment of the present application does not limit the magnitude relationship between the first target distance and the second target distance; the first target distance may be greater than, less than, or equal to the second target distance.

[0083] In this embodiment, a local coordinate system is established using the shortest first and second target distances to determine the candidate coordinates of the vehicle key in the local coordinate system. Since the relationship between the local coordinate system and the vehicle body coordinate system is known, the second coordinate of the vehicle key is determined through a conversion relationship.

[0084] In some embodiments, as shown in Table 1, the interior space of the vehicle can be divided into multiple functional areas according to the functions of various components of the vehicle. Each functional area corresponds to at least one enumeration value. Table 1 shows that the interior space of the vehicle includes 27 functional areas.

[0085] It should be noted that the functional areas in Table 1 are only shown for example, and this application does not limit the specific division of functional areas.

[0086] In some embodiments, after the body controller learns that the customer has successfully triggered the "find key" action, it can locate the vehicle key based on the wireless information sent by the vehicle key to obtain the location information of the vehicle key. The location information can be fed back to the terminal in a short time. The fed-back location information can be the enumeration value in Table 1. The terminal can convert the enumeration value into a visual specific location and present it to the customer.

[0087] For example, if a vehicle key falls into a corner of the floor beneath the driver's seat, and the customer clicks the "Find Key" soft switch on the vehicle's screen (central control panel and / or large head unit), the vehicle body controller quickly outputs the enumeration value "10" to the vehicle screen after performing UWB ranging and positioning. The vehicle screen can then refer to Table 1 to find the enumeration value "10" and present it to the customer on a visual UI interface, marking the key's location with a red dot. This allows the customer to quickly locate the key's specific location and find it.

[0088] In some embodiments, the vehicle key can also output the corresponding enumeration value to the vehicle screen after UWB ranging and positioning, and the vehicle screen converts the corresponding enumeration value into a visual UI interface to present it to the customer.

[0089] In some embodiments, the prompt information may be voice information or light information. After determining the target functional area and the target calibration point, the enumeration value of the target functional area as shown in Table 1 is received, and the enumeration value is converted into voice text. For example, the vehicle key is on the main driver's foot step slope. The above Table 1 is queried to obtain the enumeration value 1, and the corresponding voice database is determined according to the enumeration value 1 to generate the first voice prompt "The vehicle key is on the main driver's foot step slope". At the same time, the relative position of the target calibration point in the target functional area is determined. For example, when the target calibration point is on the left of the target functional area, the second voice prompt is generated, "The vehicle key is on the left of the main driver's foot step slope". Further, the reference object can be determined according to the relative position. For example, if the reference object is determined to be the driver's door, the second voice prompt is: "The vehicle key is on the left of the main driver's foot step slope".

[0090] In some embodiments, the prompt information can also be visual information. The prompt information is generated according to the target functional area and the target calibration point, which can specifically include: rendering the target functional area as a three-dimensional model, marking the target calibration point on the three-dimensional model to generate visual information.

[0091] After determining the target functional area, the target functional area can be rendered as a three-dimensional model, and the target calibration point can be marked by making the target functional area semi-transparent. Optionally, the mark can be a highlight mark of the target calibration point, such as flashing the highlight of the target calibration point on the three-dimensional model, or marking it in red. The highlight mark can also be a highlight guide component that uses particle effects plus path animation to dynamically indicate the three-dimensional position of the target calibration point. Optionally, text prompts or light prompts can be added. For example, when the vehicle key is located in the seam of the passenger seat, a text prompt "The vehicle key is located in the seam of the passenger seat" is generated on the three-dimensional model, or the breathing light of the passenger seat is continuously flashed.

[0092] In some embodiments, in order to facilitate the user to intuitively determine which functional area among multiple functional areas the target functional area corresponding to the three-dimensional model is, before generating prompt information based on the target functional area and the target calibration point, the vehicle key positioning method may also include: mapping the multiple functional areas into dynamic three-dimensional animations, and presenting the distribution status of each functional area in the form of animation on the display interface of the vehicle screen.

[0093] In this embodiment, the 3D animation can include parametric interior models of components such as seats, instrument panels, and storage compartments. For example, by importing the vehicle's CAD (Computer Aided Design) data into 3D software, a basic vehicle model is created. Textures are then applied to this basic vehicle model using materials that simulate the various trims to achieve the realistic texture of leather or metal. A mapping relationship between the coordinate system and physical space is then established according to a specific mapping ratio. Optionally, the 3D animation in this embodiment also supports real-time rendering of light-reflective materials, and users can adjust the dynamic 3D animation by rotating / zooming the viewing angle using gestures.

[0094] like Figure 5 As shown, Figure 5 This is a schematic diagram of a prompt information for this application. Figure 5 In the example, the vehicle interior is displayed in three-dimensional form in the center of the screen page, and the position of the target calibration point 600 is visually marked to show that the vehicle key is in this area.

[0095] In a second aspect, the present application provides a vehicle key positioning device. Figure 6 As shown, the vehicle key positioning device 60 includes: The division unit 610 is used to divide the interior space of the vehicle into multiple functional areas, each functional area corresponding to at least one calibration point.

[0096] The first calibration unit 620 is configured to determine a first coordinate of each calibration point according to a preset vehicle body coordinate system.

[0097] The second calibration unit 630 is configured to receive a wireless signal sent by a vehicle key of the vehicle and determine a second coordinate of the vehicle key according to the wireless signal.

[0098] The comparison unit 640 is configured to compare the second coordinate with the plurality of first coordinates, and determine the target first coordinate, the target calibration point corresponding to the target first coordinate, and the target functional area corresponding to the target calibration point from the plurality of first coordinates according to the comparison result.

[0099] In some embodiments, the vehicle key locating device 60 may further include a locating unit 650 .

[0100] The positioning unit 650 is used to generate prompt information according to the target functional area and the target calibration point, and the prompt information is used to indicate the position of the vehicle key in the interior space of the vehicle.

[0101] Compared with the related art, the embodiments of the present application have at least the following advantages: By dividing the vehicle's interior into multiple functional areas, the functional area where the vehicle key is located can be initially located. Each functional area can then be finely divided based on the calibration points, and the functional areas can be further divided, so that the division within each functional area reaches the centimeter level, increasing the accuracy of subsequent positioning of the area where the vehicle key is located. At the same time, by comparing the first coordinate of the calibration point with the second coordinate of the vehicle key, the target calibration point corresponding to the vehicle key is determined based on the comparison result, thereby increasing the reliability of vehicle key positioning through the location of the target calibration point, so that the vehicle key accuracy reaches the centimeter level. Users can accurately determine the location of the vehicle key, reducing the time spent searching for the vehicle key and improving the convenience of finding the vehicle key.

[0102] Please refer to Figure 7 , Figure 7 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0103] The electronic device 100 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, the steps in the above-mentioned vehicle key location method embodiment are implemented, such as Figure 2 Steps 110 to 140 shown, Figure 4 Steps 210 to 250 are shown.

[0104] The electronic device 100 may be integrated into a vehicle, or may be independently provided in the vehicle. For example, the electronic device 100 may be a portable electronic device having a function of communicating with the vehicle.

[0105] For example, the computer program 40 can also be divided into one or more modules / units, one or more modules / units are stored in the memory 20 and executed by the processor 30. One or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 40 in the electronic device 100. For example, it can be divided into Figure 6 Multiple modules are shown.

[0106] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 100 and does not constitute a limitation on the electronic device 100. The electronic device 100 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 100 may also include input and output devices, network access devices, buses, etc.

[0107] The processor 30 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, a single-chip microcomputer, or the processor 30 may be any conventional processor, etc.

[0108] The memory 20 can be used to store computer programs 40 and / or modules / units. The processor 30 implements various functions of the electronic device 100 by running or executing the computer programs and / or modules / units stored in the memory 20 and accessing data stored in the memory 20. The memory 20 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as a sound playback function or an image playback function); the data storage area may store data (such as audio data) generated during the use of the electronic device 100. Furthermore, the memory 20 may include high-speed random access memory (RAM) and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device.

[0109] If the modules / units integrated into the electronic device 100 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signals, telecommunications signals, and software distribution media. It should be noted that the content included in computer-readable media can be appropriately increased or decreased based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunications signals.

[0110] This embodiment also provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the vehicle key locating method in the above-mentioned embodiment.

[0111] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle key positioning method, characterized in that: include: Dividing the interior space of the vehicle into a plurality of functional areas, each of the functional areas corresponding to at least one calibration point; Determining a first coordinate of each calibration point according to a preset body coordinate system of the vehicle; receiving a wireless signal sent by a vehicle key of the vehicle, and determining a second coordinate of the vehicle key according to the wireless signal; The second coordinate is compared with the plurality of the first coordinates, and a target first coordinate, a target calibration point corresponding to the target first coordinate, and a target functional area corresponding to the target calibration point are determined from the plurality of the first coordinates according to the comparison result.

2. The vehicle key positioning method according to claim 1, characterized in that: The method for generating the calibration points comprises: Based on a preset calibration accuracy, each functional area is equally divided to obtain at least two partitions; The center point of each partition is used as the calibration point.

3. The vehicle key positioning method according to claim 1, characterized in that: Before receiving the wireless signal sent by the vehicle key of the vehicle and determining the second coordinate of the vehicle key according to the wireless signal, the method further includes: Setting a plurality of anchor antennas around the vehicle so that envelope patterns of the plurality of anchor antennas cover a plurality of the functional areas; Establishing a local coordinate system based on any two of the anchor antennas; An anchor point position of each anchor point antenna in the preset vehicle body coordinate system is acquired, and a conversion relationship between the local coordinate system and the preset vehicle body coordinate system is established according to the anchor point position.

4. The vehicle key positioning method according to claim 3, characterized in that: The receiving a wireless signal sent by a vehicle key of the vehicle and determining a second coordinate of the vehicle key according to the wireless signal includes: Obtaining the distance between the vehicle key and each of the anchor antennas, and selecting two shortest distances from a plurality of the distances, the two distances including a first target distance and a second target distance; determining candidate coordinates of the vehicle key in the local coordinate system according to the first target distance and the second target distance; The second coordinate of the vehicle in the preset vehicle body coordinate system is determined according to the candidate coordinates and the conversion relationship.

5. The vehicle key positioning method according to claim 3, characterized in that: The receiving of the wireless signal sent by the vehicle key of the vehicle includes: establishing a first connection between the vehicle key and the vehicle; In response to a key search command of the vehicle, establishing a second connection between the vehicle key and the vehicle, wherein a positioning accuracy of the second connection is higher than a positioning accuracy of the first connection; Based on the second connection, the wireless signal sent by the vehicle key is received.

6. The vehicle key positioning method according to any one of claims 1 to 5, characterized in that: The method further comprises: Prompt information is generated according to the target functional area and the target calibration point, and the prompt information is used to prompt the position of the vehicle key in the interior space of the vehicle.

7. The vehicle key positioning method according to claim 6, characterized in that: The prompt information is visual information, and the prompt information is generated according to the target functional area and the target calibration point, including: The target functional area is rendered as a three-dimensional model, and the target calibration points are marked on the three-dimensional model to generate the visualization information.

8. The vehicle key positioning method according to claim 7, characterized in that: Before generating prompt information according to the target functional area and the target calibration point, the method further includes: The plurality of functional areas are mapped into dynamic three-dimensional animations, and the distribution status of each functional area is presented in the form of animation on the display interface of the vehicle-mounted screen.

9. A vehicle key positioning device, characterized in that: include: a division unit, configured to divide the interior space of the vehicle into a plurality of functional areas, each of the functional areas corresponding to at least one calibration point; a first calibration unit, configured to determine a first coordinate of each calibration point according to a preset body coordinate system of the vehicle; a second calibration unit, configured to receive a wireless signal sent by a vehicle key of the vehicle, and determine a second coordinate of the vehicle key according to the wireless signal; A comparing unit is used to compare the second coordinate with a plurality of the first coordinates, and determine a target first coordinate, a target calibration point corresponding to the target first coordinate, and a target functional area corresponding to the target calibration point from the plurality of the first coordinates according to a comparison result.

10. An electronic device comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the vehicle key locating method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, which, when executed on a vehicle, enable the vehicle to execute the vehicle key locating method according to any one of claims 1 to 8 .

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