Dual-mode three-anchor-point off-board orientation identification method and device, electronic device

Abstract

Embodiments of the present application disclose a dual-mode three-anchor-point off-vehicle orientation identification method and device, electronic equipment and storage medium. The method obtains the positioning information of the UWB / BLE dual-mode three-anchor-point deployed at the end of the vehicle machine in real time; the positioning information includes RSSI information of three BLE anchor points and ranging value information of three UWB anchor points; the orientation judgment parameters are obtained according to the positioning information; the orientation judgment parameters include: the number of UWB anchor points with valid ranging values, valid ranging values, the difference between each two of the plurality of valid ranging values, the minimum ranging value, the anchor point identification information corresponding to the minimum ranging value, the number of BLE anchor points with valid RSSI values, valid RSSI values, the difference between each two of the plurality of valid RSSI values; the target orientation of the target is identified according to the preset judgment condition corresponding to each orientation, so that the off-vehicle orientation can be accurately identified, and the calculation is simple and easy to implement.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of positioning technology, and in particular to a dual-mode three-anchor-point vehicle external orientation recognition method and device, electronic device and storage medium. Background Technology

[0002] Ultra Wide Band (UWB) digital key technology has emerged in recent years. As an advanced wireless communication technology, UWB enables high-precision positioning and data transmission. Compared with traditional Bluetooth Low Energy (BLE) technology, UWB has significant advantages in signal penetration and anti-interference capabilities, making it widely used in smart devices such as car keys. UWB digital keys not only provide a faster unlocking experience but also effectively improve security by preventing unauthorized intrusion through precise positioning, enhancing user convenience and peace of mind. However, due to the hardware requirements and complexity of UWB technology, the cost of UWB digital keys is much higher than that of BLE digital keys. Current mainstream UWB digital keys require the deployment of 4 to 6 UWB anchor points in the vehicle to achieve a good user experience, resulting in high installation costs.

[0003] Currently, UWB digital keys typically require the deployment of five to six UWB anchor points on the vehicle's infotainment system. By establishing a local coordinate system for the vehicle body, the coordinates of the digital key are calculated using the distance measurement information between the UWB digital key and each anchor point, thus determining the digital key's position relative to the vehicle body and enabling vehicle unlocking or locking. The accurate positioning of the digital key in this unlocking / locking method heavily relies on the accuracy of the UWB distance measurement values. However, digital keys inevitably operate in NLOS (Non-Line of Sight) environments, posing a significant challenge to accurate distance measurement. Existing common methods for NLOS identification using UWB distance measurement values ​​include CIR-based NLOS identification, residual-based NLOS judgment, and AI-based NLOS judgment, etc. These methods are overly reliant on models, cannot be well applied to UWB positioning in various complex environments, and have complex algorithms and high computational costs, making them inconvenient to implement. Therefore, there is an urgent need to research a method that can locate the external area based on the distance measurement information and orientation of a single anchor point without calculating coordinates, requiring fewer anchor points and accurately identifying the external orientation. Summary of the Invention

[0004] This invention provides a dual-mode three-anchor point vehicle external orientation recognition method and device, electronic device and storage medium, which can accurately identify the vehicle external orientation through UWB / BLE dual-mode three-anchor point, and the calculation is simple and easy to implement.

[0005] In a first aspect, embodiments of the present invention provide a dual-mode three-anchor-point vehicle external orientation recognition method for recognizing the target orientation relative to a vehicle-mounted system, wherein the vehicle-mounted system is equipped with UWB / BLE dual-mode three-anchor points, and the method includes:

[0006] Real-time acquisition of the positioning information of the dual-mode three anchor points; the positioning information includes: RSSI information of the three BLE anchor points and ranging value information of the three UWB anchor points;

[0007] The orientation judgment parameters are obtained based on the positioning information; the orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, the pairwise difference between multiple valid ranging values, the minimum ranging value (DistMin), the anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and the pairwise difference between multiple valid RSSI values;

[0008] The target location of the target is identified according to the preset judgment conditions corresponding to each of the directions; wherein, each direction judgment condition includes multiple direction judgment parameters used to characterize the features of the corresponding direction.

[0009] As an example, the target's orientation relative to the vehicle's infotainment system includes: the front, rear, left, and right directions of the vehicle's infotainment system, as well as the transitional orientation (Default) between adjacent directions among the front, rear, left, and right directions; the three anchor points are arranged in an isosceles triangle on both sides of the vehicle and at a preset position at the rear of the vehicle; wherein the anchor points on the right side, left side, and rear of the vehicle are numbered 0, 1, and 2, respectively;

[0010] The effective ranging values ​​of the three UWB anchor points (0, 1, 2) are all effective ranging values ​​after filtering, and are denoted as DistFilter[0]~DistFilter[2] respectively. The effective RSSI values ​​of the BLE anchor points (0, 1, 2) are denoted as RSSI[0]~RSSI[2] respectively.

[0011] The difference in distance measurement values ​​between each pair of UWB anchor points (1,0), UWB anchor points (1,2), and UWB anchor points (0,2) is denoted as DiffDist[0]~DiffDist[2], and the difference in RSSI values ​​between each pair of BLE anchor points (1,0), UWB anchor points (1,2), and UWB anchor points (0,2) is denoted as DiffRssi[0]~DiffDist[2].

[0012] The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations includes:

[0013] The preset judgment conditions corresponding to Front, Rear, Right, and Left include UWB group judgment conditions and BLE group judgment conditions, respectively.

[0014] As an example, the UWB group judgment condition for identifying the Front includes: when condition 4 is met, the target orientation is determined to be the Front; the condition 4 includes the following sub-conditions:

[0015] Sub-condition 1 is DistMinId=0 or 1, sub-condition 2 is ValidDistNum = 2, sub-condition 3 is abs(DiffDist[0]) less than DiffDistThrsld_1, sub-condition 4 is UWB anchor point 2 has no valid ranging value or DistFilter[2] is greater than DistThrsld_1; where DistThrsld_1 is the first threshold of valid ranging value, DiffDistThrsld_1 is the first threshold of the difference between ranging values, and abs(DiffDist[0]) is the absolute value of the difference between the valid ranging values ​​of UWB anchor point (1,0);

[0016] The BLE group judgment conditions used to identify the Front include:

[0017] When conditions 8 and 9 are met, and either condition 10 or condition 11 is also met, the target orientation is determined to be Front.

[0018] Condition 8 is that both RSSI[0] and RSSI[1] are greater than RSSI[2].

[0019] Condition 9 is that abs(DiffRssi[0]) is less than or equal to RssiDiffThrsld_2;

[0020] Condition 10 is that abs(DiffRssi[1]) is greater than RssiDiffThrsld_3 and abs(DiffRssi[2]) is greater than RssiDiffThrsld_3; wherein, RssiDiffThrsld_2 and RssiDiffThrsld_2 are the second threshold and the third threshold of the absolute value of the RSSI difference between BLE anchor points, respectively.

[0021] Condition 11 is that the ranging value of UWB anchor point 2 is invalid and there are one or more valid ranging values ​​for UWB anchor point 0 or 1, and all valid ranging values ​​are greater than DistThrsld_3; DistThrsld_3 is the third threshold for valid ranging values.

[0022] If conditions 8 and 9 are met simultaneously but conditions 10 or 11 are not met, then the target orientation is determined to be Default. If condition 8 is met but condition 9 is not met and condition 12 is met, then the target orientation is determined to be Default. Condition 12 is that both UWB anchor points 0 and 1 have valid ranging values ​​and abs(DiffDist[0]) is less than DiffDistThrsld_2.

[0023] As an example, the UWB group judgment conditions for identifying the Rear include:

[0024] When conditions 2 and 3 are met, the target orientation is determined to be Rear.

[0025] Condition 2 includes the following sub-conditions:

[0026] Subcondition 1 is ValidDistNum=1, subcondition 2 is the distance measurement value of UWB anchor point 2 is valid, subcondition 3 is DistFilter[2] is greater than DistThrsld_1 or (DistFilter[2] is less than DistThrsld_1 and RSSI[2] is invalid);

[0027] Condition 3 is that both RSSI[1] and RSSI[0] are less than RssiThrsld; RssiThrsld is the RSSI threshold.

[0028] If condition 2 is met but condition 3 is not met, then the target orientation is determined to be Default.

[0029] The BLE group judgment conditions used to identify the Rear include:

[0030] When condition 17 is met but conditions 18 or 19 are not met, the target orientation is determined to be Rear.

[0031] Condition 17 is that RSSI[2] is the maximum value of RSSI and anchor point 2 has a valid distance measurement value;

[0032] Condition 18 is that DistFilter[2] is greater than DistThrsld_1, and there is a valid RSSI at anchor point 0 or 1, and (abs(DiffRssi[1]) is less than RssiDiffThrsld_2 and abs(DiffRssi[2]) is less than RssiDiffThrsld_2).

[0033] Condition 19 is that anchor point 2 does not have a valid distance measurement value, while anchor point 0 or 1 has a valid distance measurement value;

[0034] If condition 17 is satisfied and either condition 18 or condition 19 is also satisfied, then the target orientation is determined to be Default.

[0035] As an example, the UWB group judgment conditions for identifying the Right include:

[0036] When condition 5 is met, the target orientation is determined to be Right.

[0037] Condition 5 is either satisfying both sub-conditions 1 and 2, or satisfying both sub-conditions 1 and 3:

[0038] Sub-condition 1 of condition 5 is DistMinId=0, sub-condition 2 is ValidDistNum=1 and DistFilter[0] is less than DistThrsld_2, sub-condition 3 is Dist[1] is greater than DistThrsld_3 and DistFilter[0] is greater than DistThrsld_4 and the distance measurement value of anchor point 2 is invalid.

[0039] The BLE group judgment conditions used to identify the Right include:

[0040] The target orientation is determined to be Right when condition 13 is met but any sub-condition in condition 14 is not met.

[0041] Condition 13 is that RSSI[0] is the maximum RSSI value;

[0042] Condition 14 includes the following sub-conditions:

[0043] Subcondition 1 is that DistFilter[0] is greater than DistThrsld_1 and abs(DiffRssi[0]) or abs(DiffRssi[1]) is less than RssiDiffThrsld_2;

[0044] Subcondition 2 is that anchor point 0 does not have a valid distance measurement value, while anchor point 1 or 2 has a valid distance measurement value;

[0045] Subcondition 3 is that abs(DiffRssi[0]) is less than RssiDiffThrsld_3;

[0046] If both condition 13 and any sub-condition of condition 14 are satisfied, then the target orientation is determined to be Default.

[0047] As an example, the UWB group judgment conditions for identifying the Left include:

[0048] When condition 6 is met, the target orientation is determined to be Left;

[0049] Condition 6 is that sub-condition 1 and sub-condition 2 are satisfied simultaneously, or sub-condition 1 and sub-condition 3 are satisfied simultaneously;

[0050] Sub-condition 1 of condition 6 is DistMinId=1, sub-condition 2 is ValidDistNum=1 and DistFilter[1] is less than DistThrsld_2, sub-condition 3 is the ranging value of UWB anchor point 0 is valid and DistFilter[0] is greater than DistThrsld_3 and DistFilter[1] is greater than DistThrsld_4 and the ranging value of UWB anchor point 2 is invalid;

[0051] If condition 6 is not met but condition 7 is met, then the target orientation is determined to be Default.

[0052] Condition 7 is that both abs(DiffRssi[1]) and abs(DiffRssi[2]) are less than RssiDiffThrsld_1;

[0053] The BLE group judgment conditions used to identify the Left include:

[0054] The target orientation is determined to be Left if condition 15 is met but any sub-condition in condition 16 is not met.

[0055] Condition 15 is that RSSI[1] is the maximum value of RSSI;

[0056] Condition 16 includes the following sub-conditions:

[0057] Subcondition 1 is (UWB anchor point 1 has a valid ranging value, DistFilter[1] is greater than DistThrsld_1) and (abs(DiffRssi[0]) < RssiDiffThrsld_2 or abs(DiffRssi[1]) < RssiDiffThrsld_2).

[0058] Subcondition 2 is when anchor point 1 does not have a valid distance measurement, and anchor point 0 or 2 has a valid distance measurement;

[0059] Subcondition 3 is abs(DiffRssi[0]) < RssiDiffThrsld_3;

[0060] If both condition 15 and any sub-condition in condition 16 are satisfied, then the target orientation is determined to be Default.

[0061] As one embodiment, identifying the target location of the target based on the preset judgment conditions corresponding to each of the aforementioned locations further includes:

[0062] If condition 1 is met, then the target orientation is determined to be Default;

[0063] Condition 1 is either ValidRssiNum < 2 or ValidDistNum = 0;

[0064] Furthermore, condition 1 is executed before other judgment conditions;

[0065] The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations further includes:

[0066] The execution order of the preset judgment conditions corresponding to Front, Rear, Right, and Left is as follows: first, Rear, Front, Right, and Left are identified in sequence according to the UWB group judgment conditions, and then Front, Right, Left, and Rear are identified in sequence according to the BLE group judgment conditions.

[0067] Secondly, embodiments of the present invention provide a dual-mode three-anchor-point vehicle external orientation recognition device for recognizing the target orientation relative to a vehicle-mounted terminal, wherein the vehicle-mounted terminal is equipped with UWB / BLE dual-mode three-anchor points, and the device includes:

[0068] The acquisition module is used to acquire the positioning information of the dual-mode three anchor points in real time; the positioning information includes: RSSI information of the three BLE anchor points and ranging value information of the three UWB anchor points;

[0069] The parameter calculation module is used to obtain orientation judgment parameters based on the positioning information. The orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, the pairwise difference between multiple valid ranging values, the minimum ranging value (DistMin), the anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and the pairwise difference between multiple valid RSSI values.

[0070] The judgment module is used to identify the target location of the target according to the preset judgment conditions corresponding to each of the directions; wherein, each direction judgment condition includes multiple direction judgment parameters used to characterize the features of the corresponding direction.

[0071] Thirdly, embodiments of the present invention provide a positioning device, including a memory and a processor;

[0072] The memory is used to store computer programs; the processor is used to read the computer programs in the memory and, when executing the programs, implement the dual-mode three-anchor-point vehicle external orientation recognition method as described above.

[0073] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dual-mode three-anchor-point vehicle external orientation recognition method as described in the first aspect.

[0074] Compared with the prior art, the technical solution provided by the embodiments of the present invention has at least the following positive effects:

[0075] In the technical solution of this invention embodiment, the positioning information of UWB / BLE dual-mode three anchor points is acquired in real time. The positioning information includes: RSSI information of three BLE anchor points and ranging value information of three UWB anchor points. Based on the positioning information, orientation judgment parameters are obtained. The orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, pairwise differences of multiple valid ranging values, minimum ranging value (DistMin), anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and pairwise differences of multiple valid RSSI values. The target orientation of the target is identified according to preset judgment conditions corresponding to each orientation. Each orientation judgment condition includes multiple orientation judgment parameters used to characterize the features of the corresponding orientation. Thus, the target orientation is accurately identified based on the conditions obtained by combining the orientation judgment parameters of UWB / BLE dual-mode three anchor points. This method is low-cost, simple to calculate, and easy to implement. Attached Figure Description

[0076] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0077] Figure 1 This is a layout example diagram of BLE and UWB dual-mode three-anchor point on a vehicle provided in an embodiment of the present invention;

[0078] Figure 2 This is a flowchart illustrating the dual-mode, three-anchor-point vehicle external orientation recognition method provided in Embodiment 1 of the present invention.

[0079] Figure 3 This is a schematic diagram of the orientation determination process in one embodiment of the dual-mode three-anchor-point vehicle external orientation recognition method of the present invention;

[0080] Figure 4 This is a schematic diagram of the structure of the dual-mode three-anchor-point vehicle external orientation recognition device provided in Embodiment 2 of the present invention;

[0081] Figure 5This is a schematic diagram of the structure of the electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0082] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0083] The following description, with reference to the accompanying drawings, describes a dual-mode three-anchor-point vehicle external orientation recognition method, apparatus, positioning device, and storage medium according to embodiments of this application. Addressing the problems mentioned in the background art regarding the complexity of existing NLOS recognition models and the difficulty in correcting coordinate calculation errors in locating vehicle external areas by calculating coordinates, this application provides a dual-mode three-anchor-point vehicle external orientation recognition method. In this method, UWB / BLE dual-mode three anchor points are deployed on the vehicle's infotainment system to acquire the positioning information of the dual-mode three anchor points in real time. The positioning information includes: RSSI information of three BLE anchor points and ranging value information of three UWB anchor points. Orientation judgment parameters are obtained based on the positioning information. The orientation judgment parameters include: the number of valid UWB anchor points (ValidDistNum), valid ranging values, and multiple valid... The system identifies the target's orientation based on the pairwise difference of distance measurements, the minimum distance measurement value DistMin, the anchor point identification information DistMinId corresponding to the minimum distance measurement value, the number of valid BLE anchor points with RSSI values, valid RSSI values, and the pairwise difference of multiple valid RSSI values. Each orientation judgment condition includes multiple orientation judgment parameters used to characterize the corresponding orientation. The judgment conditions obtained by combining multiple orientation judgment parameters accurately identify the target's orientation, thus enabling the location of the external area based on the target orientation and the distance information of a single anchor point. The calculation is simple and easy to implement.

[0084] Figure 1 This is a schematic diagram illustrating the layout of the BLE and UWB dual-mode three-anchor point system on the vehicle in the dual-mode three-anchor point vehicle orientation recognition method provided in this application embodiment. Figure 1 As shown, the dual-mode three-anchor point (0, 1, 2) is installed on the right rearview mirror, the left rearview mirror, and the center of the rear of the vehicle, respectively, so that the three anchor points are distributed in an isosceles triangle. Understandably, other installation positions can also be selected according to the vehicle's structural characteristics and requirements, and there are no excessive restrictions on this.

[0085] Figure 2This is a flowchart illustrating the dual-mode, three-anchor-point vehicle exterior orientation recognition method provided in this embodiment of the invention. It is used to identify the target orientation of the car key (i.e., the target) relative to the vehicle, and further for the external area positioning of the digital key. This method can be executed by a dual-mode, three-anchor-point vehicle exterior orientation recognition device provided in this embodiment of the invention. This device can be implemented using software and / or hardware methods and configured in the digital key module of the vehicle's infotainment system. Figure 2 As shown, the dual-mode three-anchor-point vehicle external orientation recognition method of this application includes the following steps:

[0086] Step 201: Acquire the positioning information of the dual-mode three anchor points in real time. The positioning information includes: RSSI information of the three BLE anchor points and ranging value information of the three UWB anchor points.

[0087] Three UWB anchor points and three BLE anchor points are used to locate the digital key. Once the digital key establishes a communication connection with the vehicle's digital key system, it can obtain the location information of the UWB / BLE dual-mode three anchor points in real time.

[0088] Step 202: Obtain the orientation judgment parameters based on the positioning information.

[0089] The target's orientation relative to the vehicle's infotainment system can include: Front, Rear, Left, Right, and the transitional orientation (Default) between adjacent orientations of Front, Rear, Left, and Right. The external area is determined based on the distance range between the digital key and the vehicle body. The unlocking / locking distance is a specific distance between the digital key and the vehicle body, such as an unlocking distance of 2m and a locking distance of 5m. Different anchor points require corresponding unlocking / locking distances in different orientations. For example, anchor point 0 requires corresponding unlocking / locking distances in the Right, Front, and Default orientations, and anchor point 2 requires corresponding unlocking / locking distances in the Rear and Default orientations. Therefore, the aforementioned orientation division method only needs to meet the unlocking / locking accuracy requirements; this embodiment does not impose specific limitations on the number or size of the orientations.

[0090] The orientation determination parameters are used to characterize the orientation features of the corresponding orientation. These parameters may include: the number of valid UWB anchor points (ValidDistNum), the valid range value, the pairwise difference between multiple valid range values, the minimum range value (DistMin), the anchor point identifier information (DistMinId) corresponding to the minimum range value, the number of valid BLE anchor points (RSSI value), the valid RSSI value, and the pairwise difference between multiple valid RSSI values. These orientation determination parameters can effectively assist in determining orientation. By combining these parameters, the determination conditions for each orientation can be obtained, as detailed below.

[0091] The effective ranging values ​​of the three UWB anchor points (0, 1, 2) are the effective ranging values ​​after filtering, and are denoted as DistFilter[0]~DistFilter[2] respectively. The filtering method for the ranging values ​​of the UWB anchor points can be wavelet transform and Kalman filtering, etc., and no specific restrictions are made here. The effective RSSI of the BLE anchor points (0, 1, 2) are denoted as RSSI[0]~RSSI[2] respectively. The difference between the ranging values ​​of each pair of UWB anchor points (1, 0), UWB anchor points (1, 2), and UWB anchor points (0, 2) is denoted as DiffDist[0]~DiffDist[2] respectively. The difference between the RSSI values ​​of each pair of BLE anchor points (1, 0), UWB anchor points (1, 2), and UWB anchor points (0, 2) is denoted as DiffRssi[0]~DiffDist[2].

[0092] Step 203: Identify the target's location based on the preset judgment conditions corresponding to each location.

[0093] Each orientation judgment condition includes multiple orientation judgment parameters used to characterize the features of the corresponding orientation.

[0094] The preset judgment conditions for Front, Rear, Right, and Left include UWB group judgment conditions and BLE group judgment conditions, respectively. The UWB group judgment conditions can identify the direction more accurately than the BLE group judgment conditions.

[0095] The following explains the judgment conditions for the UWB group and BLE group in each direction.

[0096] To help understand the judgment conditions for each orientation, examples of the values ​​of multiple thresholds involved in the UWB group and BLE group judgment conditions for each orientation are provided below:

[0097] DistThrsld_1=600cm、

[0098] DistThrsld_2=100cm、

[0099] DistThrsld_3=245cm、

[0100] DistThrsld_4=140cm、

[0101] DistDiffThrsld_1=80cm

[0102] DistDiffThrsld_2=60cm、

[0103] DistDiffThrsld_3=100cm、

[0104] RssiThrsld=-80dbm

[0105] RssiDiffThrsld_1=3dbm、

[0106] RssiDiffThrsld_2=6dbm、

[0107] RssiDiffThrsld_3=10dbm.

[0108] The threshold values ​​for the above parameters can be obtained through testing. Within a 10-meter radius around the vehicle under test, four areas are divided: front, rear, left, and right. BLE and UWB measurement data are collected within these four areas. The threshold values ​​for the above parameters are obtained by analyzing the characteristics of the measurement data from each area. For test points located at the edges of each area, due to signal instability and vehicle obstruction, the characteristics of the test data are relatively blurry; therefore, these locations are set to the default position. The above values ​​can be adjusted according to different vehicle structures and anchor point performance; no specific restrictions are imposed here.

[0109] The UWB group judgment conditions used to identify the front include: when condition 4 is met, the target orientation is judged as the front. Condition 4 includes the following sub-conditions: sub-condition 1 is DistMinId=0 or 1, sub-condition 2 is ValidDistNum = 2, sub-condition 3 is abs(DiffDist[0]) less than DiffDistThrsld_1 (for example, 80cm), sub-condition 4 is UWB anchor point 2 has no effective ranging value or DistFilter[2] is greater than DistThrsld_1 (for example, 6m). Among them, DistThrsld_1 is the first threshold of effective ranging value, DiffDistThrsld_1 is the first threshold of the difference of ranging values, and abs(DiffDist[0]) is the absolute value of the difference of effective ranging values ​​of UWB anchor point (1,0). abs(DiffDist[0]) is the absolute value of the difference between the distance measurements of the left and right anchor points on the outer side of the vehicle. In the front orientation, the maximum value of abs(DiffDist[0]) can be taken as DiffDistThrsld_1. DiffDistThrsld_1 can be obtained by calculation or detection, which will not be elaborated here.

[0110] The BLE group judgment conditions used to identify the front may include: when conditions 8 and 9 are met, and conditions 10 or 11 are also met, the target orientation is determined to be the front.

[0111] Condition 8 is that both RSSI[0] and RSSI[1] are greater than RSSI[2]. It can be understood that RSSI[0], RSSI[1] and RSSI[2] all represent the valid RSSI values ​​of the corresponding anchor points. Condition 9 is that abs(DiffRssi[0]) is less than or equal to RssiDiffThrsld_2 (for example, 6dBm), and abs(DiffRssi[0]) is the absolute value of the difference between the RSSI values ​​of the left and right BLE anchor points on the outer side of the vehicle body. Condition 10 is that abs(DiffRssi[1]) is greater than RssiDiffThrsld_3 (for example, 10dBm) and abs(DiffRssi[2]) is greater than RssiDiffThrsld_3. RssiDiffThrsld_2 and RssiDiffThrsld_3 are the second threshold and the third threshold of the absolute value of the RSSI difference between BLE anchor points, respectively. Condition 11 is that the ranging value of UWB anchor point 2 is invalid and there are one or more valid ranging values ​​for UWB anchor point 0 or 1, and all valid ranging values ​​are greater than DistThrsld_3; DistThrsld_3 is the third threshold for valid ranging values, for example, 245cm.

[0112] If conditions 8 and 9 are met simultaneously but conditions 10 or 11 are not met, the target orientation is determined to be Default. If condition 8 is met but condition 9 is not met and condition 12 is met, the target orientation is determined to be Default. Condition 12 is that both UWB anchor points 0 and 1 have valid distance values ​​and abs(DiffDist[0]) is less than DiffDistThrsld_2 (for example, 60cm).

[0113] The UWB group judgment conditions used to identify Rear include: when conditions 2 and 3 are met, the target orientation is determined to be Rear.

[0114] Condition 2 includes the following sub-conditions: Sub-condition 1 is ValidDistNum=1, Sub-condition 2 is the distance measurement value of UWB anchor point 2 is valid, Sub-condition 3 is DistFilter[2] greater than DistThrsld_1 (e.g., 600cm) or (DistFilter[2] less than DistThrsld_1 and RSSI[2] is invalid).

[0115] Condition 3 is that both RSSI[1] and RSSI[0] are less than RssiThrsld; RssiThrsld is the RSSI threshold, for example, -80dBm.

[0116] If condition 2 is met but condition 3 is not met, then the target location is determined to be Default.

[0117] The BLE group judgment conditions used to identify Rear include: when condition 17 is met and conditions 18 or 19 are not met, the target orientation is judged as Rear.

[0118] Condition 17 is that RSSI[2] is the maximum value of RSSI and anchor point 2 has a valid distance measurement value.

[0119] Condition 18 is that DistFilter[2] is greater than DistThrsld_1 (e.g., 6m), and anchor point 0 or 1 has a valid RSSI value, and (abs(DiffRssi[1]) is less than RssiDiffThrsld_2 and abs(DiffRssi[2]) is less than RssiDiffThrsld_2).

[0120] Condition 19 is that anchor point 2 does not have a valid distance measurement value, while anchor point 0 or 1 has a valid distance measurement value.

[0121] If condition 17 is met, and condition 18 or condition 19 is also met, then the target location is determined to be Default.

[0122] The UWB group judgment conditions used to identify Right include: when condition 5 is met, the target orientation is judged as Right.

[0123] Condition 5 is to simultaneously satisfy either subcondition 1 and subcondition 2 or subcondition 1 and subcondition 3: Subcondition 1 of condition 5 is DistMinId=0, subcondition 2 is ValidDistNum=1 and DistFilter[0] is less than DistThrsld_2 (100cm), subcondition 3 is Dist[1] is greater than DistThrsld_3 (e.g., 245cm) and DistFilter[0] is greater than DistThrsld_4 (140cm) and the distance measurement value of anchor point 2 is invalid.

[0124] The BLE group judgment conditions used to identify Right include: when condition 13 is met and no sub-condition in condition 14 is met, the target orientation is judged as Right.

[0125] Condition 13 is that RSSI[0] is the maximum RSSI value.

[0126] Condition 14 includes the following sub-conditions:

[0127] Subcondition 1 is that DistFilter[0] is greater than DistThrsld_1 (600cm) and abs(DiffRssi[0]) or abs(DiffRssi[1]) is less than RssiDiffThrsld_2 (6dbm);

[0128] Subcondition 2 is that anchor point 0 does not have a valid distance measurement value, while anchor point 1 or 2 has a valid distance measurement value;

[0129] Subcondition 3 is that abs(DiffRssi[0]) is less than RssiDiffThrsld_3 (10dbm).

[0130] If both condition 13 and any sub-condition of condition 14 are satisfied, then the target orientation is determined to be Default.

[0131] The UWB group judgment conditions used to identify Left include: when condition 6 is met, the target orientation is determined to be Left.

[0132] Condition 6 is that both subcondition 1 and subcondition 2 or both subcondition 1 and subcondition 3 are satisfied simultaneously.

[0133] Subcondition 1 of condition 6 is DistMinId=1, subcondition 2 is ValidDistNum=1 and DistFilter[1] is less than DistThrsld_2 (100cm), subcondition 3 is that the distance measurement value of UWB anchor point 0 is valid and DistFilter[0] is greater than DistThrsld_3 (245cm) and DistFilter[1] is greater than DistThrsld_4 (140cm) and the distance measurement value of UWB anchor point 2 is invalid.

[0134] If condition 6 is not met but condition 7 is met, then the target location is determined to be Default.

[0135] Condition 7 is that both abs(DiffRssi[1]) and abs(DiffRssi[2]) are less than RssiDiffThrsld_1 (3dbm).

[0136] The BLE group judgment conditions used to identify Left include: when condition 15 is met and no sub-condition in condition 16 is met, the target orientation is determined to be Left.

[0137] Condition 15 is RSSI[1], which is the maximum value of RSSI.

[0138] Condition 16 includes the following sub-conditions:

[0139] Subcondition 1 is (UWB anchor point 1 has a valid ranging value, DistFilter[1] is greater than DistThrsld_1 (600cm)) and (abs(DiffRssi[0]) < RssiDiffThrsld_2 (6dbm) or abs(DiffRssi[1]) <RssiDiffThrsld_2);

[0140] Subcondition 2 is when anchor point 1 does not have a valid distance measurement value, and anchor point 0 or 2 has a valid distance measurement value;

[0141] Subcondition 3 is abs(DiffRssi[0]) < RssiDiffThrsld_3 (10dbm);

[0142] If both condition 15 and any sub-condition in condition 16 are met, then the target orientation is determined to be Default.

[0143] Step 203, which identifies the target location based on the preset judgment conditions corresponding to each location, may also include: if condition 1 is met, the target location is determined to be Default; condition 1 is ValidRssiNum < 2 or ValidDistNum = 0, and condition 1 is executed before other judgment conditions, that is, condition 1 is executed before conditions 2 to 19.

[0144] Step 203, which identifies the target's location based on preset judgment conditions corresponding to each location, may also include:

[0145] The execution order of the preset judgment conditions corresponding to Front, Rear, Right, and Left is as follows: first, Rear, Front, Right, and Left are identified sequentially according to the UWB group judgment conditions; then, Front, Right, Left, and Rear are identified sequentially according to the BLE group judgment conditions. It is understood that this application does not impose excessive restrictions on the recognition order of each orientation in the UWB group and BLE group judgment conditions. The following is in conjunction with the appendix... Figure 3 The judgment steps S301~S317 of the dual-mode three-anchor point vehicle exterior recognition method of this embodiment are described as follows:

[0146] S301, when ValidRssiNum < 2 or ValidDistNum = 0 ( Figure 3 If condition 1) is met, then DirToVeh = Default, and Return. DirToVeh is the current target orientation. DirToVeh = Default means that the current target orientation is identified as Default, and then the program returns to execute the subsequent procedures.

[0147] S302. When ValidDistNum=1 and valid anchor id=2, and (DistFilter[2] > DistThrsld_1(600cm) or (DistFilter[2] or equal to DistThrsld_1(600cm) and RSSI[2] is invalid) Figure 3 If condition 2 is met, proceed to S303; if condition 2 is not met, proceed to S304.

[0148] S303. When both RSSI[1] and RSSI[0] are valid and both < RssiThrsld (-80dbm) ( Figure 3 in condition 3), then DirToVeh = Rear, then end the current azimuth determination and return. When condition 2 is satisfied and condition 3 is not satisfied, then DirToVeh = Default, Return.

[0149] S304. When DistMinId = 0 or 1, and ValidDistNum = 2, and abs(DiffDist[0]) < DiffDistThrsld_1 (0.8m), and there is no valid ranging value for anchor point 2 or DistFilter[2] > DistThrsld_1 (600cm) (that is Figure 3 in condition 4), then DirToVeh = Front, Return.

[0150] S305. When DistMinId = 0 and ((ValidDistNum = 1 and DistFilter[0] < DistThrsld_2) (100cm) or (the ranging value of anchor point 1 is valid and Dist[1] > DistThrsld_3(245cm) and DistFilter[0] > DistThrsld_4(140cm) and the ranging value of anchor point 2 is invalid)) (that is condition 5 in the figure), then DirToVeh = Right, Return; if condition 5 is not satisfied, then enter S306.

[0151] S306. When DistMinId = 1 and ((ValidDistNum = 1 and DistFilter[1] < DistThrsld_2) or (the ranging value of anchor point 0 is valid and DistFilter[0] > DistThrsld_3 (245cm) and DistFilter[1] > DistThrsld_4 (140cm) and the ranging value of anchor point 2 is invalid)) (that is condition 6 in the figure), then DirToVeh = Left, Return; when condition 6 is not satisfied, enter S307.

[0152] S307. When both abs(DiffRssi[1]) and abs(DiffRssi[2]) < RssiDiffThrsld_1 (3dbm) ( Figure 3 in condition 7), then DirToVeh = Default, return; if condition 7 is not satisfied, then enter S308.

[0153] S308. When both RSSI[0] and RSSI[1] are valid and both are greater than RSSI[2] (i.e. Figure 3 If condition 8 is not met, proceed to S309; ​​if condition 8 is not met, proceed to S312.

[0154] S309. When abs(DiffRssi[0]) <= RssiDiffThrsld_2 (6dbm), that is... Figure 3 If condition 9 is met, proceed to S310; if condition 9 is not met, proceed to S311.

[0155] S310. When (abs(DiffRssi[1])>RssiDiffThrsld_3 (10dbm) and abs(DiffRssi[2])>RssiDiffThrsld_3(10dbm)), that is, the following condition is satisfied. Figure 3 In condition 10, DirToVeh = Front, return; or, when the distance measurement value of anchor point 2 is invalid, and there are one or more valid distance measurement values ​​for anchor points 0 or 1, and all valid distance measurement values ​​are greater than DistThrsld_3 (245cm), then the condition is satisfied. Figure 3 If condition 11 is met, then DirToVeh = Front, return. If condition 10 or condition 11 is not met, then DirToVeh = Default, return.

[0156] S311. When both anchor points 0 and 1 have valid distance values, and abs(DiffDist[0]) < DiffDistThrsld_2(60cm), then the following condition is met. Figure 3 If condition 12 is met, then DirToVeh = Default, return.

[0157] S312. When RSSI[0] is valid and is the maximum value of RSSI, that is, when... Figure 3 If condition 13 is met, proceed to S313; if condition 13 is not met, proceed to S314.

[0158] S313. DirToVeh = Default if any of the following sub-conditions in condition 14 are met; otherwise, DirToVeh = Right.

[0159] The subconditions of condition 14 include:

[0160] Sub - condition 1: (There is a valid ranging value for anchor 0, DistFilter[0]>DistThrsld_1 (600 cm)) and (abs(DiffRssi[0])<RssiDiffThrsld_2 (6 dbm) or abs(DiffRssi[1])< RssiDiffThrsld_2(6 dbm));

[0161] Sub - condition 2: There is no valid ranging value for anchor 0, and there is a valid ranging for anchor 1 or 2;

[0162] Sub - condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10 dbm).

[0163] S314. When RSSI[1] is valid and is the maximum RSSI value, that is, when condition 15 is met, enter S315; when condition 15 is not met, enter S316.

[0164] S315. When any of the following sub - conditions of condition 16 is met, then DirToVeh = Default; when any of the following sub - conditions of condition 16 is not met, then DirToVeh = Left.

[0165] Condition 16 includes:

[0166] Sub - condition 1: (There is a valid ranging value for anchor 1, DistFilter[1]>DistThrsld_1 (600 cm)) and (abs(DiffRssi[0])<RssiDiffThrsld_2 (6 dbm) or abs(DiffRssi[1])< RssiDiffThrsld_2(6 dbm));

[0167] Sub - condition 2: There is no valid ranging value for anchor 1, and there is a valid ranging value for anchor 0 or 2;

[0168] Sub - condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10 dbm).

[0169] S316. When RSSI[2] is valid and is the maximum RSSI value, and there is a valid ranging value for anchor 2 (condition 17 in the figure), then enter S317; otherwise, DirToVeh = Default.

[0170] S317. When DistFilter[2] > DistThrsld_1 (600 cm), and there is a valid RSSI value for Anchor 0 or 1, and (abs(DiffRssi[1]) < RssiDiffThrsld_2 (6 dbm) and abs(DiffRssi[2]) < RssiDiffThrsld_2) (Condition 18 in the figure), then DirToVeh = Default; or, when there is no valid ranging value for Anchor 2, and there is a valid ranging value for Anchor 0 or 1 (Condition 19 in the figure), then DirToVeh = Default; when Conditions 18 or 19 are not met, DirToVeh = Rear.

[0171] Compared with the prior art, the dual-mode three-anchor vehicle exterior orientation recognition method according to the embodiments of the present invention obtains the positioning information of the UWB / BLE dual-mode three-anchor in real time. The positioning information includes: the RSSI information of three BLE anchors and the ranging value information of three UWB anchors. The orientation judgment parameters are obtained according to the positioning information. The orientation judgment parameters include: the number of UWB anchors with valid ranging values ValidDistNum, the valid ranging values, the pairwise differences of multiple valid ranging values, the minimum ranging value DistMin, the anchor identification information DistMinId corresponding to the minimum ranging value, the number of BLE anchors with valid RSSI values, the valid RSSI values, and the pairwise differences of multiple valid RSSI values. The target orientation of the target is recognized according to the preset judgment conditions corresponding to each orientation. Among them, each orientation judgment condition includes multiple orientation judgment parameters for characterizing the features of the corresponding orientation, so as to accurately recognize the target orientation according to the combination of the orientation judgment parameters of the UWB / BLE dual-mode three-anchor, with low cost, simple calculation, and easy implementation.

[0172] Embodiment 2 of the present invention provides a dual-mode three-anchor vehicle exterior orientation recognition device, which can be configured in the digital key system of the vehicle head unit and is used to recognize the target orientation of the target relative to the vehicle head unit, and determine the unlocking and locking distance according to the target orientation. As Figure 4 shown, the recognition device 400 is used to recognize the target orientation of the target relative to the vehicle head unit. The vehicle head unit is deployed with a UWB / BLE dual-mode three-anchor. The recognition device 400 includes: an acquisition module 402, a parameter calculation module 404, and a judgment module 406.

[0173] The acquisition module 402 is used to obtain the positioning information of the dual-mode three-anchor in real time; the positioning information includes: the RSSI information of three BLE anchors and the ranging value information of three UWB anchors.

[0174] The parameter calculation module 404 is used to obtain orientation judgment parameters based on the positioning information. The orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, the pairwise difference between multiple valid ranging values, the minimum ranging value (DistMin), the anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and the pairwise difference between multiple valid RSSI values.

[0175] The judgment module 406 is used to identify the target's orientation based on preset judgment conditions corresponding to each orientation. Each orientation judgment condition includes multiple orientation judgment parameters that characterize the features of the corresponding orientation.

[0176] Optionally, the target's orientation relative to the vehicle's infotainment system includes: Front, Rear, Left, Right, and the transitional orientation (Default) between adjacent orientations of Front, Rear, Left, and Right. Three anchor points are deployed in an isosceles triangle at preset positions on both sides of the vehicle and at the rear, with the right, left, and rear anchor points numbered 0, 1, and 2, respectively.

[0177] The effective ranging values ​​of the three UWB anchor points (0, 1, 2) are all effective ranging values ​​after filtering, and are denoted as DistFilter[0]~DistFilter[2] respectively. The effective RSSI values ​​of the BLE anchor points (0, 1, 2) are denoted as RSSI[0]~RSSI[2] respectively.

[0178] The difference in distance between each pair of UWB anchor points (1,0), UWB anchor points (1,2), and UWB anchor points (0,2) is denoted as DiffDist[0]~DiffDist[2], and the difference in RSSI between each pair of BLE anchor points (1,0), UWB anchor points (1,2), and UWB anchor points (0,2) is denoted as DiffRssi[0]~DiffDist[2].

[0179] In the judgment module 406, the preset judgment conditions corresponding to Front, Rear, Right and Left include UWB group judgment conditions and BLE group judgment conditions, respectively.

[0180] Optionally, the UWB group judgment condition for identifying the front includes: when condition 4 is met, the target orientation is determined to be the front; condition 4 includes the following sub-conditions:

[0181] Sub-condition 1 is DistMinId=0 or 1, sub-condition 2 is ValidDistNum = 2, sub-condition 3 is abs(DiffDist[0]) less than DiffDistThrsld_1, sub-condition 4 is UWB anchor point 2 has no valid ranging value or DistFilter[2] is greater than DistThrsld_1; where DistThrsld_1 is the first threshold of valid ranging value, DiffDistThrsld_1 is the first threshold of the difference between ranging values, and abs(DiffDist[0]) is the absolute value of the difference between the valid ranging values ​​of UWB anchor point (1,0).

[0182] The BLE group judgment conditions used to identify Front include:

[0183] When conditions 8 and 9 are met, and either condition 10 or condition 11 is also met, the target's location is determined to be Front.

[0184] Condition 8 is that both RSSI[0] and RSSI[1] are greater than RSSI[2].

[0185] Condition 9 is that abs(DiffRssi[0]) is less than or equal to RssiDiffThrsld_2;

[0186] Condition 10 is that abs(DiffRssi[1]) is greater than RssiDiffThrsld_3 and abs(DiffRssi[2]) is greater than RssiDiffThrsld_3; where RssiDiffThrsld_2 and RssiDiffThrsld_2 are the second and third thresholds of the absolute value of the RSSI difference between BLE anchors, respectively.

[0187] Condition 11 is that the ranging value of UWB anchor point 2 is invalid and there are one or more valid ranging values ​​for UWB anchor point 0 or 1, and all valid ranging values ​​are greater than DistThrsld_3; DistThrsld_3 is the third threshold for valid ranging values.

[0188] If conditions 8 and 9 are met simultaneously but conditions 10 or 11 are not met, the target orientation is determined to be Default. If condition 8 is met but condition 9 is not met and condition 12 is met, the target orientation is determined to be Default. Condition 12 is that both UWB anchor points 0 and 1 have valid distance values ​​and abs(DiffDist[0]) is less than DiffDistThrsld_2.

[0189] Optionally, the UWB group judgment conditions used to identify Rear include:

[0190] When conditions 2 and 3 are met, the target's location is determined to be Rear.

[0191] Condition 2 includes the following sub-conditions:

[0192] Subcondition 1 is ValidDistNum=1, subcondition 2 is the distance measurement value of UWB anchor point 2 is valid, and subcondition 3 is DistFilter[2] is greater than DistThrsld_1 or (DistFilter[2] is less than DistThrsld_1 and RSSI[2] is invalid).

[0193] Condition 3 is that both RSSI[1] and RSSI[0] are less than RssiThrsld; RssiThrsld is the RSSI threshold.

[0194] If condition 2 is met but condition 3 is not met, then the target location is determined to be Default.

[0195] The BLE group judgment conditions used to identify Rear include:

[0196] When condition 17 is met but conditions 18 or 19 are not met, the target orientation is determined to be Rear.

[0197] Condition 17 is that RSSI[2] is the maximum value of RSSI and anchor point 2 has a valid distance measurement value.

[0198] Condition 18 is that DistFilter[2] is greater than DistThrsld_1, and there is a valid RSSI at anchor point 0 or 1, and (abs(DiffRssi[1]) is less than RssiDiffThrsld_2 and abs(DiffRssi[2]) is less than RssiDiffThrsld_2).

[0199] Condition 19 is that anchor point 2 does not have a valid distance measurement value, while anchor point 0 or 1 has a valid distance measurement value.

[0200] If condition 17 is met, and condition 18 or condition 19 is also met, then the target location is determined to be Default.

[0201] Optionally, the UWB group judgment conditions used to identify Right include:

[0202] When condition 5 is met, the target orientation is determined to be Right.

[0203] Condition 5 is that either subcondition 1 and subcondition 2 or subcondition 1 and subcondition 3 are satisfied simultaneously.

[0204] Subcondition 1 of condition 5 is DistMinId=0, subcondition 2 is ValidDistNum=1 and DistFilter[0] is less than DistThrsld_2, subcondition 3 is Dist[1] is greater than DistThrsld_3 and DistFilter[0] is greater than DistThrsld_4 and the distance measurement value of anchor point 2 is invalid.

[0205] The BLE group judgment conditions used to identify Right include:

[0206] The target orientation is determined to be Right when condition 13 is met and no sub-condition of condition 14 is met.

[0207] Condition 13 is that RSSI[0] is the maximum RSSI value.

[0208] Condition 14 includes the following sub-conditions:

[0209] Subcondition 1 is that DistFilter[0] is greater than DistThrsld_1 and abs(DiffRssi[0]) or abs(DiffRssi[1]) is less than RssiDiffThrsld_2.

[0210] Subcondition 2 is that anchor point 0 does not have a valid distance measurement value, while anchor point 1 or 2 has a valid distance measurement value;

[0211] Subcondition 3 is that abs(DiffRssi[0]) is less than RssiDiffThrsld_3;

[0212] If both condition 13 and any sub-condition of condition 14 are satisfied, then the target orientation is determined to be Default.

[0213] Optionally, the UWB group judgment conditions used to identify Left include:

[0214] When condition 6 is met, the target orientation is determined to be Left. Condition 6 is when sub-conditions 1 and 2 are met simultaneously, or sub-conditions 1 and 3 are met simultaneously.

[0215] Subcondition 1 of condition 6 is DistMinId=1, subcondition 2 is ValidDistNum=1 and DistFilter[1] is less than DistThrsld_2, subcondition 3 is the ranging value of UWB anchor point 0 is valid and DistFilter[0] is greater than DistThrsld_3 and DistFilter[1] is greater than DistThrsld_4 and the ranging value of UWB anchor point 2 is invalid;

[0216] If condition 6 is not met but condition 7 is met, then the target location is determined to be Default.

[0217] Condition 7 is that both abs(DiffRssi[1]) and abs(DiffRssi[2]) are less than RssiDiffThrsld_1.

[0218] The BLE group judgment conditions used to identify Left include:

[0219] The target orientation is determined to be Left if condition 15 is met and no sub-condition in condition 16 is met.

[0220] Condition 15 is RSSI[1], which is the maximum value of RSSI.

[0221] Condition 16 includes the following sub-conditions:

[0222] Subcondition 1 is (UWB anchor point 1 has a valid ranging value, DistFilter[1] is greater than DistThrsld_1) and (abs(DiffRssi[0]) < RssiDiffThrsld_2 or abs(DiffRssi[1]) < RssiDiffThrsld_2).

[0223] Subcondition 2 is when anchor point 1 does not have a valid distance measurement, and anchor point 0 or 2 has a valid distance measurement;

[0224] Subcondition 3 is abs(DiffRssi[0]) < RssiDiffThrsld_3.

[0225] If both condition 15 and any sub-condition in condition 16 are met, then the target orientation is determined to be Default.

[0226] Optionally, the judgment module 406 is also used to determine the target orientation as Default if condition 1 is met, where condition 1 is ValidRssiNum < 2 or ValidDistNum = 0, and condition 1 is executed before other judgment conditions.

[0227] In the judgment module 406, the execution order of the preset judgment conditions corresponding to Front, Rear, Right, and Left is as follows: first, Rear, Front, Right, and Left are identified in sequence according to the UWB group judgment conditions, and then Front, Right, Left, and Rear are identified in sequence according to the BLE group judgment conditions.

[0228] Compared with existing technologies, the dual-mode three-anchor-point vehicle orientation recognition device of this invention acquires real-time positioning information of UWB / BLE dual-mode three anchor points through an acquisition module. The positioning information includes RSSI information of three BLE anchor points and ranging value information of three UWB anchor points. The parameter calculation module obtains orientation judgment parameters based on the positioning information. The orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, pairwise differences of multiple valid ranging values, minimum ranging value (DistMin), anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and pairwise differences of multiple valid RSSI values. The judgment module identifies the target orientation of the target based on preset judgment conditions corresponding to each orientation. Each orientation judgment condition includes multiple orientation judgment parameters used to characterize the features of the corresponding orientation. Thus, the target orientation is accurately identified based on the conditions obtained by combining the orientation judgment parameters of the UWB / BLE dual-mode three anchor points. This method is low-cost, simple to calculate, and easy to implement.

[0229] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. The electronic device 50 includes a memory 51 and a processor 52;

[0230] The memory 51 is used to store computer programs; the processor 52 is used to read the computer programs stored in the memory 51 and, when executing the programs, implement the dual-mode three-anchor point vehicle external orientation recognition method as described in the foregoing embodiments.

[0231] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a computer processor, is used to perform the technical solution of any method embodiment.

[0232] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or grid device, etc.) to execute the methods described in the various embodiments of the present invention.

[0233] It is worth noting that in the embodiments of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are 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 distinction between each other and are not used to limit the scope of protection of the present invention.

[0234] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A dual-mode, three-anchor-point vehicle external orientation recognition method, characterized in that, The method for identifying the target's location relative to the vehicle's infotainment system, wherein the infotainment system is equipped with UWB / BLE dual-mode three-anchor point configuration, includes: Real-time acquisition of the positioning information of the dual-mode three anchor points; the positioning information includes: RSSI information of the three BLE anchor points and ranging value information of the three UWB anchor points; The orientation judgment parameters are obtained based on the positioning information; the orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, the pairwise difference between multiple valid ranging values, the minimum ranging value (DistMin), the UWB anchor point identifier information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and the pairwise difference between multiple valid RSSI values; The target location of the target is identified according to the preset judgment conditions corresponding to each of the directions; wherein, each direction judgment condition includes multiple direction judgment parameters used to characterize the features of the corresponding direction; The target's orientation relative to the vehicle's infotainment system includes: the front, rear, left, and right directions of the vehicle's infotainment system, as well as the transitional orientation (Default) between adjacent directions among the front, rear, left, and right directions; the dual-mode three-anchor point is deployed in an isosceles triangle on both sides of the vehicle and at a preset position at the rear of the vehicle; wherein the anchor point on the right side, left side, and rear of the vehicle are numbered 0, 1, and 2, respectively; The effective ranging values ​​of the three UWB anchor points (0, 1, 2) are all effective ranging values ​​after filtering, and are denoted as DistFilter[0]~DistFilter[2] respectively. The effective RSSI values ​​of the BLE anchor points (0, 1, 2) are denoted as RSSI[0]~RSSI[2] respectively. The difference between the distance measurements of each pair of UWB anchor points (1,0), UWB anchor points (1,2), and UWB anchor points (0,2) is denoted as DiffDist[0]~DiffDist[2], and the difference between the RSSI values ​​of each pair of BLE anchor points (1,0), BLE anchor points (1,2), and BLE anchor points (0,2) is denoted as DiffRssi[0]~DiffRssi[2]. The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations includes: The preset judgment conditions corresponding to Front, Rear, Right and Left respectively include UWB group judgment conditions and BLE group judgment conditions; The UWB group judgment conditions used to identify the Left include: When condition 6 is met, the target orientation is determined to be Left; Condition 6 is that sub-condition 1 and sub-condition 2 are satisfied simultaneously, or sub-condition 1 and sub-condition 3 are satisfied simultaneously; Sub-condition 1 of condition 6 is DistMinId=1, sub-condition 2 is ValidDistNum=1 and DistFilter[1] is less than DistThrsld_2, sub-condition 3 is the ranging value of UWB anchor point 0 is valid and DistFilter[0] is greater than DistThrsld_3 and DistFilter[1] is greater than DistThrsld_4 and the ranging value of UWB anchor point 2 is invalid; The BLE group judgment conditions used to identify the Left include: The target orientation is determined to be Left if condition 15 is met but any sub-condition in condition 16 is not met. Condition 15 is that RSSI[1] is the maximum value of RSSI; Condition 16 includes the following sub-conditions: Subcondition 1 is that UWB anchor point 1 has a valid ranging value, DistFilter[1] is greater than DistThrsld_1, and abs(DiffRssi[0]) < RssiDiffThrsld_2, or UWB anchor point 1 has a valid ranging value, DistFilter[1] is greater than DistThrsld_1, and abs(DiffRssi[1]) < RssiDiffThrsld_2; Subcondition 2 is when UWB anchor point 1 does not have a valid distance measurement, and UWB anchor point 0 or 2 has a valid distance measurement; Subcondition 3 is abs(DiffRssi[0]) < RssiDiffThrsld_3.

2. The method according to claim 1, characterized in that, The step of identifying the target's location based on the preset judgment conditions corresponding to each of the directions further includes: if condition 6 is not met but condition 7 is met, then the target's location is determined to be Default; Condition 7 is that both abs(DiffRssi[1]) and abs(DiffRssi[2]) are less than RssiDiffThrsld_1; If both condition 15 and any sub-condition in condition 16 are satisfied, then the target orientation is determined to be Default.

3. The method according to claim 1, characterized in that, The UWB group judgment condition for identifying the Front includes: when condition 4 is met, the target orientation is determined to be the Front; condition 4 includes the following sub-conditions: Sub-condition 1 is DistMinId=0 or 1, sub-condition 2 is ValidDistNum = 2, sub-condition 3 is abs(DiffDist[0]) less than DiffDistThrsld_1, sub-condition 4 is UWB anchor point 2 has no valid ranging value or DistFilter[2] is greater than DistThrsld_1; where DistThrsld_1 is the first threshold of valid ranging value, DiffDistThrsld_1 is the first threshold of the difference between ranging values, and abs(DiffDist[0]) is the absolute value of the difference between the valid ranging values ​​of UWB anchor point (1,0); The BLE group judgment conditions used to identify the Front include: When conditions 8 and 9 are met, and either condition 10 or condition 11 is also met, the target orientation is determined to be Front. Condition 8 is that both RSSI[0] and RSSI[1] are greater than RSSI[2]. Condition 9 is that abs(DiffRssi[0]) is less than or equal to RssiDiffThrsld_2; Condition 10 is that abs(DiffRssi[1]) is greater than RssiDiffThrsld_3 and abs(DiffRssi[2]) is greater than RssiDiffThrsld_3; wherein RssiDiffThrsld_2 and RssiDiffThrsld_3 are the second threshold and the third threshold of the absolute value of the RSSI difference between BLE anchor points, respectively. Condition 11 is that the ranging value of UWB anchor point 2 is invalid and there are one or more valid ranging values ​​for UWB anchor point 0 or 1, and all valid ranging values ​​are greater than DistThrsld_3; DistThrsld_3 is the third threshold for valid ranging values.

4. The method according to claim 3, characterized in that, The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations further includes: If conditions 8 and 9 are met simultaneously but conditions 10 or 11 are not met, then the target orientation is determined to be Default. If condition 8 is met but condition 9 is not met and condition 12 is met, then the target orientation is determined to be Default. Condition 12 is that both UWB anchor points 0 and 1 have valid ranging values ​​and abs(DiffDist[0]) is less than DiffDistThrsld_2.

5. The method according to claim 1, characterized in that, The UWB group judgment conditions used to identify the Rear include: When conditions 2 and 3 are met, the target orientation is determined to be Rear. Condition 2 includes the following sub-conditions: Subcondition 1 is ValidDistNum=1, subcondition 2 is the ranging value of UWB anchor point 2 is valid, subcondition 3 is DistFilter[2] is greater than DistThrsld_1, or DistFilter[2] is less than DistThrsld_1, and RSSI[2] is invalid; Condition 3 is that both RSSI[1] and RSSI[0] are less than RssiThrsld; RssiThrsld is the RSSI threshold. The BLE group judgment conditions used to identify the Rear include: When condition 17 is met but conditions 18 or 19 are not met, the target orientation is determined to be Rear. Condition 17 is that RSSI[2] is the maximum value of RSSI and there is a valid distance measurement value at UWB anchor point 2; The condition 18 is that DistFilter[2] is greater than DistThrsld_1, and there is a valid RSSI at BLE anchor point 0 or 1, and (abs(DiffRssi[1]) is less than RssiDiffThrsld_2 and abs(DiffRssi[2]) is less than RssiDiffThrsld_2; Condition 19 is that UWB anchor point 2 does not have a valid distance measurement value, and UWB anchor point 0 or 1 has a valid distance measurement value.

6. The method according to claim 5, characterized in that, The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations further includes: If condition 2 is met but condition 3 is not met, then the target orientation is determined to be Default. If condition 17 is satisfied and either condition 18 or condition 19 is also satisfied, then the target orientation is determined to be Default.

7. The method according to claim 1, characterized in that, The UWB group judgment conditions used to identify the Right include: When condition 5 is met, the target orientation is determined to be Right. Condition 5 is either satisfying both sub-conditions 1 and 2, or satisfying both sub-conditions 1 and 3: Sub-condition 1 of condition 5 is DistMinId=0, sub-condition 2 is ValidDistNum=1 and DistFilter[0] is less than DistThrsld_2, sub-condition 3 is DistFilter[1] is greater than DistThrsld_3 and DistFilter[0] is greater than DistThrsld_4 and the ranging value of UWB anchor point 2 is invalid. The BLE group judgment conditions used to identify the Right include: The target orientation is determined to be Right when condition 13 is met but any sub-condition in condition 14 is not met. Condition 13 is that RSSI[0] is the maximum RSSI value; Condition 14 includes the following sub-conditions: Subcondition 1 is that DistFilter[0] is greater than DistThrsld_1 and abs(DiffRssi[0]) or abs(DiffRssi[1]) is less than RssiDiffThrsld_2; Subcondition 2 is that UWB anchor point 0 does not have a valid ranging value, and UWB anchor point 1 or 2 has a valid ranging value; Subcondition 3 is that abs(DiffRssi[0]) is less than RssiDiffThrsld_3.

8. The method according to claim 7, characterized in that, The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations further includes: If both condition 13 and any sub-condition of condition 14 are satisfied, then the target orientation is determined to be Default.

9. The method according to claim 1, characterized in that, The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations further includes: If condition 1 is met, then the target orientation is determined to be Default; Condition 1 is either ValidRssiNum < 2 or ValidDistNum = 0; Furthermore, condition 1 is executed before other judgment conditions; The step of identifying the target's location based on preset judgment conditions corresponding to each of the aforementioned locations further includes: The execution order of the preset judgment conditions corresponding to Front, Rear, Right, and Left is as follows: first, Rear, Front, Right, and Left are identified in sequence according to the UWB group judgment conditions, and then Front, Right, Left, and Rear are identified in sequence according to the BLE group judgment conditions.

10. A dual-mode, three-anchor-point vehicle external orientation recognition device, characterized in that, For identifying the target's location relative to the vehicle's infotainment system, the vehicle's infotainment system is equipped with UWB / BLE dual-mode three-anchor point configuration, and the device includes: The acquisition module is used to acquire the positioning information of the dual-mode three anchor points in real time; the positioning information includes: RSSI information of the three BLE anchor points and ranging value information of the three UWB anchor points; The parameter calculation module is used to obtain orientation judgment parameters based on the positioning information. The orientation judgment parameters include: the number of valid UWB anchor points with valid ranging values ​​(ValidDistNum), valid ranging values, the pairwise difference between multiple valid ranging values, the minimum ranging value (DistMin), the UWB anchor point identification information (DistMinId) corresponding to the minimum ranging value, the number of valid BLE anchor points with valid RSSI values, valid RSSI values, and the pairwise difference between multiple valid RSSI values. The judgment module is used to identify the target location of the target according to the preset judgment conditions corresponding to each of the directions; wherein, each direction judgment condition includes multiple direction judgment parameters used to characterize the features of the corresponding direction; The target's orientation relative to the vehicle's infotainment system includes: the front, rear, left, and right directions of the vehicle's infotainment system, as well as the transitional orientation (Default) between adjacent directions among the front, rear, left, and right directions; the dual-mode three-anchor point is deployed in an isosceles triangle on both sides of the vehicle and at a preset position at the rear of the vehicle; wherein the anchor point on the right side, left side, and rear of the vehicle are numbered 0, 1, and 2, respectively; The effective ranging values ​​of the three UWB anchor points (0, 1, 2) are all effective ranging values ​​after filtering, and are denoted as DistFilter[0]~DistFilter[2] respectively. The effective RSSI values ​​of the BLE anchor points (0, 1, 2) are denoted as RSSI[0]~RSSI[2] respectively. The difference between the distance measurements of each pair of UWB anchor points (1,0), UWB anchor points (1,2), and UWB anchor points (0,2) is denoted as DiffDist[0]~DiffDist[2], and the difference between the RSSI values ​​of each pair of BLE anchor points (1,0), BLE anchor points (1,2), and BLE anchor points (0,2) is denoted as DiffRssi[0]~DiffRssi[2]. In the judgment module, the preset judgment conditions corresponding to Front, Rear, Right and Left respectively include UWB group judgment conditions and BLE group judgment conditions. The UWB group judgment conditions used to identify the Left include: When condition 6 is met, the target orientation is determined to be Left; Condition 6 is that sub-condition 1 and sub-condition 2 are satisfied simultaneously, or sub-condition 1 and sub-condition 3 are satisfied simultaneously; Sub-condition 1 of condition 6 is DistMinId=1, sub-condition 2 is ValidDistNum=1 and DistFilter[1] is less than DistThrsld_2, sub-condition 3 is the ranging value of UWB anchor point 0 is valid and DistFilter[0] is greater than DistThrsld_3 and DistFilter[1] is greater than DistThrsld_4 and the ranging value of UWB anchor point 2 is invalid; The BLE group judgment conditions used to identify the Left include: The target orientation is determined to be Left if condition 15 is met but any sub-condition in condition 16 is not met. Condition 15 is that RSSI[1] is the maximum value of RSSI; Condition 16 includes the following sub-conditions: Subcondition 1 is that UWB anchor point 1 has a valid ranging value, DistFilter[1] is greater than DistThrsld_1, and abs(DiffRssi[0]) < RssiDiffThrsld_2, or UWB anchor point 1 has a valid ranging value, DistFilter[1] is greater than DistThrsld_1, and abs(DiffRssi[1]) < RssiDiffThrsld_2; Subcondition 2 is when UWB anchor point 1 does not have a valid distance measurement, and UWB anchor point 0 or 2 has a valid distance measurement; Subcondition 3 is abs(DiffRssi[0]) < RssiDiffThrsld_3.

11. An electronic device, characterized in that, Including memory and processor; A memory for storing a computer program; the processor for reading the computer program in the memory and, when executing the program, implementing the method as described in any one of claims 1-9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-9.

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