Digital key ranging value filtering method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a kind of digital key ranging value filtering method and device, electronic equipment and storage medium, comprising: real-time acquisition of the ranging information of multiple UWB anchor points;According to the ranging information, the position change trend of digital key is obtained;In the absence of valid ranging value, according to the positioning result corresponding to the time t of the last valid ranging value, the position change trend and the unlocking state of the car end, a preset target position is obtained, the distance relationship between the valid ranging value of time t and the preset target position is obtained to obtain the predicted distance, and the predicted duration T is obtained according to the predicted distance;When no valid ranging value is detected within T, the state step prediction of Kalman filtering algorithm is executed to obtain the filtered ranging value, and when valid ranging value is detected, state step prediction is terminated and the filtering estimation value obtained according to Kalman filtering algorithm is used as the filtered ranging value;According to the filtered ranging value of multiple anchors, the out-of-vehicle area positioning result is obtained.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of UWB digital key, and particularly to a digital key ranging value filtering method and device, electronic equipment and storage medium. BACKGROUND

[0002] In recent years, Ultra Wide Band (UWB) digital key technology has gradually emerged. As an advanced wireless communication technology, UWB can achieve high-precision positioning and data transmission. Compared with traditional Bluetooth Low Energy (BLE) technology, UWB has obvious advantages in signal penetration and anti-interference capability, making it widely used in smart devices such as car keys. UWB digital key not only provides a faster unlocking experience, but also effectively improves security by precise positioning to prevent illegal intrusion, improving user convenience and security.

[0003] However, due to the hardware requirements and complexity of UWB technology, the cost of UWB digital key is much higher than that of BLE digital key. The current mainstream UWB digital key requires deploying 4 to 6 UWB anchors on the vehicle to achieve good user experience, which has high installation cost and is not conducive to the popularization of high-performance digital key. In the case of reducing the number of UWB anchors, it is necessary to ensure the accuracy of the ranging value of the UWB anchor in the NLOS case. Traditional NLOS compensation methods mostly rely on complex calculation models to identify and compensate for NLOS, which has complex algorithm process and large calculation amount, and is not convenient to implement. SUMMARY

[0004] Embodiments of the present application provide a digital key ranging value filtering method and device, electronic equipment and storage medium, which filter the invalid ranging value of the UWB anchor, and ensure the responsiveness of the digital key positioning, the accuracy of the filtered ranging value and the robustness.

[0005] In a first aspect, embodiments of the present application provide a digital key ranging value filtering method, comprising: acquiring positioning information of a plurality of positioning anchors of a digital key deployed on a vehicle terminal in real time, the positioning information comprising ranging information of a plurality of UWB anchors;

[0006] obtaining a position change trend TrendUwb of the digital key according to the ranging information of the plurality of UWB anchors;

[0007] In a case where there is no valid ranging value of the UWB anchor point i currently, a preset target position is obtained according to a vehicle exterior area positioning result corresponding to a time t of a last valid ranging value of the UWB anchor point i, a TrendUwb and a state of unlocking of a vehicle terminal, a predicted distance is obtained according to a distance relationship between a valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, a predicted time length T is obtained according to the predicted distance and a preset moving speed, and i is a number of the UWB anchor point.

[0008] In the predicted time length T, a state step prediction of a Kalman filtering algorithm is performed to obtain a filtered ranging value of the UWB anchor point i when no valid ranging value of the UWB anchor point i is detected, and the state step prediction is terminated and a filtered estimation value of the UWB anchor point i is obtained as the filtered ranging value according to the Kalman filtering algorithm when the valid ranging value of the UWB anchor point i is detected.

[0009] The vehicle exterior area positioning result is obtained according to the filtered ranging values of the plurality of UWB anchor points.

[0010] As an embodiment, the preset target position is obtained according to the vehicle exterior area positioning result corresponding to the time t of the last valid ranging value of the UWB anchor point i, the TrendUwb and the state of unlocking of the vehicle terminal, the predicted distance is obtained according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, and the predicted time length T is obtained according to the predicted distance and the preset moving speed, which includes:

[0011] If the vehicle exterior area positioning result corresponding to the time t is WELCOME and the TrendUwb at the time t or currently is Approach, a difference value between the Dist(i, t) and a corresponding locking distance is calculated, and the predicted time length T is obtained according to the difference value; if the vehicle exterior area positioning result corresponding to the time t is WELCOME and the TrendUwb currently is not Approach, the predicted time length is set as a preset minimum predicted time length TimePredMin; wherein the difference value between the Dist(i, t) and the corresponding locking distance is the predicted distance; and the locking distance is the preset target position.

[0012] As an embodiment, the preset target position is obtained according to the out-of-vehicle area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor point i is located, TrendUwb, and the unlocking state of the vehicle terminal, the predicted distance is obtained according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, the predicted time length T is obtained according to the predicted distance and a preset moving speed, and the method further comprises:

[0013] If the out-of-vehicle area positioning result corresponding to the time t is UNLOCK, the absolute value AbsDiffDist(i) of the difference between Dist(i, t) and the corresponding unlocking distance is calculated, when AbsDiffDist(i) is greater than Dist(i, t), DisMinToCmd = Dist(i, t), when AbsDiffDist(i) is less than or equal to Dist(i, t), DisMinToCmd = AbsDiffDist(i), the predicted time length is obtained according to DisMinToCmd and a preset moving speed; wherein DisMinToCmd is the predicted distance; and the unlocking distance is the preset target position.

[0014] As an embodiment, the preset target position is obtained according to the out-of-vehicle area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor point i is located, TrendUwb, and the unlocking state of the vehicle terminal, the predicted distance is obtained according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, the predicted time length T is obtained according to the predicted distance and a preset moving speed, and the method further comprises:

[0015] If the out-of-vehicle area positioning result corresponding to the time t is LOCK, and the vehicle terminal is currently in a locked state, and the difference between Dist(i, t) and the unlocking distance DistUnlockThrsld is less than a preset value, the predicted time length is a set value;

[0016] If the difference between the Dist(i, t) and the unlock distance DistUnlockThrsld is greater than or equal to a preset value, the absolute values of the distance differences between the Dist(i, t) and the DistUnlockThrsld and the lock distance DistLockThrsld are obtained (A1, A2), and DisMinToCmd is the smaller one of the absolute values (A1, A2). When the DisMinToCmd is less than a difference threshold DiffDistThsld and the current state of the vehicle terminal is unlocked, the prediction time is set to a preset value. When the DisMinToCmd is greater than or equal to DiffDistThsld, the prediction time is obtained according to the DisMinToCmd and a preset moving speed.

[0017] As an embodiment, the preset target position is obtained according to the out-of-vehicle area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor point i is located, the TrendUwb, and the unlocking and locking state of the vehicle terminal. The prediction distance is obtained according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position. The prediction time T is obtained according to the prediction distance and a preset moving speed. The method further comprises:

[0018] If the T is greater than TimePredMax, T = TimePredMax, and TimePredMax is a preset maximum prediction time.

[0019] As an embodiment, the lock distance and the unlock distance are determined according to the orientation of the UWB anchor point i at the time t. The orientation of the digital key relative to the vehicle terminal includes: the front Front, the rear Rear, the left Left, the right Right of the vehicle terminal, and the transition orientation Default between adjacent orientations of the Front, Rear, Left, and Right. The plurality of positioning anchors are UWB / BLE dual-mode three anchors arranged in an isosceles triangle on both sides of the vehicle and at a preset position at the rear of the vehicle. The method further comprises:

[0020] The orientation judgment parameter is obtained according to the positioning information of the dual-mode three anchors. The orientation judgment parameter includes: the number of UWB anchors with valid ranging values ValidDistNum, the valid ranging values, the difference between each two of the plurality of valid ranging values, the minimum ranging value DistMin, the anchor point identification information DistMinId corresponding to the minimum ranging value, the number of BLE anchors with valid RSSI values, the valid RSSI values, the difference between each two of the plurality of valid RSSI values.

[0021] The orientation of the digital key is identified according to a preset judgment condition corresponding to each orientation; each orientation judgment condition includes a plurality of orientation judgment parameters for representing characteristics of the corresponding orientation.

[0022] As an embodiment, the out-of-vehicle area positioning result is obtained according to the filtered ranging values of the plurality of UWB anchor points, including:

[0023] The unlocking distance and the locking distance of each UWB anchor point corresponding to each orientation are obtained according to the orientation information.

[0024] In the case that there is a valid filtered ranging value, the UWB out-of-vehicle positioning result is obtained according to the valid filtered ranging value and the corresponding unlocking distance or locking distance, as the out-of-vehicle area positioning result.

[0025] In a second aspect, an embodiment of the present application provides a digital key ranging value filtering device, including:

[0026] A positioning information acquisition module is configured to acquire, in real time, positioning information of a plurality of positioning anchor points of a digital key deployed at a vehicle terminal, wherein the positioning information includes ranging information of a plurality of UWB anchor points.

[0027] A trend estimation module is configured to obtain a position change trend TrendUwb of the digital key according to the ranging information of the plurality of UWB anchor points.

[0028] A time length estimation module is configured to, in the case that there is no valid ranging value of a UWB anchor point i currently, obtain a preset target position according to an out-of-vehicle area positioning result corresponding to a time t at which a last valid ranging value of the UWB anchor point i is located, the TrendUwb, and an unlocking and locking state of the vehicle terminal, obtain a predicted distance according to a distance relationship between a valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, and obtain a predicted time length T according to the predicted distance and a preset moving speed; i is a number of the UWB anchor point.

[0029] A state one-step prediction module is configured to, in the predicted time length T, perform state one-step prediction of a Kalman filtering algorithm to obtain a filtered ranging value of the UWB anchor point i when no valid ranging value of the UWB anchor point i is detected.

[0030] An estimation module is configured to terminate the state one-step prediction and obtain a filtered estimation value of the UWB anchor point i as a filtered ranging value according to the Kalman filtering algorithm when a valid ranging value of the UWB anchor point i is detected; the out-of-vehicle area positioning result is obtained according to the filtered ranging values of the plurality of UWB anchor points; and

[0031] The UWB positioning module is configured to obtain the out-of-vehicle area positioning result according to the filtered ranging values of the plurality of UWB anchor points.

[0032] In a third aspect, an electronic device is provided, comprising a memory, a processor, and a digital key ranging value filtering method as described above.

[0033] The memory is configured to store a computer program, and the processor is configured to read the computer program in the memory and implement the digital key ranging value filtering method as described above when executing the program.

[0034] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. The program is executed by a processor to implement the digital key ranging value filtering method as described in the first aspect.

[0035] Compared with the prior art, the technical scheme provided by the embodiments of the present application has at least the following positive effects:

[0036] In the embodiments of the present application, the positioning information of a plurality of positioning anchor points of the digital key deployed at the vehicle terminal is obtained in real time, and the positioning information comprises ranging information of the plurality of UWB anchor points. The position change trend TrendUwb of the digital key is obtained according to the ranging information of the plurality of UWB anchor points. In the case where there is no valid ranging value of the UWB anchor point i at present, a preset target position is obtained according to the out-of-vehicle area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor point i is located, the TrendUwb, and the unlocking state of the vehicle terminal. A predicted distance is obtained according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position. A predicted time length T is obtained according to the predicted distance and a preset moving speed. i is the number of the UWB anchor point. Within the predicted time length T, when no valid ranging value of the UWB anchor point i is detected, a state one-step prediction of the Kalman filtering algorithm is performed to obtain the filtered ranging value of the UWB anchor point i. When the valid ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated, and the filtered estimation value of the UWB anchor point i obtained according to the Kalman filtering algorithm is taken as the filtered ranging value. The out-of-vehicle area positioning result is obtained according to the filtered ranging values of the plurality of UWB anchor points. Therefore, since the predicted time length of the state one-step prediction is dynamically adjusted according to the distance relationship between the valid ranging value Dist(i, t) at the time t at which the last valid ranging value is located and the preset target position, the responsiveness of the digital key positioning, the accuracy of the filtered ranging value, and the robustness can be ensured at the same time, so that a high-performance digital key can be realized using fewer UWB anchor points. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to make the technical solutions in the embodiments of the present application clearer, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0038] Figure 1 A layout example diagram of UWB and BLE dual-mode three-anchor points on a vehicle is provided for the embodiments of the present application.

[0039] Figure 2 A flowchart of the digital key ranging value filtering method is provided for the embodiment one of the present application.

[0040] Figure 3 A bearing judgment flowchart is provided for an embodiment of the digital key ranging value filtering method of the present application.

[0041] Figure 4 A structural diagram of the digital key ranging value filtering device is provided for the embodiment two of the present application.

[0042] Figure 5 A structural diagram of the electronic device is provided for the embodiment three of the present application. DETAILED DESCRIPTION

[0043] The present application will be further described below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0044] The digital key ranging value filtering method and device, electronic device and storage medium of the embodiments of the present application will be described below with reference to the drawings.

[0045] The multiple positioning anchor points in the digital key ranging value filtering method of the embodiments of the present application can be UWB / BLE dual-mode three-anchor points. Figure 1 A layout diagram of UWB and BLE dual-mode three-anchor points on a vehicle is provided for the digital key ranging value filtering method. As shown in Figure 1 The dual-mode three-anchor points (0, 1, 2) are respectively installed on the right outside rearview mirror, the left outside rearview mirror and the middle part of the tail of the vehicle, so that the three anchor points are distributed in an isosceles triangle. It can be understood that the number and arrangement of the anchor points are not limited too much in the embodiments of the present application.

[0046] Figure 2A flowchart of a digital key ranging value filtering method provided by an embodiment of the present application is used to filter the ranging values of UWB anchors, so that the ranging values are more accurate, thereby improving the accuracy of the digital key in the out-of-vehicle area positioning. The method can be executed by a digital key ranging value filtering device provided by an embodiment of the present application, which can be implemented in a software and / or hardware manner and configured in a digital key module of the vehicle terminal. As shown in FIG. 10, the digital key ranging value filtering of the present application includes steps 201 to 205: Figure 2

[0047] Step 201, real-time acquisition of positioning information of multiple positioning anchors of the digital key deployed at the vehicle terminal, the positioning information including ranging information of multiple UWB anchors.

[0048] The positioning information of the dual-mode three-anchor points includes ranging information of three UWB anchors and RSSI values of three BLE anchors. The ranging information of the UWB anchors includes ranging values and signal strengths RxPower. The ranging values and signal strengths of the three UWB anchors can be respectively denoted as Dist[3] and RxPower[3], and the RSSI values of the three BLE anchors can be denoted as RSSI[3].

[0049] Step 202, obtaining a position change trend TrendUwb of the digital key according to the ranging information of the multiple UWB anchors. In an embodiment of the present application, the position change trend TrendUwb of the digital key can be obtained according to the ranging information of the three UWB anchors. TrendUwb can include Approach, Leave, Around, and Unknown. Approach, Leave, Around, and Unknown respectively represent that the digital key is getting closer and closer to the vehicle terminal, getting farther and farther away from the vehicle terminal, having no obvious change in distance, or being unknown. TrendUwb can assist in filtering the ranging values to improve the accuracy of the filtering. TrendUwb can be obtained according to the change trend of the minimum ranging value in each round of ranging values, for example. When the minimum ranging value continuously decreases, increases, has no obvious change, or is unknown, it can be considered as the Approach, Leave, Around, and Unknown trends, respectively.

[0050] Step 203, in the case that there is no valid ranging value of the UWB anchor i at present, obtaining a preset target position according to the out-of-vehicle area positioning result corresponding to the time t when the last valid ranging value of the UWB anchor i is located, TrendUwb, and the unlocking state of the vehicle terminal, obtaining a predicted distance according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor i at time t and the preset target position, and obtaining a predicted time length T according to the predicted distance and a preset moving speed.

[0051] ​i is the number of the UWB anchor point. The validity of the ranging value of each anchor point can be determined according to the ranging values Dist[3] and the signal strengths RxPower[3] of the three UWB anchor points obtained in real time, which will not be described herein.

[0052] In step 204, when no valid ranging value of the UWB anchor point i is detected within the prediction time T, a state one-step prediction of the Kalman filtering algorithm is performed to obtain the filtered ranging value of the UWB anchor point i, and when a valid ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated and the filtered estimation value of the UWB anchor point i obtained according to the Kalman filtering algorithm is taken as the filtered ranging value.

[0053] In the embodiment of the present application, the out-of-vehicle area positioning result can be obtained according to the filtered ranging values of the plurality of UWB anchor points, which will be described below.

[0054] In the embodiment of the present application, in order to improve the accuracy of the UWB ranging value and the usability of the UWB ranging value in the NLOS (Non Line of Sight) condition, the Kalman filtering algorithm is used to filter the ranging value of the UWB anchor point i obtained in real time to obtain the filtered ranging value DistFilter[i].

[0055] The state one-step prediction of the Kalman filtering is a predicted value of the current state based on the last valid ranging value and the motion model when no valid ranging value at the current time is available. When the ranging value of the anchor point i is invalid, the state one-step prediction is performed using the Kalman filtering, and within the prediction time T, the filtered ranging value DistFilter[i] of the anchor point i is obtained. When a valid ranging value of the anchor point i is detected in real time, the state one-step prediction is stopped, the optimal estimation of the Kalman filtering is switched back, and the current filtered ranging value DistFilter[i] of the anchor point i is obtained.

[0056] In the embodiment of the present application, the out-of-vehicle area set according to the digital key function can include the PE, LOCK, WELCOME and CONNECT areas. The unlocking distance is the boundary value between the PE and LOCK areas, and the locking distance is the boundary value between the LOCK and WELCOME areas. In the embodiment of the present application, the out-of-vehicle area positioning result corresponding to the positioning information of the double-mode three-anchor points obtained in real time can be obtained. The out-of-vehicle area positioning result can be one of the PE, LOCK, WELCOME and CONNECT areas.

[0057] In the embodiment of the present application, step 203 can include sub-step 2031 to sub-step 2034.

[0058] Sub-step 2031, if the vehicle exterior area positioning result corresponding to time t is WELCOME, and time t or the current TrendUwb is Approach, calculate the difference between Dist(i, t) and the corresponding locking distance, and obtain the predicted duration T according to the difference; if the vehicle exterior area positioning result corresponding to time t is WELCOME, and the current TrendUwb is not Approach, set the predicted duration as the preset minimum predicted duration TimePredMin; wherein the difference between Dist(i, t) and the corresponding locking distance is the predicted distance. TimePredMin can be set according to the positioning scene requirement, and is not specifically limited here.

[0059] Since the vehicle exterior area positioning result corresponding to time t is WELCOME, and the TrendUwb is Approach, it is predicted that the user moves to the LOCK area, so the preset target position is the position corresponding to the locking distance (i.e. the dividing line between LOCK and WELCOME). In the embodiment of the application, the predicted duration can be calculated according to the predicted distance and the user's regular walking speed, therefore, in sub-step 2031, the predicted duration T is the estimated time for the user to walk from time t to the LOCK area. In this embodiment, during the process of the digital key approaching the LOCK from the WELCOME, T is estimated according to the difference between Dist(i, t) and the locking distance and the user's regular walking speed, which can ensure the responsiveness, accuracy and stability of the system.

[0060] Sub-step 2032, if the vehicle exterior area positioning result corresponding to time t is UNLOCK (i.e. PE), calculate the absolute value AbsDiffDist(i) of the difference between Dist(i, t) and the corresponding unlocking distance, when AbsDiffDist(i) is greater than Dist(i, t), let DisMinToCmd = Dist(i, t), when AbsDiffDist(i) is less than or equal to Dist(i, t), let DisMinToCmd = AbsDiffDist(i), obtain the predicted duration according to DisMinToCmd and the preset moving rate; wherein DisMinToCmd is the predicted distance. In this embodiment, when the digital key is in the PE area, T is dynamically estimated according to Dist(i, t) and AbsDiffDist(i), the predicted duration T increases with the increase of the distance between the digital key and the vehicle terminal or the unlocking distance, which can ensure the responsiveness and stability of the distance measurement value prediction in the PE area.

[0061] Sub-step 2033, if the vehicle exterior area positioning result corresponding to time t is LOCK, and the vehicle terminal is currently in the locked state, and the difference between Dist(i, t) and the unlocking distance DistUnlockThrsld is less than a preset value, then the predicted time length is a set value. The set value can be 0, at this time, no one-step state prediction is performed.

[0062] If the difference between Dist(i, t) and DistUnlockThrsld is greater than or equal to the preset value, then the absolute values (A1, A2) of the distance differences of Dist(i, t) and DistUnlockThrsld and DistLockThrsld are obtained respectively, DisMinToCmd is the smaller one of the absolute values (A1, A2), when DisMinToCmd is less than a preset difference threshold DiffDistThsld, DiffDistThsld is for example 50 cm, and the vehicle terminal is currently in the unlocked state, T is a set value, for example 0, otherwise, when DisMinToCmd is greater than or equal to DiffDistThsld, a preset time length T is obtained according to DisMinToCmd, T is for example the ratio of DisMinToCmd to the user's regular walking speed.

[0063] Sub-step 2034, if T is greater than TimePredMax, then T = TimePredMax, TimePredMax is a preset maximum prediction time length, so as to avoid that the prediction time length is too long and the ranging value error is large.

[0064] In step 204, the three ranging values Dist[3] of the current time are input as observations into the Kalman filter, the observation noise matrix R and the system noise matrix Q are set according to the actual situation and signal characteristics, and the state quantity X of the current time is solved. X is the filtered ranging value of the current time. When the ranging value of the anchor point i at the current time is invalid, one-step state prediction is performed for the anchor point i within the prediction time length T, and when the anchor point i has valid ranging values within the prediction time length, the optimal estimation value is obtained through Kalman filtering as the filtered ranging value. The Kalman filter filters based on the state equation and the observation equation of Kalman filtering.

[0065] The state equation of Kalman filtering is: ;

[0066] Wherein, for each , is the number of the UWB anchor point.

[0067] The observation equation is: ;

[0068] Wherein, for each = 1. The application mode of the state equation and the observation equation of the Kalman filter is well known to those skilled in the art, and will not be described here. The state step prediction in step 204 according to the validity of the ranging value and the prediction length T ensures the responsiveness, accuracy and robustness of the system.

[0069] It should be noted that the locking distance and the unlocking distance can be determined according to the position of the UWB anchor point i at time t and the anchor point position (see the unlocking distance and locking distance of each anchor point at different positions set according to the total unlocking distance and locking distance below). The position of the digital key relative to the car machine end includes: the front of the car machine end Front, the rear Rear, the left Left, the right Right, and the transition between adjacent positions of Front, Rear, Left and Right Default. The division of the foregoing positions is mainly used to set the unlocking and locking distances corresponding to different positions, as long as the unlocking and locking accuracy requirements are met. The number and range of the positions are not limited in the embodiment. It can be understood that the unlocking distance and the locking distance can also be determined according to the distance between the digital key and the vehicle body, which is not limited here.

[0070] The filtering method of the embodiment of the application can further include: obtaining a position judgment parameter according to the positioning information of the dual-mode three-anchor point; the position judgment parameter includes: the number of UWB anchor points with valid ranging values ValidDistNum, the valid ranging value, the difference between each two of the plurality of valid ranging values, the minimum ranging value DistMin, the anchor point identification information corresponding to the minimum ranging value DistMin, the number of BLE anchor points with valid RSSI values, the valid RSSI value, the difference between each two of the plurality of valid RSSI values. The difference between the ranging values between UWB anchor point (1, 0), UWB anchor point (1, 2), and UWB anchor point (0, 2) is respectively recorded as DiffDist[0]~ DiffDist[2], and the difference between the RSSI values between BLE anchor point (1, 0), UWB anchor point (1, 2), and UWB anchor point (0, 2) is respectively recorded as DiffRssi[0]~ DiffDist[2]. It should be noted that the valid ranging value can be a filtered valid ranging value.

[0071] According to the preset judgment condition corresponding to each position, the position of the digital key is identified; wherein each position judgment condition includes a plurality of position judgment parameters for characterizing the characteristics of the corresponding position.

[0072] The preset judgment conditions corresponding to Front, Rear, Right and Left respectively include UWB group judgment conditions and BLE group judgment conditions. As shown in Figure 3 The position judgment of the embodiment of the application includes steps S301~S317:

[0073] S301, when ValidRssiNum < 2 or ValidDistNum = 0 (Condition 1 in the figure) Figure 3 DirToVeh = Default, Return. DirToVeh is the orientation of the digital key, and DirToVeh = Default means that the current orientation is identified as Default, and then the subsequent program is returned.

[0074] S302, when ValidDistNum = 1 and valid anchor point id = 2, and (DistFilter[2] > DistThrsld_1 (600cm) or (DistFilter[2] or equal to DistThrsld_1 (600cm) and RSSI[2] is invalid) (Condition 2 in the figure) Figure 3 S303 is entered if Condition 2 is not met, and S304 is entered if Condition 2 is met.

[0075] S303, when RSSI[1] and RSSI[0] are both valid and both < RssiThrsld (-80dbm) (Condition 3 in the figure) Figure 3 DirToVeh = Rear, and then the current orientation is determined and returned. When Condition 2 is met and Condition 3 is not met, DirToVeh = Default, Return.

[0076] S304, when DistMinId = 0 or 1, and ValidDistNum = 2, and abs(DiffDist[0]) < DiffDistThrsld_1 (0.8m), and anchor point 2 has no valid ranging value or DistFilter[2] > DistThrsld_1 (600cm) (i.e. Figure 3 Condition 4 in the figure), DirToVeh = Front, Return.

[0077] S305, when DistMinId = 0 and ((ValidDistNum = 1 and DistFilter[0] < DistThrsld_2) (100cm) or (anchor point 1 ranging value is valid and Dist[1] > DistThrsld_3 (245cm) and DistFilter[0] > DistThrsld_4 (140cm) and anchor point 2 ranging value is invalid) (i.e.

[0078] S306, when DistMinId = 1 and ((ValidDistNum = 1 and DistFilter[1] < DistThrsld_2) or (anchor 0 ranging value is valid and DistFilter[0] > DistThrsld_3 (245cm) and DistFilter[1] > DistThrsld_4 (140cm) and anchor 2 ranging value is invalid)) (i.e. condition 6 in the figure), then DirToVeh = Left, Return; when condition 6 is not met, go to S307.

[0079] S307, when abs(DiffRssi[1]) and abs(DiffRssi[2]) are both < RssiDiffThrsld_1 (3dbm) (i.e. condition 7 in the figure), then DirToVeh = Default, return; if condition 7 is not met, go to S308. Figure 3

[0080] S308, when RSSI[0] and RSSI[1] are both valid and both > RSSI[2] (i.e. condition 8 in the figure), go to S309, when condition 8 is not met, go to S312. Figure 3

[0081] S309, when abs(DiffRssi[0]) <= RssiDiffThrsld_2 (6dbm) (i.e. condition 9 in the figure is met), go to S310, when condition 9 is not met, go to S311. Figure 3

[0082] S310, when (abs(DiffRssi[1]) > RssiDiffThrsld_3 (10dbm) and abs(DiffRssi[2]) > RssiDiffThrsld_3 (10dbm)) (i.e. condition 10 in the figure is met), DirToVeh = Front, return; or, when the ranging value of anchor 2 is invalid, and anchor 0 or 1 has one or more valid ranging values, and all the valid ranging values are > DistThrsld_3 (245cm) (i.e. condition 11 in the figure is met), then DirToVeh = Front, return. When condition 10 or condition 11 is not met, DirToVeh = Default, return. Figure 3 Figure 3

[0083] S311, when anchor 0 and 1 both have valid ranging values, and abs(DiffDist[0]) < DiffDistThrsld_2 (60cm) (i.e. condition 12 in the figure is met), go to S312, when condition 12 is not met, go to S313. Figure 3 ​​​​​If Condition 12 is met, then DirToVeh = Default, return.

[0084] S312, when RSSI[0] is valid and is the RSSI maximum, i.e. Condition 13 is met, go to S313, otherwise go to S314. Figure 3

[0085] S313, when any of the following sub-conditions of Condition 14 is met, then DirToVeh = Default, otherwise, DirToVeh = Right.

[0086] The sub-conditions of Condition 14 include:

[0087] Sub-condition 1: (Anchor 0 has valid ranging value, DistFilter[0] > DistThrsld_l (600cm)) and (abs(DiffRssi[0]) < RssiDiffThrsld_2 (6dbm) or abs(DiffRssi[l]) < RssiDiffThrsld_2 (6dbm));

[0088] Sub-condition 2: Anchor 0 has no valid ranging value, and Anchor 1 or 2 has valid ranging;

[0089] Sub-condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10dbm).

[0090] S314, when RSSI[l] is valid and is the RSSI maximum, i.e. Condition 15 is met, go to S315, otherwise go to S316.

[0091] S315, when any of the following sub-conditions of Condition 16 is met, then DirToVeh = Default, when none of the following sub-conditions of Condition 16 is met, then DirToVeh = Left.

[0092] Condition 16 includes:

[0093] Sub-condition 1: (Anchor 1 has valid ranging value, DistFilter[l] > DistThrsld_l (600cm)) and (abs(DiffRssi[0]) < RssiDiffThrsld_2 (6dbm) or abs(DiffRssi[l]) < RssiDiffThrsld_2 (6dbm));

[0094] Sub-condition 2: Anchor 1 has no valid ranging value, and Anchor 0 or 2 has valid ranging value; ​

[0095] Sub-condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10dbm).

[0096] S316, when RSSI[2] is valid and is the maximum RSSI value, and anchor point 2 has a valid ranging value (condition 17 in the figure), go to S317, otherwise DirToVeh = Default.

[0097] S317, when DistFilter[2] > DistThrsld_1 (600cm), and anchor point 0 or 1 has a valid RSSI value, and (abs(DiffRssi[1]) < RssiDiffThrsld_2 (6dbm) and abs(DiffRssi[2]) < RssiDiffThrsld_2) (condition 18 in the figure), DirToVeh = Default; or, when anchor point 2 does not have a valid ranging value, and anchor point 0 or 1 has a valid ranging value (condition 19 in the figure), DirToVeh = Default; when conditions 18 or 19 are not met, DirToVeh = Rear.

[0098] Step 205, obtaining the out-of-vehicle area positioning result according to the filtered ranging values of the plurality of UWB anchor points. In the embodiment of the present application, step 205 can include: obtaining the unlocking distance and the locking distance corresponding to each direction of each UWB anchor point according to the direction information, and obtaining the UWB out-of-vehicle positioning result according to the valid filtered ranging value and the corresponding unlocking distance or locking distance in the case of having a valid filtered ranging value, as the out-of-vehicle area positioning result.

[0099] Specifically, the process of obtaining the unlocking distance and the locking distance corresponding to each direction of each UWB anchor point according to the direction information is described as follows:

[0100] First, according to the application scenario or user demand, set the total unlocking distance DistUnlockThrsld and the locking distance DistLockThrsld, the digital key function has different functional areas around the vehicle body, and the unlocking distance and the locking distance are the distances corresponding to the boundaries of PE and LOCK and the boundaries of LOCK and WELCOME area, for example, the unlocking distance is 2m, and the locking distance is 5m.

[0101] According to the total unlocking distance and the locking distance, combined with the specific orientation of the three anchor points outside the vehicle, the unlocking distance and the locking distance corresponding to each anchor point are set. In this embodiment, since anchor point 1 and anchor point 0 are symmetrically arranged relative to the whole vehicle among the three UWB anchor points, the unlocking and locking distances can be shared, so only two sets of unlocking distances and two sets of locking distances need to be set. The specific settings are as follows:

[0102] 1) The unlocking distance of the left and right rearview mirror anchor points (i.e. anchor points 1 and 0): DistUnlockThrsld_1[3] = [DistUnlockThrsld_11, DistUnlockThrsld_12, DistUnlockThrsld_13]. Among them, DistUnlockThrsld_11 is the unlocking distance corresponding to self direction, and self direction is the orientation of the left rearview mirror anchor point as Left and the orientation of the right rearview mirror anchor point as Right; DistUnlockThrsld_12 is the unlocking distance corresponding to Front and Rear orientations, and DistUnlockThrsld_13 is the unlocking distance corresponding to Default orientation and opposite direction, and opposite direction is the orientation of the left rearview mirror as Right and the orientation of the right rearview mirror as Left.

[0103] 2) The locking distance of the left and right rearview mirror anchor points: DistLockThrsld_1[3] = [DistLockThrsld_11, DistLockThrsld_12, DistLockThrsld_13]. The correspondence between each locking distance and the orientation is the same as the correspondence between the unlocking distance and the orientation described above, so it will not be described again.

[0104] 3) The unlocking distance of the rear anchor point: DistUnlockThrsld_2[3] = [DistUnlockThrsld_21, DistUnlockThrsld_22, DistUnlockThrsld_23]. Among them, DistUnlockThrsld_21 is the unlocking distance corresponding to Rear; DistUnlockThrsld_22 is the unlocking distance corresponding to Left and Right, and DistUnlockThrsld_23 is the unlocking distance corresponding to Default orientation and Front.

[0105] 4) The lock distance of the rear anchor point: DistLockThrsld_2 = [DistLockThrsld_21, DistLockThrsld_22, DistLockThrsld_23]. The correspondence between each lock distance and the azimuth is the same as the correspondence between the unlock distance and the azimuth described above, and thus will not be described again. According to the total unlock and lock distance, the shape and size of the vehicle body, and the installation position of the three UWB anchor points, the unlock and lock distance of each UWB anchor point at different azimuths can be calculated.

[0106] In the embodiment of the application, in the case where there is an effective filtered ranging value, the UWB off-vehicle positioning result obtained according to the effective filtered ranging value and the corresponding unlock distance or lock distance can include: obtaining the judgment result corresponding to each effective filtered ranging value respectively, and taking the judgment result closest to the vehicle as the UWB off-vehicle positioning result.

[0107] N filtered effective ranging values are obtained through step 204, and the UWB off-vehicle positioning result AreaUwb is obtained according to the unlock and lock distance of the UWB anchor point i, and the specific steps are as follows:

[0108] (1) If DistFilter[i] < DistUnlockThrsld(i), AreaUwbTemp[i] is the PE area;

[0109] (2) If not PE and DistFilter[i] < DistLockThrsld(i), AreaUwbTemp[i] is the LOCK area;

[0110] (3) If not PE and LOCK, AreaUwbTemp[i] is the WELCOME area;

[0111] (4) Similarly, N filtered effective ranging values are obtained, and the corresponding AreaUwb is recorded in AreaUwbTemp[N].

[0112] (5) The area closest to the vehicle in AreaUwbTemp is compared, and it is assumed to be the jth area, then AreaUwb = AreaUwbTemp[j], and AreaUwb can include the PE area, the LOCK area or the WELCOME area.

[0113] (6) Specifically, if N = 0, AreaUwb = CONNECT area.

[0114] Compared with the prior art, the digital key ranging value filtering method of the embodiment of the application obtains a position change trend TrendUwb of the digital key according to ranging information of multiple UWB anchor points, obtains a preset target position according to a vehicle exterior area positioning result corresponding to a time t at which a last valid ranging value of the UWB anchor point i is located, the TrendUwb, and a vehicle terminal unlocking state in a case where there is no valid ranging value of the UWB anchor point i at present, obtains a predicted distance according to a distance relationship between a valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, and obtains a predicted time length T according to the predicted distance and a preset moving speed; i is the number of the UWB anchor point; in the predicted time length T, when no valid ranging value of the UWB anchor point i is detected, a state one-step prediction of a Kalman filtering algorithm is performed to obtain a filtered ranging value of the UWB anchor point i, and when the valid ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated and a filtered estimation value of the UWB anchor point i is obtained according to the Kalman filtering algorithm as the filtered ranging value; and a vehicle exterior area positioning result is obtained according to filtered ranging values of multiple UWB anchor points. Therefore, since the predicted time length of the state one-step prediction is dynamically adjusted according to a distance relationship between the valid ranging value Dist(i, t) at the time t at which the last valid ranging value is located and the preset target position, the responsiveness of the digital key positioning, the accuracy of the filtered ranging value, and the robustness can be ensured at the same time, so that a high-performance digital key can be realized by using fewer UWB anchor points.

[0115] The second embodiment of the application provides a digital key ranging value filtering device, which can be configured in a digital key system of a vehicle terminal. The vehicle terminal can deploy a UWB / BLE dual-mode three-anchor point. As shown in the figure, Figure 4 The filtering device 400 includes a positioning information acquisition module 402, a trend estimation module 404, a time length estimation module 406, a state one-step prediction module 408, an estimation module 410, and a UWB positioning module 412.

[0116] The positioning information acquisition module 402 is configured to acquire positioning information of multiple positioning anchor points of the digital key deployed in the vehicle terminal in real time, and the positioning information includes ranging information of multiple UWB anchor points.

[0117] The trend estimation module 404 is configured to obtain a position change trend TrendUwb of the digital key according to the ranging information of the multiple UWB anchor points.

[0118] The time length estimation module 406 is configured to, in a case where there is no valid ranging value of the UWB anchor point i currently, obtain a preset target position according to a vehicle exterior area positioning result corresponding to a time t at which a last valid ranging value of the UWB anchor point i is located, a TrendUwb, and a vehicle terminal unlocking state, obtain a predicted distance according to a distance relationship between a valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, and obtain a predicted time length T according to the predicted distance and a preset moving speed; i is the number of the UWB anchor point.

[0119] The state one-step prediction module 408 is configured to, in the predicted time length T, perform state one-step prediction of a Kalman filtering algorithm when no valid ranging value of the UWB anchor point i is detected, to obtain a filtered ranging value of the UWB anchor point i.

[0120] The estimation module 410 is configured to, when a valid ranging value of the UWB anchor point i is detected, terminate the state one-step prediction and obtain a filtered estimation value of the UWB anchor point i according to the Kalman filtering algorithm as the filtered ranging value.

[0121] The UWB positioning module 412 is configured to obtain a vehicle exterior area positioning result according to the filtered ranging values of the plurality of UWB anchor points.

[0122] Optionally, the time length estimation module 406 can include:

[0123] The first sub-module is configured to, if the vehicle exterior area positioning result corresponding to the time t is WELCOME and the TrendUwb at the time t or currently is Approach, calculate a difference value between Dist(i, t) and a corresponding locking distance, and obtain the predicted time length T according to the difference value; if the vehicle exterior area positioning result corresponding to the time t is WELCOME and the TrendUwb currently is not Approach, set the predicted time length as a preset minimum predicted time length TimePredMin; wherein the difference value between Dist(i, t) and the corresponding locking distance is the predicted distance; and the locking distance is the preset target position.

[0124] the second sub-module is configured to calculate an absolute value AbsDiffDist(i) of a difference between Dist(i, t) and a corresponding unlocking distance, when AbsDiffDist(i) is greater than Dist(i, t), set DisMinToCmd = Dist(i, t), when AbsDiffDist(i) is less than or equal to Dist(i, t), set DisMinToCmd = AbsDiffDist(i), and obtain the predicted time length according to DisMinToCmd and a preset moving speed, wherein DisMinToCmd is a predicted distance, and the unlocking distance is the preset target position.

[0125] the third sub-module is configured to, when the vehicle-outside area positioning result corresponding to time t is LOCK, the head unit is currently in a locked state, and a difference between Dist(i, t) and an unlocking distance DistUnlockThrsld is less than a preset value, set the predicted time length as a set value.

[0126] when the difference between Dist(i, t) and DistUnlockThrsld is greater than or equal to the preset value, obtain absolute values (A1, A2) of distance differences between Dist(i, t) and DistUnlockThrsld and a locked distance DistLockThrsld respectively, and set DisMinToCmd as a smaller one of the absolute values (A1, A2), when DisMinToCmd is less than a difference value threshold DiffDistThsld and the head unit is currently in an unlocked state, set the predicted time length as a set value, and when DisMinToCmd is greater than or equal to DiffDistThsld, obtain the predicted time length according to DisMinToCmd and a preset moving speed.

[0127] the fourth sub-module is configured to, when T is greater than TimePredMax, set T = TimePredMax, and TimePredMax is a preset maximum predicted time length.

[0128] Optionally, the locked distance and the unlocking distance are determined according to a position of the UWB anchor point i at time t, the position of the digital key relative to the head unit includes a front direction Front, a rear direction Rear, a left direction Left, a right direction Right, and a transition direction Default between adjacent directions among Front, Rear, Left and Right, the plurality of positioning anchor points are UWB / BLE dual-mode three-anchor points and are deployed in an isosceles triangle shape on both sides of the vehicle and a preset position at the rear of the vehicle.

[0129] Correspondingly, the filtering device 400 can further include:

[0130] an orientation recognition module, configured to obtain an orientation judgment parameter according to the positioning information of the dual-mode three-anchor points; the orientation judgment parameter includes: a number of UWB anchor points with valid ranging values ValidDistNum, valid ranging values, differences between each two of the valid ranging values, a minimum ranging value DistMin, anchor point identification information corresponding to the minimum ranging value DistMinId, a number of BLE anchor points with valid RSSI values, valid RSSI values, and differences between each two of the valid RSSI values; and

[0131] a condition judgment module, configured to identify the orientation of the digital key according to a preset judgment condition corresponding to each orientation; each orientation judgment condition includes a plurality of orientation judgment parameters for representing features of the corresponding orientation.

[0132] Optionally, the UWB positioning module 412 can include:

[0133] a threshold calculation sub-module, configured to obtain, according to the orientation information, an unlocking distance and a locking distance corresponding to each UWB anchor point for each orientation;

[0134] a region judgment sub-module, configured to, in a case where there is a valid filtered ranging value, obtain a UWB off-vehicle positioning result according to the valid filtered ranging value and the corresponding unlocking distance or locking distance, so as to serve as an off-vehicle region positioning result.

[0135] Compared with the prior art, the digital key ranging value filtering device of the embodiment of the application obtains a position change trend TrendUwb of the digital key according to ranging information of a plurality of UWB anchor points, in a case where there is no valid ranging value of the UWB anchor point i at present, obtains a preset target position according to a vehicle exterior area positioning result corresponding to a time t at which a last valid ranging value of the UWB anchor point i is located, the TrendUwb and a vehicle terminal unlocking state, obtains a predicted distance according to a distance relationship between a valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, and obtains a predicted time length T according to the predicted distance and a preset moving speed; i is the number of the UWB anchor point; in the predicted time length T, when no valid ranging value of the UWB anchor point i is detected, a state one-step prediction of a Kalman filtering algorithm is performed to obtain a filtered ranging value of the UWB anchor point i, and when the valid ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated and a filtered estimation value of the UWB anchor point i is obtained according to the Kalman filtering algorithm as the filtered ranging value; and a vehicle exterior area positioning result is obtained according to the filtered ranging values of the plurality of UWB anchor points. Therefore, since the predicted time length of the state one-step prediction is dynamically adjusted according to the distance relationship between the valid ranging value Dist(i, t) at the time t at which the last valid ranging value is located and the preset target position, the responsiveness of the digital key positioning, the accuracy of the filtered ranging value and the robustness can be ensured at the same time, so that a high-performance digital key can be realized by using fewer UWB anchor points.

[0136] Figure 5 The electronic device 50 includes a memory 51, a processor 52, and a communication interface 53.

[0137] The memory 51 is configured to store a computer program, and the processor 52 is configured to read the computer program in the memory 51 and implement the digital key ranging value filtering method as described in the foregoing embodiments when the program is executed.

[0138] The electronic device 50 includes a memory 51, a processor 52, and a communication interface 53.

[0139] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the form of a part of the prior art that makes a contribution. The computer software product can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH memory, a hard disk, or an optical disk, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the methods described in various embodiments of the present application.

[0140] It is worth noting that in the embodiments of the above device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy mutual distinction, and do not limit the protection scope of the present application.

[0141] Note that the above are only preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A digital key range value filtering method, characterized by, The method comprises the following steps: obtaining positioning information of a plurality of positioning anchors of a digital key deployed on a vehicle terminal in real time, wherein the positioning information comprises ranging information of a plurality of UWB anchors; obtaining a position change trend TrendUwb of the digital key according to the ranging information of the plurality of UWB anchors; in a case where there is no valid ranging value of the UWB anchor i at present, obtaining a preset target position according to a vehicle exterior area positioning result corresponding to a time t at which a last valid ranging value of the UWB anchor i is located, the TrendUwb and an unlocking state of the vehicle terminal, obtaining a predicted distance according to a distance relationship between a valid ranging value Dist(i, t) of the UWB anchor i at the time t and the preset target position, and obtaining a predicted time length T according to the predicted distance and a preset moving speed; i is the number of the UWB anchor; in the predicted time length T, performing state one-step prediction of a Kalman filtering algorithm to obtain a filtered ranging value of the UWB anchor i when no valid ranging value of the UWB anchor i is detected, and terminating the state one-step prediction and obtaining a filtered estimation value of the UWB anchor i as the filtered ranging value according to the Kalman filtering algorithm when the valid ranging value of the UWB anchor i is detected; obtaining the vehicle exterior area positioning result according to the filtered ranging values of the plurality of UWB anchors.

2. The method of claim 1, wherein, The method of obtaining the preset target position according to the vehicle exterior area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor i is located, the TrendUwb and the unlocking state of the vehicle terminal, obtaining the predicted distance according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor i at the time t and the preset target position, and obtaining the predicted time length T, comprises the following steps: if the vehicle exterior area positioning result corresponding to the time t is WELCOME and the TrendUwb at the time t or currently is Approach, calculating a difference value between the Dist(i, t) and a corresponding locking distance, and obtaining the predicted time length T according to the difference value; if the vehicle exterior area positioning result corresponding to the time t is WELCOME and the current TrendUwb is not Approach, setting the predicted time length as a preset minimum predicted time length TimePredMin; wherein the difference value between the Dist(i, t) and the corresponding locking distance is the predicted distance; and the locking distance is the preset target position.

3. The method of claim 2, wherein, The method of obtaining the preset target position according to the vehicle exterior area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor i is located, the TrendUwb and the unlocking state of the vehicle terminal, obtaining the predicted distance according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor i at the time t and the preset target position, and obtaining the predicted time length T, further comprises the following steps: If the out-of-vehicle area positioning result corresponding to the time t is UNLOCK, an absolute value AbsDiffDist(i) of a difference between the Dist(i, t) and a corresponding unlocking distance is calculated, when the AbsDiffDist(i) is greater than the Dist(i, t), DisMinToCmd = Dist(i, t), when the AbsDiffDist(i) is less than or equal to the Dist(i, t), DisMinToCmd = AbsDiffDist(i), the prediction time length is obtained according to the DisMinToCmd and a preset moving speed; wherein, DisMinToCmd is the prediction distance; the unlocking distance is the preset target position.

4. The method of claim 3, wherein, The preset target position is obtained according to the out-of-vehicle area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor point i is located, the TrendUwb and the unlocking and locking state of the vehicle terminal, the prediction distance is obtained according to a distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, the prediction time length T is obtained according to the prediction distance and a preset moving speed, and the method further comprises: If the out-of-vehicle area positioning result corresponding to the time t is LOCK, and the vehicle terminal is currently in a locked state, and a difference between the Dist(i, t) and an unlocking distance DistUnlockThrsld is less than a preset value, the prediction time length is a set value; If the difference between the Dist(i, t) and the DistUnlockThrsld is greater than or equal to the preset value, absolute values A1 and A2 of distance differences between the Dist(i, t) and the DistUnlockThrsld and between the Dist(i, t) and a locking distance DistLockThrsld are respectively obtained, DisMinToCmd is the smaller one of A1 and A2, when the DisMinToCmd is less than a difference threshold DiffDistThsld and the vehicle terminal is currently in an unlocked state, the prediction time length is a set value, and when the DisMinToCmd is greater than or equal to DiffDistThsld, the prediction time length is obtained according to the DisMinToCmd and a preset moving speed.

5. The method of claim 4, wherein, The preset target position is obtained according to the out-of-vehicle area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor point i is located, the TrendUwb and the unlocking and locking state of the vehicle terminal, the prediction distance is obtained according to a distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at the time t and the preset target position, the prediction time length T is obtained according to the prediction distance and a preset moving speed, and the method further comprises: If the T is greater than TimePredMax, T = TimePredMax, and TimePredMax is a preset maximum prediction time length.

6. The method of claim 5, wherein, The locking distance and the unlocking distance are determined according to the orientation of the UWB anchor point i at time t, and the orientation of the digital key relative to the vehicle terminal includes front, rear, left, right of the vehicle terminal, and a transition orientation Default between adjacent orientations of the front, rear, left and right; the plurality of positioning anchors are UWB / BLE dual-mode three anchors and are arranged in an isosceles triangle on both sides of the vehicle and a preset position at the rear of the vehicle; the method further comprises: obtaining orientation judgment parameters according to the positioning information of the dual-mode three anchors; the orientation judgment parameters include: the number of UWB anchors with valid ranging values ValidDistNum, valid ranging values, the difference between each two of the plurality of valid ranging values, the minimum ranging value DistMin, anchor identification information corresponding to the minimum ranging value DistMin, the number of BLE anchors with valid RSSI values, valid RSSI values, and the difference between each two of the plurality of valid RSSI values; identifying the orientation of the digital key according to the preset judgment condition corresponding to each orientation; wherein each orientation judgment condition includes a plurality of orientation judgment parameters for characterizing the corresponding orientation.

7. The method of claim 6, wherein, The vehicle exterior area positioning result obtained according to the filtered ranging values of the plurality of UWB anchors comprises: obtaining the unlocking distance and the locking distance of each UWB anchor corresponding to each orientation according to the orientation information; in the case where there is a valid filtered ranging value, obtaining a UWB vehicle exterior positioning result according to the valid filtered ranging value and the corresponding unlocking distance or locking distance as the vehicle exterior area positioning result.

8. A digital key ranging value filtering apparatus, characterized by, comprises: a positioning information acquisition module for acquiring the positioning information of a plurality of positioning anchors of a digital key deployed at a vehicle terminal in real time, the positioning information including ranging information of a plurality of UWB anchors; a trend estimation module for obtaining a position change trend TrendUwb of the digital key according to the ranging information of the plurality of UWB anchors; a duration estimation module for, in the case where there is no valid ranging value of a UWB anchor i, obtaining a preset target position according to the vehicle exterior area positioning result corresponding to the time t at which the last valid ranging value of the UWB anchor i was obtained, TrendUwb, and the unlocking and locking state of the vehicle terminal, obtaining a predicted distance according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor i at time t and the preset target position, and obtaining a predicted duration T according to the predicted distance and a preset moving speed; i is the number of the UWB anchor; a state one-step prediction module for, within the predicted duration T, performing state one-step prediction of a Kalman filter algorithm to obtain a filtered ranging value of the UWB anchor i when no valid ranging value of the UWB anchor i is detected; an estimation module configured to terminate the one-step prediction of the state when a valid ranging value of the UWB anchor i is detected and obtain a filtered estimation value of the UWB anchor i as a filtered ranging value according to the Kalman filtering algorithm; and and a UWB positioning module configured to obtain the positioning result of the out-of-vehicle area according to the filtered ranging values of the plurality of UWB anchors.

9. An electronic device, comprising: comprising a memory and a processor; the memory is configured to store a computer program; and the processor is configured to read the computer program in the memory and implement the method of any one of claims 1-7 when executing the program.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method of any one of claims 1-7.

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