Vehicle digital key calibration method, calibration device and electronic equipment

Abstract

The embodiment of the invention discloses a vehicle digital key calibration method and device and electronic equipment, and the main technical scheme comprises the steps: obtaining the model information of a target terminal, and selecting a corresponding historical calibration parameter from a historical calibration data set according to the model information; sending the historical calibration parameter to the target vehicle to obtain first position information of a target terminal identified by the target vehicle based on the historical calibration parameter; obtaining distance information between the target vehicle and the target terminal, and determining second position information of the target terminal according to the distance information; according to difference information between the first position information and the second position information, historical calibration parameters in the historical calibration data set are updated. According to the method, the historical calibration parameters can be reused for calibration comparison according to models to update the calibration parameters, so that the calibration time can be shortened, the calibration efficiency can be improved, and the requirement of multi-model rapid iteration can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent vehicles, in particular to a vehicle digital key calibration method, a calibration device and an electronic device. BACKGROUND

[0002] In the current wave of intelligent vehicles, digital keys gradually replace traditional physical keys due to their convenience and become the mainstream vehicle unlocking and starting method. Digital keys mainly rely on BLE (Bluetooth Low Energy), UWB (Ultra-Wideband) and other communication technologies to achieve stable connection and accurate positioning with the vehicle end, providing users with convenient experiences such as keyless entry and starting.

[0003] However, in the current digital key calibration field, due to the large number of mobile phone models on the market, the radio frequency performance of different brands and models of mobile phones varies greatly, and it is difficult to achieve unified and accurate positioning and unlocking functions when communicating with the vehicle end via Bluetooth. Therefore, automobile manufacturers often need to spend a lot of time and manpower to manually calibrate each mobile phone model commonly found on the market, and as new mobile phone models continue to emerge, the efficiency problem of traditional calibration methods relying on full-process manual operation becomes increasingly apparent, making it impossible to adapt to the demand for rapid iteration of multiple models. SUMMARY

[0004] The present application provides a vehicle digital key calibration method, a calibration device and an electronic device to shorten the calibration time and improve the calibration efficiency.

[0005] The present application provides the following solutions:

[0006] According to a first aspect, a vehicle digital key calibration method is provided, applied to a calibration device, the calibration device being in communication connection with a target vehicle, and the target vehicle being in communication connection with a target terminal. The method comprises:

[0007] Obtaining the model information of the target terminal, and selecting corresponding historical calibration parameters from a historical calibration data set according to the model information;

[0008] Sending the historical calibration parameters to the target vehicle to obtain first position information of the target terminal recognized by the target vehicle based on the historical calibration parameters;

[0009] Obtaining distance information between the target vehicle and the target terminal, and determining second position information of the target terminal according to the distance information;

[0010] According to the difference information between the first position information and the second position information, updating the historical calibration parameters in the historical calibration data set.

[0011] As an optional mode, the target vehicle comprises a vehicle end anchor point and a position confirmation anchor point; the sending of the historical calibration parameter to the target vehicle to obtain first position information of the target terminal identified by the target vehicle based on the historical calibration parameter comprises:

[0012] sending the historical calibration parameter to the vehicle end anchor point of the target vehicle, so that the vehicle end anchor point performs position identification communication with the target terminal in a case of being configured as the historical calibration parameter, to obtain first position information of the target terminal relative to the vehicle end anchor point;

[0013] the obtaining of distance information between the target vehicle and the target terminal, and the determination of second position information of the target terminal according to the distance information comprises:

[0014] obtaining distance information between the position confirmation anchor point in the target vehicle and the target terminal, and determining second position information of the target terminal relative to the vehicle end anchor point according to a position relationship between the position confirmation anchor point and the vehicle end anchor point and the distance information.

[0015] As an optional mode, the target vehicle comprises at least two vehicle end anchor points, and the at least two vehicle end anchor points respectively perform position identification communication with the target terminal in a case of being respectively configured as the historical calibration parameter, to obtain direction information and distance information of the target terminal relative to a target vehicle end anchor point as the first position information, the target vehicle end anchor point being one of the at least two vehicle end anchor points.

[0016] As an optional mode, the determination of second position information of the target terminal relative to the vehicle end anchor point according to a position relationship between the position confirmation anchor point and the vehicle end anchor point and the distance information comprises:

[0017] determination of direction and distance of the target terminal relative to the target vehicle end anchor point as the second position information by using a geometric method based on direction information and distance information between the position confirmation anchor point and the target vehicle end anchor point and direction information and distance information between the position confirmation anchor point and the target terminal.

[0018] As an optional mode, the target vehicle comprises at least two position confirmation anchor points, and the at least two position confirmation anchor points are arranged obliquely with reference to a vehicle body symmetry axis on a top view plane, and the at least two position confirmation anchor points respectively perform position identification communication with the target terminal to obtain distance between each of the position confirmation anchor points and the target terminal, and direction information and distance information between any of the position confirmation anchor points and the target terminal are obtained according to the distance between each of the position confirmation anchor points and the target terminal.

[0019] As an optional mode, the selecting the corresponding historical calibration parameter from the preset historical calibration data set according to the model information comprises:

[0020] The preset historical calibration data set is filtered according to the model information;

[0021] In the case that the historical calibration data set exists the relevant model, the calibration parameter corresponding to the relevant model is selected as the historical calibration parameter;

[0022] In the case that the historical calibration data set does not exist the relevant model, the preset parameter is selected as the historical calibration parameter.

[0023] As an optional mode, the updating the historical calibration parameter in the historical calibration data set according to the difference information between the first position information and the second position information comprises:

[0024] In the case that the first position information and the second position information exist the difference information, the historical calibration parameter in the historical calibration data set is iteratively adjusted according to the preset parameter adjustment rule;

[0025] After each adjustment, the first position information of the target terminal recognized by the target vehicle based on the adjusted historical calibration parameter is reacquired based on the adjusted historical calibration parameter, and the second position information of the target terminal is recalculated;

[0026] The steps of the iterative adjustment, the acquisition of the first position information and the calculation of the second position information are repeated until the difference between the first position information and the second position information is less than a preset threshold, the historical calibration parameter after the adjustment at this time is determined as the calibration parameter corresponding to the second position information, and is updated to the historical calibration data set.

[0027] As an optional mode, the updating to the historical calibration data set comprises:

[0028] In the case that the historical calibration data set exists the relevant model, the historical calibration parameter corresponding to the relevant model is updated as the calibration parameter corresponding to the second position information;

[0029] In the case that the historical calibration data set does not exist the relevant model, the relevant model is added in the historical calibration data set, and the historical calibration parameter corresponding to the relevant model is determined as the calibration parameter corresponding to the second position information.

[0030] According to a second aspect, a calibration device is provided, which is in communication connection with a target vehicle, and the target vehicle is in communication connection with a target terminal, and the device comprises:

[0031] The data relay module is configured to acquire model information of the target terminal, and send historical calibration parameters to the target vehicle to acquire first position information of the target terminal identified by the target vehicle based on the historical calibration parameters;

[0032] The data storage module is configured to select corresponding historical calibration parameters from a historical calibration data set according to the model information;

[0033] The position confirmation module is configured to acquire distance information between the target vehicle and the target terminal, and determine second position information of the target terminal according to the distance information;

[0034] The data processing module is configured to update historical calibration parameters in the historical calibration data set according to difference information between the first position information and the second position information.

[0035] According to a third aspect, an electronic device is provided, comprising:

[0036] one or more processors; and

[0037] a memory associated with the one or more processors, the memory for storing program instructions that, when read and executed by the one or more processors, perform the steps of the method of any one of the first aspect.

[0038] According to the embodiments provided in the present application, the following technical effects are disclosed:

[0039] The scheme provided in the embodiments of the present application can perform calibration comparison and update by multiplexing historical calibration parameters according to models when calibrating a vehicle digital key of a target vehicle and a target terminal. The scheme provided in the present application does not need to perform a complete calibration process from zero for each target terminal (such as a new mobile phone model), but directly calls historical calibration parameters corresponding to the model as initial values for calibration comparison, which can reduce the time for repetitive data collection and preliminary parameter setting, thereby improving the single calibration efficiency. Furthermore, multiplexing historical parameters reduces the required on-site operation steps and manual intervention in the calibration process, which can effectively reduce the labor cost. Furthermore, the scheme provided in the present application can automatically update calibration parameters corresponding to the model and store them in a historical calibration data set by comparing the difference between the actual measured position (second position information) and the vehicle identified position (first position information). With the accumulation of the historical calibration data set, the historical calibration data set can provide a reference basis and analysis basis for the calibration of subsequent new models of terminals, so that the calibration work for existing models or similar models of terminals will become more convenient and efficient, which can accelerate the calibration process of new terminals and also help to improve the accuracy of the calibration parameters to meet the needs of rapid iteration of multiple models.

[0040] Of course, implementing any of the products of the present application does not necessarily require that all of the advantages described above be achieved simultaneously. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only represent some of the embodiments of the present application, and other drawings can also be obtained by those of ordinary skill in the art without any creative effort.

[0042] Figure 1 A system architecture diagram applicable to the embodiments of the present application;

[0043] Figure 2 A flowchart of the vehicle digital key calibration method provided by the embodiments of the present application;

[0044] Figure 3 An illustrative diagram of the distance between the position confirmation anchor point confirmation device and the vehicle end anchor point in the vehicle digital key calibration method provided by the embodiments of the present application;

[0045] Figure 4 An illustrative block diagram of the calibration device provided by the embodiments of the present application;

[0046] Figure 5 A specific work flowchart of the vehicle digital key calibration method provided by the embodiments of the present application;

[0047] Figure 6 An illustrative block diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0049] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms “a”, “an” and “the” used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0050] It should be understood that the term "and / or" used herein is merely an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it.

[0051] Depending on the context, the word "if" as used herein can be interpreted as meaning "when" or "while" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined" or "if (a stated condition or event) is detected" can be interpreted as meaning "when it is determined" or "in response to determining" or "when (a stated condition or event) is detected" or "in response to detecting (a stated condition or event)".

[0052] In the prior art, digital key technology relies on Bluetooth communication to realize the interaction between the vehicle and the terminal, but the radio frequency performance of different mobile phone models is significantly different, resulting in the need for manual parameter adjustment for each model in the traditional calibration method. With the accelerated update of mobile terminals, the manual calibration process is inefficient, and it is difficult to meet the rapid adaptation needs of multiple models, especially when dealing with new models, there is a problem of missing calibration parameters, which affects the positioning accuracy of the vehicle to the terminal.

[0053] To solve the above problems, the present application proposes a calibration method based on iterative optimization of historical calibration data, including: obtaining target terminal model information and matching historical calibration parameters; obtaining the first positioning result of the terminal through the vehicle communication module; generating the second positioning result based on the distance information between the vehicle and the terminal; and automatically updating the historical calibration data set by comparing the deviation of the two positioning results.

[0054] The embodiments of the present application will be further described below with reference to the accompanying drawings.

[0055] Figure 1 A system architecture suitable for the embodiments of the present application is shown in FIG. 1, wherein the implementation environment of the embodiments of the present application involves a target vehicle, a target terminal, and a calibration device, which cooperatively constitute a digital key calibration system. Figure 1

[0056] Among them, the target vehicle can be equipped with BLE (Bluetooth Low Energy), UWB (Ultra Wide Band), nearlink (star flash), GNSS (satellite positioning) and other communication modules, and built-in commercial UWB and actual position confirmation anchor points, which can interact with the calibration device through CAN communication to realize digital key signal reception, positioning and vehicle state feedback.

[0057] ​The target terminal can be a mobile device such as a mobile phone, supporting BLE, UWB, nearlink, GNSS communication, serving as a digital key carrier, sending signals to the target vehicle, and cooperating with the calibration device to complete position information collection.

[0058] The calibration device can be composed of a data conversion module, a data processing module, a data storage module, and a position confirmation module, connected to the target vehicle through CAN communication (or wireless / wired transmission), receiving position and signal data of the vehicle and the terminal, calling / storing historical calibration parameters, performing parameter comparison and updating logic.

[0059] It can be understood that the target terminal and the target vehicle transmit digital key signals through wireless technologies such as BLE and UWB; the target vehicle and the calibration device can use CAN communication as the main channel, supplemented by wireless / wired transmission to supplement data; the calibration device can obtain model information from the target terminal, call historical calibration parameters of the data storage module, and send them to the target vehicle through the data conversion module; the target vehicle can identify the first position of the terminal based on the parameters, and synchronously feed back distance / position data to the calibration device; the calibration device calculates the second position through the position confirmation module.

[0060] Figure 2 The flowchart of the vehicle digital key calibration method provided by the embodiments of the present application; as shown in Figure 2 The present application provides a vehicle digital key calibration method, applied to Figure 1 The calibration device is in communication connection with the target vehicle, and the target vehicle is in communication connection with the target terminal, and the method can at least include the following steps:

[0061] Step 201, obtaining the model information of the target terminal, and selecting the corresponding historical calibration parameters from the pre-set historical calibration data set according to the model information;

[0062] Step 202, sending the historical calibration parameters to the target vehicle to obtain the first position information of the target terminal recognized by the target vehicle based on the historical calibration parameters;

[0063] Step 203, obtaining the distance information between the target vehicle and the target terminal, and determining the second position information of the target terminal according to the distance information;

[0064] Step 204, updating the historical calibration parameters in the historical calibration data set according to the difference information between the first position information and the second position information.

[0065] The scheme provided by the embodiment of the application can compare and update the calibration by multiplexing historical calibration parameters by type when the target vehicle and the target terminal need to be calibrated. The scheme does not need to perform a complete calibration process from zero for each target terminal (such as a new mobile phone model), but directly calls the historical calibration parameters corresponding to the type as initial values for calibration comparison, which can reduce the time for repetitive data collection and preliminary parameter setting, thereby improving the single calibration efficiency. The multiplexing of historical parameters reduces the required on-site operation steps and manual intervention in the calibration process, which can effectively reduce the labor cost. Further, the scheme can automatically update the calibration parameters corresponding to the type and store them in the historical calibration dataset by comparing the difference between the actual measurement position (second position information) and the vehicle recognition position (first position information). With the accumulation of the historical calibration dataset, the historical calibration dataset can provide a reference basis and analysis basis for the calibration of subsequent new terminal models, so that the calibration work for existing models or similar models will become more convenient and efficient, which can accelerate the calibration process of new terminals and also help to improve the accuracy of the calibration parameters to meet the needs of rapid iteration of multiple models.

[0066] The type information can be data for uniquely identifying the type of the terminal device, which can be obtained through a Bluetooth broadcast message or a device handshake protocol, and is used to associate the corresponding entry in the historical calibration dataset. The historical calibration dataset can be a database for storing calibration parameters of different models, which can be stored in a key-value pair structure, with the key being a type identifier and the value being parameters such as corresponding antenna gain and signal attenuation compensation value. The first position information can be the position calculation result of the terminal based on the historical parameters on the vehicle side, which can be calculated through the signal strength difference or time of flight difference between the vehicle anchor point and the terminal, and represents the vehicle recognition position. The second position information can be position data generated based on the direct distance measurement between the vehicle and the terminal, which can be implemented through a multi-anchor cooperative positioning algorithm, and represents the actual measurement position of the vehicle. The difference information can be the spatial offset of the two positioning results, which can be quantified by using the Euclidean distance or coordinate difference.

[0067] It can be understood that when the target terminal establishes a communication connection with the vehicle, the calibration device extracts the terminal model and retrieves the historical calibration data set. If there is a matching record, the calibration parameters of the terminal model are called and sent to the vehicle, and the vehicle performs terminal positioning based on the parameters to generate first position coordinates representing the sensing area of the target terminal. It should be noted that the position information involved in the embodiments of the present application can be geographic coordinates or area information. In this example, the first position coordinates are used as the first position information. At the same time, the vehicle obtains the actual distance from the terminal through the built-in ranging module, and calculates the second position coordinates representing the actual area of the target terminal in combination with the body anchor point layout. The calibration device compares the two coordinates, and if the deviation exceeds the preset threshold, the calibration parameters corresponding to the second position are automatically updated to the database to form a parameter optimization closed loop. For new terminal models not recorded, the system initializes default parameters and starts a real-time calibration process, and adds a database entry after completing the first calibration.

[0068] It should be noted that, compared with the existing scheme which relies on manual full-parameter calibration of new models one by one and lacks a historical data reuse mechanism, the present method realizes intelligent matching and incremental updating of existing data by establishing an extensible historical calibration data set, avoids repetitive manual operations, can realize automatic iterative optimization of calibration parameters, and can thus adapt to the fast iteration of the market environment of mobile terminals and improve the compatibility and positioning accuracy of the vehicle digital key system.

[0069] Figure 3 In the vehicle digital key calibration method provided by the embodiments of the present application, a schematic diagram of the distance between the position confirmation anchor point and the vehicle end anchor point is shown in FIG. Figure 3 The target vehicle includes a vehicle end anchor point and a position confirmation anchor point. The historical calibration parameters are sent to the vehicle end anchor point of the target vehicle, so that the vehicle end anchor point communicates with the target terminal for position recognition in a case where it is configured with the historical calibration parameters, and obtains first position information of the target terminal. Distance information between the position confirmation anchor point in the target vehicle and the target terminal is obtained, and second position information of the target terminal is determined according to the distance information, the second position information representing the positional relationship between the target terminal and the vehicle end anchor point.

[0070] The vehicle-end anchor point can be a hardware module deployed on the vehicle for establishing a communication connection with the target terminal, and can be implemented by using a Bluetooth or ultra-wideband communication module. The vehicle-end anchor point is used to quickly obtain preliminary position information of the terminal by using preset calibration parameters. The position confirmation anchor point can be an independent hardware node on the vehicle for assisting positioning, and can be implemented by using a multi-band radio frequency module or an ultrasonic sensor. The position confirmation anchor point is used to generate a positioning reference by measuring a physical distance from the terminal. The process of position identification communication with the target terminal can be understood as an interaction process between the vehicle-end anchor point and the target terminal based on wireless signal strength or time of flight, and can be implemented by using a signal strength indication value or a two-way ranging protocol. The process is used to quickly establish a communication link and estimate an initial position by using preset parameters.

[0071] It should be noted that the vehicle-end anchor point has a faster response speed, and therefore can implement a vehicle digital key remote control function after being configured with calibration parameters. The position confirmation anchor point has higher accuracy, and can be used as a reference of a global coordinate system when the vehicle-end anchor point has parameter drift due to use. Therefore, in the present application, the deviation can be inversely deduced by using coordinate information of the position confirmation anchor point, so as to correct the calibration parameters of the vehicle-end anchor point.

[0072] It can be understood that, after the vehicle-end anchor point receives historical calibration parameters, the communication protocol parameters such as signal transmission power or reception sensitivity threshold are adjusted based on the parameters, and then the vehicle-end anchor point communicates with the target terminal. By analyzing the signal characteristics returned by the target terminal, such as signal attenuation degree or response time, the first position information of the target terminal relative to the vehicle-end anchor point is determined. At the same time, the position confirmation anchor point measures the actual physical distance from the target terminal, for example, by using a multilateration algorithm or a triangulation method, to generate second position information reflecting the spatial relationship between the target terminal and the vehicle-end anchor point. By comparing the two kinds of position information, the accuracy of the historical calibration parameters can be verified and a calibration process can be triggered.

[0073] Through the above technical solutions, the present application implements a dynamic calibration parameter verification mechanism based on a double-anchor point system, which can automatically identify the position error source of the target terminal without human intervention, effectively improves the accuracy and reliability of updating the calibration parameters, and is especially suitable for a positioning deviation correction scene caused by differences in radio frequency characteristics of different models of target terminals.

[0074] The present application further provides that the target vehicle includes at least two vehicle-end anchor points. The at least two vehicle-end anchor points respectively perform position identification communication with the target terminal when being respectively configured with historical calibration parameters, to obtain direction information and distance information of the target terminal relative to the target vehicle-end anchor point as first position information. The target vehicle-end anchor point is one of the at least two vehicle-end anchor points.

[0075] The two vehicle end anchors achieve accurate positioning of the target terminal through cooperative work. Specifically, after each vehicle end anchor loads historical calibration parameters, it independently communicates with the target terminal for position identification. Each anchor measures the straight-line distance from the target terminal and obtains the direction information of the terminal relative to itself through UWB, Bluetooth, or other communication technologies. These distance and direction data constitute the first position information, which provides a preliminary judgment of the terminal position for the vehicle. The target vehicle end anchor refers to a certain anchor among the multiple anchors, which can be the vehicle end anchor closest to the target terminal in position. The data of the target vehicle end anchor can be used as representative position information to obtain the first position information representing the target terminal's perception area.

[0076] It can be understood that when the target terminal enters the vehicle communication range, the vehicle end anchors above the left front wheel and the right rear wheel simultaneously receive the wireless signals transmitted by the target terminal. For example, the left front wheel anchor measures a signal strength of -65 dBm, and the right rear wheel vehicle end anchor measures a signal strength of -70 dBm. Combined with the preset distance data between the vehicle end anchors, it can be inferred that the target terminal is located in the left front area of the vehicle. At this time, the vehicle end anchor above the left front wheel can be selected as the target vehicle end anchor. Further, the actual distance between the target terminal and the target vehicle end anchor can be further determined by comparing the attenuation difference of the signal strengths of the two vehicle end anchors, and the position of the target terminal can be further determined.

[0077] The application further proposes determining the second position information of the target terminal relative to the vehicle end anchor based on the position relationship and distance information between the position confirmation anchor and the vehicle end anchor, including: determining the direction and distance of the target terminal relative to the target vehicle end anchor as the second position information using a geometric method based on the direction information and distance information between the position confirmation anchor and the target vehicle end anchor, and the direction information and distance information between the position confirmation anchor and the target terminal.

[0078] The direction information and distance information between the vehicle end anchor and the position confirmation anchor can be determined according to the body size information of the target vehicle. The body size information can be the vehicle shape structure parameters, which can be obtained through a pre-set database or real-time measurement, and is used to determine the relative position relationship between different anchors. The distance information can be the straight-line distance between the vehicle end anchor and the position confirmation anchor, which can be calculated based on the coordinate data in the body size information and used as a reference parameter for triangular positioning.

[0079] It can be understood that after the position relationship and distance information between the position confirmation anchor and the vehicle end anchor are obtained, and the direction information and distance information between the position confirmation anchor and the target terminal are obtained, a geometric triangular positioning algorithm can be used to establish a spatial coordinate system. The position coordinates of the target terminal relative to the vehicle end anchor can be determined by calculating the included angle and intersection point of the line segment between the position confirmation anchor and the vehicle end anchor and the line segment between the position confirmation anchor and the target terminal.

[0080] It is worth noting that through the above technical solution, this application can automatically adapt to the anchor point layout of different vehicle models, realize accurate positioning calculation without manual measurement of anchor point spacing, significantly improve calibration efficiency and positioning accuracy, and provide a reliable position reference for subsequent parameter updates.

[0081] The present application further proposes that the target vehicle includes at least two position confirmation anchor points, and the at least two position confirmation anchor points are obliquely arranged on the top-down plane with the vehicle body symmetry axis as a reference. The at least two position confirmation anchor points respectively perform position identification communication with the target terminal to obtain the distance between each of them and the target terminal, and obtain the direction information and distance information between any position confirmation anchor point and the target terminal based on the distance between each of them and the target terminal.

[0082] It can be understood that since both the vehicle-end anchor point and the position confirmation anchor point will confirm the angle and distance of the target terminal relative to the vehicle-end anchor point once and then compare them, when confirming the second position information, it is necessary to know the direction information and distance information between the position confirmation anchor point and the target vehicle-end anchor point, as well as the direction information and distance information between the position confirmation anchor point and the target terminal. The former can be known according to the vehicle body setting, and the latter requires two position confirmation anchor points to measure the distance to the target terminal by receiving the signal strength or time transmitted by the target terminal respectively, and then determine the direction information between the position confirmation anchor point and the target terminal according to the above distance by geometric methods, so at least two position confirmation anchor points need to be set.

[0083] Through the above technical solution, the present application can accurately identify the orientation information of the target terminal relative to the vehicle, avoid the positioning ambiguity problem caused by similar signal strength, and provide reliable spatial reference data for subsequent calibration parameter updates.

[0084] like Figure 3 As shown, it is worth noting that when there are at least two position confirmation anchor points, the midpoint of the two position confirmation anchor points can be confirmed as a virtual position confirmation anchor point for participating in the position calibration calculation. The virtual position confirmation anchor point is Figure 3 The intersection of line segment b between the middle position confirmation anchor point and the vehicle end anchor point and line segment a between the position confirmation anchor point and the target terminal. At the same time, based on the above information and the vehicle body size information, the angle information between line segment b and line segment a can also be determined. Then we can use the cosine theorem to confirm that the distance is That is, the second position information c is obtained.

[0085] In addition, it can be understood that, in the case that the vehicle body size information is known, the second position information can also be calculated in the following manner: first, the anchor point distance between the vehicle end anchor point and the position confirmation anchor point can be determined according to the position coordinates of the two, and when the distance information of the target terminal is obtained by the position confirmation anchor point through the communication signal, a triangular positioning model can be constructed in combination with the anchor point distance, and the angle information between the anchor point distance and the distance information can be determined by the inverse trigonometric function; further, the anchor point distance, the distance information and the angle information are substituted into the cosine law formula to calculate the coordinate offset of the target terminal relative to the vehicle end anchor point, and finally the second position information reflecting the actual position relationship of the target terminal is generated.

[0086] It is worth noting that, by introducing angle calculation and using the cosine law to calculate the spatial geometric relationship, the scheme can effectively eliminate the positioning deviation caused by the position offset of the target terminal or signal interference, reduce the calibration error caused by the difference in terminal models or signal fluctuations, thereby reducing the frequency of manual calibration and enhancing the adaptability of the digital key system.

[0087] The application further proposes a vehicle digital key calibration method, which comprises: performing relevant model screening on a preset historical calibration data set according to the model information of the target terminal, selecting the calibration parameter corresponding to the relevant model as the historical calibration parameter in the case that the relevant model exists in the historical calibration data set, and selecting a preset parameter as the historical calibration parameter in the case that the relevant model does not exist in the historical calibration data set.

[0088] The model information can be realized by using the device serial number or the model code provided by the manufacturer, which functions to distinguish the radio frequency characteristic differences of different terminal devices. The historical calibration data set can be realized by using a relational database or a distributed storage system, which functions to quickly retrieve historical calibration records. The relevant model screening can be realized by using string matching or fuzzy query algorithm, which functions to reduce redundant calibration operations. The preset parameter can be a pre-set universal calibration parameter, which can be realized by using empirical value or industry standard parameter, and which functions to cope with new model terminals that are not recorded.

[0089] It can be understood that, when the model information of the target terminal is obtained, the system first performs model matching operation in the historical calibration data set. If there is a record that is completely consistent with the current model or meets the preset similarity, the historical calibration parameter corresponding to the model is directly called as the initial configuration, thereby avoiding repeated calibration process. If no relevant record is retrieved, the pre-set universal calibration parameter is automatically loaded as the basic configuration, ensuring that the new device can complete the preliminary positioning function. This process reduces the frequency of manual intervention while ensuring the calibration accuracy through a dynamic adaptation mechanism, reduces the repetitive workload through historical data reuse, and ensures the initial availability of new devices by using the preset parameter, so that the calibration system can quickly respond to the iterative update of market terminal devices.

[0090] The application further proposes that, in the case that there is difference information between the first position information and the second position information, the historical calibration parameters in the historical calibration data set are iteratively adjusted according to a preset parameter adjustment rule; after each adjustment, the first position information of the target terminal recognized by the target vehicle based on the adjusted historical calibration parameters is reacquired based on the adjusted historical calibration parameters, and the second position information of the target terminal is recalculated; the above steps of iterative adjustment, acquisition of first position information and calculation of second position information are repeated until the difference between the first position information and the second position information is less than a preset threshold, and the historical calibration parameters adjusted at this time are determined as the calibration parameters corresponding to the second position information, and are updated to the historical calibration data set.

[0091] The difference information can be the deviation between the first position information and the second position information, which can be quantified by calculating the coordinate difference or distance difference between the two, for example, using the Euclidean distance formula or the vector angle method to evaluate the difference. The difference information is used to reflect the positioning error of the historical calibration parameters in the current scene, thereby triggering the parameter update mechanism. The calibration parameters can be configuration parameters required for communication positioning between the vehicle-side anchor point and the target terminal, which can specifically include signal strength threshold, time synchronization offset or antenna gain compensation value, etc. These parameters directly affect the position calculation accuracy of the vehicle-side anchor point to the target terminal, and can be dynamically updated to adapt to the radio frequency characteristics of different terminals.

[0092] It can be understood that when the first position information calculated by the vehicle-side anchor point based on the historical calibration parameters deviates from the second position information determined by the position confirmation anchor point through the distance information, the system will automatically identify whether the deviation exceeds a preset threshold. If it exceeds, it is determined that the current historical calibration parameters cannot meet the positioning accuracy requirement, and the calibration parameters corresponding to the second position information are used as the new reference to replace the original parameters in the historical calibration data set. For example, when the difference information represents a distance error in the horizontal direction exceeding 0.5 meters, the system will recalibrate the signal strength threshold to match the actual radio frequency characteristics of the current target terminal.

[0093] The application further proposes that, in the case that there is difference information between the first position information and the second position information, the historical calibration parameters in the historical calibration data set are iteratively adjusted according to a preset parameter adjustment rule; after each adjustment, the first position information of the target terminal recognized by the target vehicle based on the adjusted historical calibration parameters is reacquired based on the adjusted historical calibration parameters, and the second position information of the target terminal is recalculated; the above steps of iterative adjustment, acquisition of first position information and calculation of second position information are repeated until the difference between the first position information and the second position information is less than a preset threshold, and the historical calibration parameters adjusted at this time are determined as the calibration parameters corresponding to the second position information, and are updated to the historical calibration data set.

[0094] The relevant model can be implemented by analyzing the model field in the target terminal identifier or the communication protocol, and used to associate the calibration parameters stored in the historical calibration data set. The calibration parameters can be configuration parameters required for the vehicle-end anchor point to perform position identification communication with the target terminal, such as a signal strength threshold, a communication frequency offset, or a time synchronization error compensation value. After the target terminal and the target vehicle complete the first position calibration, if the calibration parameters corresponding to the terminal model exist in the historical calibration data set, the original parameters are dynamically modified according to the difference information. If the terminal model does not exist in the historical calibration data set, the model is added and the calibration parameters corresponding to the second position information are directly used as initial values, for example, the distance information collected by the position confirmation anchor point is converted into the communication frequency offset of the vehicle-end anchor point, thereby establishing the mapping relationship of the calibration parameters of the new model.

[0095] Through the above technical solutions, the application can autonomously expand the coverage range of the historical calibration data set to solve the problem of low calibration efficiency caused by frequent iteration of mobile phone models, reduce the dependence on manual calibration, and ensure the consistency of positioning accuracy of different models.

[0096] Figure 4 The calibration device provided by the embodiment of the application is shown in the schematic block diagram of the calibration device. As shown in Figure 4 The calibration device 400 is in communication connection with a target vehicle and the target vehicle is in communication connection with a target terminal. The device comprises:

[0097] The data relay module 401 is configured to obtain the model information of the target terminal, and send the historical calibration parameters to the target vehicle to obtain the first position information of the target terminal identified by the target vehicle based on the historical calibration parameters;

[0098] The data storage module 402 is configured to store the historical calibration data set, and select the corresponding historical calibration parameters from the preset historical calibration data set according to the model information;

[0099] The position confirmation module 403 is configured to obtain the distance information between the target vehicle and the target terminal, and determine the second position information of the target terminal according to the distance information;

[0100] The data processing module 404 is configured to update the historical calibration parameters in the historical calibration data set according to the difference information between the first position information and the second position information.

[0101] The data relay module can be a functional unit for realizing data interaction between the calibration device and the target vehicle, and can be implemented by using a Bluetooth communication chip or a UWB transceiver, which functions to establish a data channel with the vehicle and transmit calibration parameters. The data storage module can be a storage unit for storing and managing historical calibration data, and can be implemented by using an embedded database or a non-volatile memory, which functions to quickly match historical calibration parameters according to terminal models. The position confirmation module can be an operation unit for calculating the position relationship of the terminal, and can be implemented by using a triangulation algorithm or a signal strength analysis algorithm, which functions to generate terminal position coordinates through multi-anchor distance information. The data processing module can be a logic control unit for optimizing calibration parameters, and can be implemented by using a difference comparison algorithm or a parameter iterative updating algorithm, which functions to dynamically adjust the historical calibration data set through position differences.

[0102] As an optional mode, the target vehicle includes a vehicle end anchor point and a position confirmation anchor point; the data relay module 401 can also be configured to, when sending the historical calibration parameters to the target vehicle to obtain the first position information of the target terminal recognized by the target vehicle based on the historical calibration parameters, send the historical calibration parameters to the vehicle end anchor point of the target vehicle, so that the vehicle end anchor point performs position recognition communication with the target terminal in a case where the historical calibration parameters are configured, and obtains the first position information of the target terminal relative to the vehicle end anchor point; the position confirmation module 403 can also be configured to, when obtaining the distance information between the target vehicle and the target terminal and determining the second position information of the target terminal according to the distance information, obtain the distance information between the position confirmation anchor point in the target vehicle and the target terminal, and determine the second position information of the target terminal relative to the vehicle end anchor point according to the distance information, the second position information reflecting the position relationship between the target terminal and the vehicle end anchor point.

[0103] As an optional mode, the target vehicle includes at least two vehicle end anchor points, and the at least two vehicle end anchor points perform position recognition communication with the target terminal respectively in a case where the historical calibration parameters are configured respectively, and obtain the direction information and the distance information of the target terminal relative to the target vehicle end anchor point as the first position information, the target vehicle end anchor point being one of the at least two vehicle end anchor points.

[0104] As an optional mode, the position confirmation module 403 can also be configured to: based on the direction information and the distance information between the position confirmation anchor point and the target vehicle end anchor point and the direction information and the distance information between the position confirmation anchor point and the target terminal, determine the direction and the distance of the target terminal relative to the target vehicle end anchor point as the second position information by using a geometric method.

[0105] As an optional mode, the target vehicle comprises at least two position confirmation anchor points, the at least two position confirmation anchor points are arranged obliquely on the top view plane, the at least two position confirmation anchor points are arranged obliquely on the top view plane with reference to the body symmetry axis, the at least two position confirmation anchor points respectively perform position identification communication with the target terminal, obtain the distance between each position confirmation anchor point and the target terminal, and obtain the direction information and distance information between any position confirmation anchor point and the target terminal according to the distance between each position confirmation anchor point and the target terminal.

[0106] As an optional mode, the position confirmation module 403 can also be configured to: determine angle information between the anchor point distance and the distance information according to the body size information, the anchor point distance and the distance information; and perform cosine calculation according to the anchor point distance, the distance information and the angle information to obtain the second position information of the target terminal.

[0107] As an optional mode, the data storage module 402 can also be configured to: perform relevant model screening on the preset historical calibration data set according to the model information; in the case that the relevant model exists in the historical calibration data set, select the calibration parameter corresponding to the relevant model as the historical calibration parameter; and in the case that the relevant model does not exist in the historical calibration data set, select the preset parameter as the historical calibration parameter.

[0108] As an optional mode, the data processing module 404 can also be configured to: in the case that there is difference information between the first position information and the second position information, perform iterative adjustment on the historical calibration parameter in the historical calibration data set according to a preset parameter adjustment rule; after each adjustment, reacquire the first position information of the target terminal recognized by the target vehicle based on the adjusted historical calibration parameter, and recalculate the second position information of the target terminal; repeat the above iterative adjustment, acquisition of the first position information and calculation of the second position information until the difference between the first position information and the second position information is less than a preset threshold, determine the adjusted historical calibration parameter at this time as the calibration parameter corresponding to the second position information, and update to the historical calibration data set.

[0109] As an optional mode, the data processing module 404 can also be configured to: in the case that the relevant model exists in the historical calibration data set, update the historical calibration parameter corresponding to the relevant model to the calibration parameter corresponding to the second position information; and in the case that the relevant model does not exist in the historical calibration data set, increase the relevant model in the historical calibration data set, and determine the historical calibration parameter corresponding to the relevant model as the calibration parameter corresponding to the second position information.

[0110] It can be understood that the calibration device can be configured to implement the vehicle digital key calibration method described in any one of the embodiments and achieve the corresponding technical effects, and therefore will not be described here.

[0111] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, they are described more simply, and the relevant parts can be referred to the part of the method embodiments. The device embodiments described above are only schematic, and the units illustrated as separate components can or can not be physically separate, and the components illustrated as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0112] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0113] Figure 5 A specific workflow diagram of the vehicle digital key calibration method provided by the embodiment of the present application is shown in FIG. 1. Figure 5 As shown in FIG. 1, the overall implementation process of the present application can be understood as starting from the first mobile phone data collection, starting the calibration process, collecting the initial data of the target terminal, and providing a basis for subsequent parameter calibration.

[0114] Further, the calibration data collected by the data transfer module is transmitted to the data processing module to build a data interaction channel, and the position confirmation module is called by the data processing module to identify the target terminal actual area A, which is used to represent the second position information. At the same time, the data transfer module is dispatched to obtain the target terminal sensing area B collected by the vehicle end anchor point, which is used to represent the first position information, and the terminal position sensed by the vehicle side is determined.

[0115] Further, the data processing module compares the errors of areas A and B, adjusts the parameters until they coincide, completes the calibration, and then sends the calibration parameters to the data storage module for saving, and builds a historical calibration data set for subsequent reuse.

[0116] Further, an uncalibrated mobile phone can be selected, and the calibrated parameters are written into the vehicle end anchor point through the data transfer module to verify the parameter effect. If the uncalibrated mobile phone is applicable (i.e., the parameters are reusable), the device information thereof is associated with the calibrated parameters and stored in the data storage module; if not applicable, the process returns to the front end for recalibration.

[0117] Through the above process, the present application can break the independent calibration mode of the model, build a parameter library through the first calibration, and preferentially reuse and verify subsequent models to reduce the repeated calibration workload and shorten the calibration time. By comparing and updating the calibration parameters, the calibration efficiency and adaptability of the digital key are improved, and the problems of high cost and insufficient coverage of traditional manual calibration are solved.

[0118] In addition, the present application embodiment further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the method of any one of the preceding method embodiments.

[0119] and an electronic device comprising:

[0120] one or more processors; and

[0121] a memory associated with the one or more processors, the memory storing program instructions that, when read and executed by the one or more processors, perform the steps of the method of any one of the preceding method embodiments.

[0122] The present application also provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the method of any one of the preceding method embodiments.

[0123] wherein, Figure 6 An exemplary architecture of an electronic device is shown, which can specifically include a processor 610, a video display adapter 611, a disk drive 612, an input / output interface 613, a network interface 614, and a memory 620. The processor 610, the video display adapter 611, the disk drive 612, the input / output interface 613, the network interface 614, and the memory 620 can be communicatively connected through a communication bus 630.

[0124] The processor 610 can be implemented in the form of a general-purpose CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the present application.

[0125] The memory 620 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 620 can store an operating system 621 for controlling the operation of the electronic device 600, a basic input / output system (BIOS) 622 for controlling the low-level operation of the electronic device 600. In addition, a web browser 623, a data storage management system 624, and the calibration device 400, etc. can also be stored. The calibration device 400 described above can be an application program that specifically implements the operations of the above steps in the embodiments of the present application. In summary, when the technical solutions provided in the present application are implemented by software or firmware, the relevant program codes are stored in the memory 620 and executed by the processor 610.

[0126] The input / output interface 613 is configured to connect an input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0127] The network interface 614 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or through wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0128] The bus 630 includes a path for transmitting information between various components (such as the processor 610, the video display adapter 611, the disk drive 612, the input / output interface 613, the network interface 614, and the memory 620) of the device.

[0129] It should be noted that although the above device only shows the processor 610, the video display adapter 611, the disk drive 612, the input / output interface 613, the network interface 614, the memory 620, the bus 630, etc., in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary to implement the solutions of the present application, and does not have to contain all the components shown in the figure.

[0130] Those skilled in the art can clearly understand the application by the description of the above embodiments that the application can be implemented by means of software and necessary universal hardware platforms. Based on such an understanding, the technical solutions of the application can be embodied in the form of a computer program product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and include a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of various embodiments or some parts of the embodiments of the application.

[0131] The technical solutions provided by the application are described in detail above, and the principles and implementation manners of the application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the application and its core idea; meanwhile, for those skilled in the art, the specific implementation manners and application ranges can be changed according to the idea of the application. In conclusion, the content of the specification should not be understood as a limitation of the application.

Claims

1. A vehicle digital key calibration method, characterized in that: Applied to a calibration device, the calibration device is communicatively connected to a target vehicle, and the target vehicle is communicatively connected to a target terminal, the method comprising: Obtaining model information of the target terminal, and selecting corresponding historical calibration parameters from a historical calibration data set according to the model information; Sending the historical calibration parameters to the target vehicle to obtain first position information of the target terminal identified by the target vehicle based on the historical calibration parameters; Acquiring distance information between the target vehicle and the target terminal, and determining second position information of the target terminal based on the distance information; The historical calibration parameters in the historical calibration data set are updated according to the difference information between the first position information and the second position information.

2. The method according to claim 1, characterized in that The target vehicle includes a vehicle-end anchor point and a position confirmation anchor point; and sending the historical calibration parameters to the target vehicle to obtain first position information of the target terminal identified by the target vehicle based on the historical calibration parameters, including: Sending the historical calibration parameters to the vehicle-end anchor point of the target vehicle, so that the vehicle-end anchor point, when configured with the historical calibration parameters, performs position identification communication with the target terminal to obtain first position information of the target terminal relative to the vehicle-end anchor point; The acquiring the distance information between the target vehicle and the target terminal, and determining the second position information of the target terminal according to the distance information, includes: Obtain the distance information between the position confirmation anchor point in the target vehicle and the target terminal, and determine the second position information of the target terminal relative to the vehicle-end anchor point based on the position relationship between the position confirmation anchor point and the vehicle-end anchor point and the distance information.

3. The method according to claim 2, characterized in that The target vehicle includes at least two vehicle-end anchor points. When the at least two vehicle-end anchor points are respectively configured as the historical calibration parameters, they respectively perform position identification communication with the target terminal to obtain direction information and distance information of the target terminal relative to the target vehicle-end anchor point as the first position information. The target vehicle-end anchor point is one of the at least two vehicle-end anchor points.

4. The method according to claim 3, characterized in that The determining, based on the positional relationship between the position confirmation anchor point and the vehicle-end anchor point and the distance information, second position information of the target terminal relative to the vehicle-end anchor point includes: Based on the direction information and distance information between the position confirmation anchor point and the target vehicle-end anchor point, and the direction information and distance information between the position confirmation anchor point and the target terminal, a geometric method is used to determine the direction and distance of the target terminal relative to the target vehicle-end anchor point as the second position information.

5. The method according to claim 3, characterized in that The target vehicle includes at least two position confirmation anchor points, and the at least two position confirmation anchor points are obliquely arranged on a top-down plane with reference to the axis of symmetry of the vehicle body. The at least two position confirmation anchor points respectively perform position identification communication with the target terminal to obtain the distance between each of them and the target terminal, and obtain the direction information and distance information between any of the position confirmation anchor points and the target terminal based on the distance between each of them and the target terminal.

6. The method according to claim 1, characterized in that The selecting corresponding historical calibration parameters from a preset historical calibration data set according to the model information includes: Filtering relevant models from a preset historical calibration data set according to the model information; If there is a relevant model in the historical calibration data set, selecting the calibration parameters corresponding to the relevant model as the historical calibration parameters; When the historical calibration data set does not contain relevant models, the preset parameters are selected as the historical calibration parameters.

7. The method according to any one of claims 1 to 6, characterized in that The updating of the historical calibration parameters in the historical calibration data set according to the difference information between the first position information and the second position information includes: In the case where there is difference information between the first position information and the second position information, iteratively adjusting the historical calibration parameters in the historical calibration data set according to a preset parameter adjustment rule; After each adjustment, based on the adjusted historical calibration parameters, reacquiring the first position information of the target terminal identified by the target vehicle based on the adjusted historical calibration parameters, and recalculating the second position information of the target terminal; Repeat the above steps of iterative adjustment, obtaining the first position information and calculating the second position information until the difference between the first position information and the second position information is less than a preset threshold, determine the historical calibration parameters adjusted at this time as the calibration parameters corresponding to the second position information, and update them to the historical calibration data set.

8. The method according to claim 7, characterized in that The updating to the historical calibration data set includes: If a relevant model exists in the historical calibration data set, updating the historical calibration parameters corresponding to the relevant model to the calibration parameters corresponding to the second position information; In a case where the relevant model does not exist in the historical calibration data set, the relevant model is added to the historical calibration data set, and the historical calibration parameters corresponding to the relevant model are determined as the calibration parameters corresponding to the second position information.

9. A calibration device, characterized in that: The calibration device is in communication with a target vehicle, which is in communication with a target terminal, and the device includes: a data transfer module configured to obtain model information of the target terminal and send historical calibration parameters to the target vehicle to obtain first location information of the target terminal identified by the target vehicle based on the historical calibration parameters; A data storage module is configured to select the corresponding historical calibration parameters from the historical calibration data set according to the model information; a position confirmation module, configured to obtain distance information between the target vehicle and the target terminal, and determine second position information of the target terminal according to the distance information; The data processing module is configured to update the historical calibration parameters in the historical calibration data set according to the difference information between the first position information and the second position information.

10. An electronic device, characterized in that: include: one or more processors; as well as A memory associated with the one or more processors, the memory being used to store program instructions, wherein the program instructions, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 1 to 8.

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