Uwb digital key in-vehicle and out-of-vehicle judgment method and device and positioning equipment

Abstract

Embodiments of the present application disclose a UWB digital key in-car and out-of-car judgment method, comprising: obtaining positioning information of three UWB anchor points configured by a car machine end, the positioning information comprising: signal strength and pre-processed ranging value of each anchor point; obtaining in-car and out-of-car judgment parameters according to the positioning information, the judgment parameters comprising: minimum ranging value and maximum ranging value in anchor point 0 and anchor point 1, maximum signal strength of all anchor points; sum of ranging values of anchor point 0 and anchor point 1, absolute value of difference between ranging values of anchor point 0 and anchor point 1, sum of ranging values of all anchor points, absolute value of difference between ranging values of anchor point 0 and 2, absolute value of difference between ranging values of anchor point 1 and 2, and absolute value of difference between the two absolute values; and obtaining in-car and out-of-car judgment results by executing multiple groups of in-car and out-of-car judgment conditions in a preset order, which has high positioning accuracy and reduces cost.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of digital key, and particularly to a UWB digital key in-car and out-of-car judgment method and device, a positioning device and a 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] Currently, mainstream UWB digital keys require the installation of 4 to 6 UWB anchors on the vehicle to achieve good user experience, which has a high installation cost. The existing UWB single-anchor digital key uses UWB-AOA (Angle of Arrival) technology for positioning, and the AOA antenna needs more complex design to support multi-channel reception and directionality measurement. This complexity results in higher production costs. How to reduce the cost of high-performance UWB digital keys has become a technical problem that needs to be solved in the field. SUMMARY

[0004] Embodiments of the present application provide a UWB digital key in-car and out-of-car judgment method and device, a positioning device and a storage medium, which aims to achieve high-precision in-car and out-of-car positioning through three UWB anchors to reduce the cost of high-performance digital keys.

[0005] In a first aspect, embodiments of the present application provide a UWB digital key in-car and out-of-car judgment method applied to a digital key system, wherein the digital key system includes three UWB anchors arranged in an isosceles triangle at a car machine end, denoted as anchors 0-2, and anchor 2 is arranged at the tail of the car machine end. The method comprises: obtaining positioning information of the three UWB anchors; the positioning information includes signal strength and pre-processed ranging value of each anchor.

[0006] The in-vehicle and out-of-vehicle judgment parameters are obtained according to the positioning information, and the judgment parameters include: a minimum distance value MinDistSide and a maximum distance value MaxDistSide of the anchor point 0 and the anchor point 1, a maximum signal strength value MaxRxPower of all anchor points, a sum DistSide of the distance values of the anchor point 0 and the anchor point 1, an absolute value DiffDistSide of a difference between the distance values of the anchor point 0 and the anchor point 1, a sum SumDistAll of the distance values of all anchor points, an absolute value DiffDistRightRear of a difference between the distance values of the anchor point 0 and the anchor point 2, an absolute value DiffDistLeftRear of a difference between the distance values of the anchor point 1 and the anchor point 2, and an absolute value DiffDistSideRear of a difference between DiffDistRightRear and DiffDistLeftRear.

[0007] The in-vehicle and out-of-vehicle judgment results are obtained by executing a plurality of sets of in-vehicle and out-of-vehicle judgment conditions in a preset order, wherein the plurality of sets of in-vehicle and out-of-vehicle judgment conditions are obtained according to the in-vehicle and out-of-vehicle judgment parameters.

[0008] As an embodiment, the in-vehicle and out-of-vehicle judgment results are obtained by executing a plurality of sets of in-vehicle and out-of-vehicle judgment conditions in a preset order, including:

[0009] The out-of-vehicle group identification condition, the first in-vehicle group identification condition and the second in-vehicle group identification condition are executed in sequence according to the order, wherein the first in-vehicle group identification condition is used to identify whether the digital key is located in the trunk area, and the second in-vehicle group identification condition is used to identify whether the digital key is located in the in-vehicle area other than the trunk.

[0010] As an embodiment, the method further includes:

[0011] The plurality of sets of in-vehicle and out-of-vehicle judgment conditions are obtained by analyzing pre-collected sample positioning data of the three UWB anchor points, the plurality of sets of in-vehicle and out-of-vehicle judgment conditions include a plurality of sub-conditions, and the parameter threshold of each sub-condition is determined according to the collected sample positioning data.

[0012] The sample positioning data includes positioning data of N regions, and the N regions are divided into M levels according to the importance; M and N are both natural numbers greater than 1; if the characteristics of the sample positioning data corresponding to the region with low importance level and the region with high importance level satisfy the similarity condition, the sample positioning data satisfying the similarity condition is taken as the sample positioning data of the region with high importance.

[0013] As an embodiment, the N regions and the importance level information of each region include:

[0014] Driver area and digital key is static: Level 0;

[0015] Front passenger area and digital key is static: Level 0;

[0016] Other passenger area and digital key is static: Level 1;

[0017] Front and rear areas in the vehicle and digital key is dynamic: Level 0;

[0018] Edge area in the vehicle and digital key is dynamic: Level 2

[0019] Mixed area and digital key is dynamic: Level 2

[0020] Trunk area and digital key is static: Level 1;

[0021] Area outside the vehicle and digital key includes static and dynamic: Level 0;

[0022] Front wheel area outside the vehicle and digital key is static: Level 2;

[0023] Wherein, the importance of Level 0~2 decreases in turn.

[0024] As an embodiment, in the step of obtaining the in-and-out-of-vehicle judgment result by executing the multiple sets of in-and-out-of-vehicle judgment conditions in the preset order, the in-and-out-of-vehicle judgment result is obtained according to the out-of-vehicle group identification condition, and the in-and-out-of-vehicle judgment result is obtained according to the first in-vehicle group identification condition.

[0025] When any one of the following sub-conditions 1~3 is met, the in-and-out-of-vehicle judgment result is out-of-vehicle:

[0026] Sub-condition 1: there is at least one valid ranging in the anchor point 0 and the anchor point 1, and MaxDistSide>DistThrsld_1;

[0027] Sub-condition 2: there is a valid ranging value of the anchor point 2, and Dist[2]>DistThrsld_2;

[0028] Sub-condition 3: SumDistSide>DistThrsld_3;

[0029] Wherein, Dist[2] is the ranging value of the anchor point 2, and DistThrsld_1~DistThrsld_3 are corresponding distance thresholds.

[0030] As an embodiment, in the step of obtaining the in-and-out-of-vehicle judgment result by executing the multiple sets of in-and-out-of-vehicle judgment conditions in the preset order, the in-and-out-of-vehicle judgment result is obtained according to the first in-vehicle group identification condition, and the in-and-out-of-vehicle judgment result is obtained according to the first in-vehicle group identification condition.

[0031] When the ranging value of the anchor point 2 is valid and any one of the following sub-conditions 21~25 is met, the in-and-out-of-vehicle judgment result is in-vehicle:

[0032] Sub-condition 21: Dist[2]<DistThrsld_4;

[0033] Sub-condition 22: Dist[2]<DistThrsld_5 and RxPower[2]<RxThsld_1;

[0034] Sub-condition 23: Dist[2]<DistThrsld_6 and MaxRxPower<RxThsld_2;

[0035] Sub-condition 24: the ranging value of at least one of anchor 0 or anchor 1 is valid, and Dist[2]<DistThrsld_7 and MaxDistSide<DistThrsld_8 and MinDistSide<DistThrsld_9 and SumDistAll<DistThrsld_10;

[0036] Sub-condition 25: the ranging value of anchor 0 or anchor 1 is invalid and Dist[2]<DistThrsld_22;

[0037] wherein Dist[2] is the ranging value of anchor 2, DistThrsld_4~DistThrsld_10, and DistThrsld_22 are corresponding distance threshold values; RxThsld_1, RxThsld_2 are corresponding signal strength threshold values.

[0038] As an embodiment, the judging in-vehicle or out-vehicle according to the preset order includes:

[0039] when the ranging values of anchor 0 and anchor 1 are both valid, judging whether it is out-vehicle according to SumDistSide, DiffDistSide and MinDistSide, if not, judging whether it is the first in-vehicle area according to MaxDistSide, MinDistSide and SumDistSide;

[0040] if not the first in-vehicle area, and when the ranging values of anchors 0~2 are all valid, identifying the second in-vehicle area according to DiffDistSide, SumDistSide, SumDistAll, Dist[2], DiffDistRightRear, DiffDistLeftRear and DiffDistSideRear; wherein Dist[2] is the ranging value of anchor;

[0041] If not the second in-vehicle area, and when the ranging value of one of anchor point 0 or anchor point 1 is valid, a third in-vehicle area is identified according to Rxpower[i], Dist[j], the validity of the ranging value of anchor point 2; the first in-vehicle area, the second in-vehicle area and the third in-vehicle area cover the area other than the trunk of the vehicle;

[0042] Wherein, i represents the anchor point whose ranging value is invalid in anchor point 0 or 1, and j represents the anchor point whose ranging value is valid in anchor point 0 or 1.

[0043] In the second aspect, the embodiment of the present application provides a UWB digital key in-vehicle and out-of-vehicle judgment device, which is configured in a digital key system, the digital key system comprising three UWB anchor points arranged in an isosceles triangle at a vehicle terminal, and denoted as anchor points 0-2, and the anchor point 2 is arranged at the tail of the vehicle terminal, the device comprising:

[0044] The acquisition module is configured to acquire positioning information of the three UWB anchor points; the positioning information comprises signal strength and pre-processed ranging value of each anchor point;

[0045] The parameter calculation module is configured to obtain in-vehicle and out-of-vehicle judgment parameters according to the positioning information, the judgment parameters comprising: the minimum ranging value MinDistSide and the maximum ranging value MaxDistSide in anchor point 0 and anchor point 1, the maximum signal strength MaxRxPower of all anchor points, the sum of the ranging values SumDistSide of anchor point 0 and anchor point 1, the absolute value DiffDistSide of the difference between the ranging values of anchor point 0 and anchor point 1, the sum of the ranging values SumDistAll of all anchor points, the absolute value DiffDistRightRear of the difference between the ranging values of anchor point 0 and 2, the absolute value DiffDistLeftRear of the difference between the ranging values of anchor point 1 and 2, and the absolute value DiffDistSideRear of the difference between DiffDistRightRear and DiffDistLeftRear;

[0046] The condition execution module is configured to execute a plurality of in-vehicle and out-of-vehicle judgment conditions in a preset order to obtain in-vehicle and out-of-vehicle judgment results; wherein, the plurality of in-vehicle and out-of-vehicle judgment conditions comprises: out-of-vehicle group identification condition, first in-vehicle group identification condition and second in-vehicle group identification condition, and the plurality of in-vehicle and out-of-vehicle judgment conditions are obtained according to the in-vehicle and out-of-vehicle judgment parameters.

[0047] In the third aspect, the embodiment of the present application provides a positioning device comprising a memory and a processor;

[0048] 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 UWB digital key in-vehicle and out-of-vehicle judgment method as described above when executing the program.

[0049] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the UWB digital key in-vehicle / outside judgment method according to the first aspect.

[0050] Compared with the prior art, the technical scheme provided by the embodiment of the present application has at least the following positive effects:

[0051] In the technical scheme of the embodiment of the present application, the positioning information of the three UWB anchor points is acquired; the positioning information includes the signal strength and the preprocessed ranging value of each anchor point; the in-vehicle / outside judgment parameter is obtained according to the positioning information, and the in-vehicle / outside judgment result is obtained by executing multiple sets of in-vehicle / outside judgment conditions in a preset order, wherein the multiple sets of in-vehicle / outside judgment conditions include the outside group identification condition, the first in-vehicle group identification condition and the second in-vehicle group identification condition, and the multiple sets of in-vehicle / outside judgment conditions are obtained according to the ranging values, the signal strengths of all anchor points and the in-vehicle / outside judgment parameter, so that high-precision in-vehicle / outside judgment can be realized and the cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. 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 creative labor.

[0053] Figure 1 The layout example diagram of three UWB anchor points on a vehicle is provided for the embodiment of the present application.

[0054] Figure 2 The flowchart of the UWB digital key in-vehicle / outside judgment method provided for the first embodiment of the present application is shown.

[0055] Figure 3 The example flowchart of the UWB digital key in-vehicle / outside judgment method provided for the embodiment of the present application is shown.

[0056] Figure 4 The structural diagram of the UWB digital key in-vehicle / outside judgment device provided for the second embodiment of the present application is shown.

[0057] Figure 5 The structural diagram of the positioning device provided for the third embodiment of the present application is shown. DETAILED DESCRIPTION

[0058] The application will be described in further detail below with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not to be used to limit the scope of the application. In addition, it should be noted that, for the sake of brevity, only the portions of the drawings that are needed to understand the application have been shown in the drawings.

[0059] Figure 1 The layout of three UWB anchor points on a vehicle is shown in the UWB digital key in-vehicle / out-of-vehicle judgment method provided by the embodiments of the application. As shown in Figure 1 , anchor points 0-2 are arranged in an isosceles triangle at the head unit end, and anchor point 2 is arranged at the tail of the head unit end. Anchor point 0 and anchor point 1 are arranged in the left and right rearview mirrors, respectively. Other installation positions can also be selected according to the vehicle structure characteristics and needs, and no excessive limitation is made to this.

[0060] Figure 2 The flowchart of the UWB digital key in-vehicle / out-of-vehicle judgment method provided by the embodiments of the application can be applied to PEPS (Passive Entry Passive Start, keyless entry and start). The method can be executed by a UWB digital key in-vehicle / out-of-vehicle judgment device provided by the embodiments of the application, which can be realized in software and / or hardware and configured in a positioning device at the vehicle end. As shown in Figure 2 , the UWB digital key in-vehicle / out-of-vehicle judgment method of the application includes the following steps:

[0061] Step 201, obtaining positioning information of three UWB anchor points.

[0062] The positioning information includes the signal strength of each anchor point and the pre-processed ranging value. In the digital key positioning process, the ranging values of the three anchor points are read in real time, and the effective ranging values are filtered. When the ranging value of a certain anchor point is invalid, the current ranging value of the anchor point can be predicted, and the filtering method is described below. The filtered ranging values of each anchor point are Dist[0]-Dist[2], the signal strength of each anchor point is RxPower[0]-RxPower[2], and the flag bits of whether the ranging value of each anchor point is valid are ValidFlag[0]-ValidFlag[2]. ValidFlag[i]=1 (i is the anchor point number, and the value range is 0, 1, and 2) indicates that the anchor point i has a filtered valid ranging value, and both the valid ranging value and the predicted value are available ranging values.

[0063] The digital key located outside or inside the vehicle can adopt different filtering methods. When the digital key is located outside the vehicle, the filtered ranging value can be obtained by using Kalman filtering described below. When the digital key is located inside the vehicle or PEPS, filtering can be performed according to historical ranging values and time information. The pre-processing method of the ranging value is not limited in the embodiment.

[0064] Step 202: obtaining an inside-outside judgment parameter according to the positioning information.

[0065] The judgment parameter includes: the minimum ranging value MinDistSide and the maximum ranging value MaxDistSide in the anchor point 0 and the anchor point 1, the maximum signal strength MaxRxPower of all anchor points, the sum SumDistSide of the ranging values of the anchor point 0 and the anchor point 1, the absolute value DiffDistSide of the difference between the ranging values of the anchor point 0 and the anchor point 1, the sum SumDistAll of the ranging values of all anchor points, the absolute value DiffDistRightRear of the difference between the ranging values of the anchor point 0 and the anchor point 2, the absolute value DiffDistLeftRear of the difference between the ranging values of the anchor point 1 and the anchor point 2, and the absolute value DiffDistSideRear of the difference between DiffDistRightRear and DiffDistLeftRear. It can be understood that the judgment parameter can be calculated according to the needs of the judgment condition, and the calculation time of the judgment parameter is not limited in the embodiment.

[0066] Step 203: obtaining an inside-outside judgment result by executing a plurality of inside-outside judgment conditions in a preset order. The plurality of inside-outside judgment conditions includes: an outside group identification condition, a first inside group identification condition, and a second inside group identification condition, and the plurality of inside-outside judgment conditions is obtained according to the inside-outside judgment parameter.

[0067] The outside group identification condition is used for identifying the inside-outside judgment when the digital key and the vehicle have a certain distance and the recognition is strong. The first inside group identification condition and the second inside group identification condition are used for the inside-outside judgment when the digital key is located near the vehicle or in the edge area of the vehicle. The first inside group identification condition is used for identifying whether the digital key is located in the trunk area, and the second inside group identification condition is used for identifying whether the digital key is located in the inside area of the vehicle except the trunk.

[0068] Step 203: obtaining an inside-outside judgment result by executing a plurality of inside-outside judgment conditions in a preset order. The plurality of inside-outside judgment conditions includes: an outside group identification condition, a first inside group identification condition, and a second inside group identification condition, and the plurality of inside-outside judgment conditions is obtained according to the inside-outside judgment parameter.

[0069] The inside-outside judgment result in the embodiment includes: a PS area (inside the vehicle), a PEPS area (mixed area), and outside the vehicle.

[0070] The multiple sets of vehicle inside / outside judgment conditions are obtained by analyzing sample positioning data of the three UWB anchor points collected in advance, and the multiple sets of vehicle inside / outside judgment conditions include multiple sub-conditions, and the parameter threshold of each sub-condition is determined according to the collected sample positioning data. The sample positioning data includes positioning data of N regions, and the N regions are divided into M levels according to the importance degree; M and N are both natural numbers greater than 1; if the characteristics of the sample positioning data corresponding to the region with low importance degree and the region with high importance degree satisfy the similarity condition, the sample positioning data satisfying the similarity condition is taken as the sample positioning data of the region with high importance degree, so that the signal confidence of the region with high importance degree is high, and the identification of the important region is preferentially ensured.

[0071] The flow of collecting sample positioning data and designing a vehicle inside / outside judgment algorithm for a vehicle that needs to be calibrated is as follows:

[0072] 1. Sample positioning data collection: multiple sampling regions are divided according to the vehicle, and sample positioning data of the digital key in each sampling region is collected respectively, and an example of the sampling region and its importance degree level is as follows:

[0073] (1) The main driver area and the digital key is static: 0 level;

[0074] The main driver area (also known as Driver’s Area), when collecting data, the digital key is in a static state, the Driver’s Area can include placing the digital key into the pockets of the upper garment and trousers, the upper side of the central control console, the vicinity of the steering wheel, the commonly used mobile phone placement under the central control, the armrest box and cup holder in the middle of the front row, the inner pocket of the driver’s side door, the area below the driver’s seat, the area above the co-driver’s seat, and the bag above the co-driver’s seat;

[0075] (2) The front passenger area and the digital key is static: 0 level;

[0076] The front passenger area (also known as Front passenger’s Area), when collecting data, the digital key is in a static state, the Front passenger’s Area can include placing the device (i.e. the digital key) into the pockets of the upper garment and trousers, the upper side of the central control console, the glove box, the area below the co-driver’s seat, and the inner pocket of the co-driver’s side door;

[0077] (3) Other passenger areas and the digital key is static: 1 level;

[0078] Other passenger’s Area, when the digital key is static, can include the back seats (left, middle, and right), the space under the back seats, and the pockets on both sides of the back seats;

[0079] (4) Moving Area, when the digital key is dynamic: Level 0

[0080] Moving Area, when the digital key is moved in the front and back spaces of the vehicle;

[0081] (5) Edge Area, when the digital key is dynamic: Level 2

[0082] Edge Area, when the digital key is moved within about 20 cm of the front, back, left, and right windows of the vehicle, covering all window areas;

[0083] (6) Mix Area, when the digital key is dynamic: Level 2

[0084] Mix Area, when the digital key is moved outside the vehicle within about 20 cm of the front, back, left, and right windows, covering all window areas;

[0085] (7) Trunk Area, when the digital key is static: Level 1

[0086] Trunk Area, the interior of the trunk is divided into multiple areas, and each area includes two cases: directly placing the digital key in the trunk and placing the digital key in a bag and then placing the bag in the trunk;

[0087] (8) Out Area, when the digital key is static and dynamic: Level 0

[0088] Out Area, when static, multiple sampling points are set at a radius of 50 cm, 1 m, 2 m, and 3 m from the vehicle, and the digital key is placed at each sampling point for static sampling. When dynamic, the digital key is carried around the vehicle at a radius of 50 cm, 1 m, 2 m, and 3 m from the vehicle for dynamic sampling;

[0089] (9) Front Wheel Area, when the digital key is static: Level 2

[0090] The out-of-vehicle front wheel area (also referred to as a Special Out Area), the digital key is placed in different poses above the two front wheels outside the vehicle. Taking a mobile phone as an example, it includes different poses such as front, back, parallel to the vehicle, and perpendicular to the vehicle.

[0091] 2. The above areas are sorted according to importance, (1), (2), (4), and (8) are level 0, which are the most important areas, (3), (7) are level 1, (5), (6), (9) are level 2.

[0092] 3. The signal confidence of different areas is sorted, and the signal features of the above areas are extracted. Due to the small number of anchor points and the instability of the signal, when the data features of different areas are similar, the data confidence of the more important area is higher. For example, when the data features of (1) and (6) overlap (i.e., similar), to ensure that (1) can be recognized as 100% in-vehicle, the similar data features will be prioritized as the features of (1).

[0093] 4. The signal features of the sample positioning data of the above (1), (2), (3), (4), (5), (7) and other in-vehicle areas are analyzed to obtain the conditions for judging as in-vehicle, i.e., the first in-vehicle group recognition condition and the second in-vehicle group recognition condition (see below for details);

[0094] 5. The signal features of the sample positioning data of the above (6), (8), (9) and other out-of-vehicle areas are analyzed to obtain the out-of-vehicle group recognition condition (see below for details).

[0095] 6. According to the multiple in-vehicle and out-of-vehicle judgment conditions obtained in steps 4 and 5, and the recognition efficiency, the execution order of the multiple in-vehicle and out-of-vehicle judgment conditions is set as follows: the out-of-vehicle group recognition condition, the first in-vehicle group recognition condition, and the second in-vehicle group recognition condition are executed in turn, i.e., the out-of-vehicle, the trunk, and the vehicle cabin are recognized in turn. In the judgment of the vehicle cabin, according to the effectiveness of the three anchor points signals, the important areas and the judgment efficiency are taken into account, and the following judgment order is adopted:

[0096] Case 1: When the ranging values of the two side anchors (0 and 1) are both valid, i.e., ValidFlag[0] and ValidFlag[1] are both 1, regardless of whether the ranging value of anchor 2 is valid, the corresponding judgment condition is executed to judge whether the digital key is located in the first in-vehicle area, which covers most of the front and rear normal positions, thereby judging that the digital key is located in most cases in the vehicle.

[0097] Case 2: When the ranging values of the three anchors are all valid, the corresponding judgment condition is executed to judge whether the digital key is located in the second in-vehicle area, further expanding to the cases not covered by Case 1, effectively identifying a small number of front and rear normal positions;

[0098] Case 3: When the ranging value of one of the anchor points 0 and 1 is valid, and the ranging value of the other is invalid, the corresponding judgment condition is executed to determine whether the digital key is located in the third in-vehicle area, which can cover some corners and occasional situations in the vehicle.

[0099] The following illustrates how step 203 executes multiple sets of in-vehicle and out-of-vehicle judgment conditions in a preset order to obtain in-vehicle and out-of-vehicle judgment results as an example:

[0100] Step 203 can include the following sub-steps 20311-20312:

[0101] It should be noted that the ranging value thresholds DistThrsld_1-DistThrsld_22 and the signal strength thresholds RxThsld_1-RxThsld_3 involved in the present embodiment can be calibrated through the aforementioned calibration process. In the present embodiment, the values of the ranging value thresholds are shown in Table 1 as follows:

[0102] Table 1

[0103]

[0104] The values of the signal strength thresholds are shown in Table 2 as follows:

[0105] Table 2

[0106]

[0107] It can be understood that the thresholds corresponding to different vehicle models and anchor point layouts need to be calibrated respectively.

[0108] Sub-step 20311: According to the out-of-vehicle group identification condition, it is determined whether it is out of the vehicle. If yes, sub-step 20323 is executed, and the in-vehicle and out-of-vehicle judgment result is output as out of the vehicle. If not, sub-step 20312 is continued to be executed.

[0109] Specifically, when any one of the following sub-conditions 1-3 is met, the in-vehicle and out-of-vehicle judgment result is out of the vehicle:

[0110] Sub-condition 1: There is at least one valid ranging value in the anchor point 0 and the anchor point 1, and MaxDistSide>DistThrsld_1, such as MaxDistSide>450cm;

[0111] Sub-condition 2: There is a valid ranging in the anchor point 2, and Dist[2]>DistThrsld_2, such as Dist[2]>550cm;

[0112] Sub-condition 3: SumDistSide>DistThrsld_3, such as SumDistSide>835cm;

[0113] wherein Dist[2] is the ranging value of anchor point 2, and DistThrsld_1~DistThrsld_3 are corresponding distance thresholds. By MaxDistSide, Dist[2] and SumDistSide being greater than the respective thresholds, the case that the digital key is located outside the vehicle and the distance between the digital key and the vehicle has strong recognition can be quickly identified.

[0114] Sub-step 20312, judging whether it is in the vehicle according to the first in-vehicle group identification condition, if it is in the vehicle, then executing sub-step 20313: the in-out judgment result is in the vehicle (trunk area), if not, then executing sub-step 20314.

[0115] The judging whether it is in the vehicle according to the first in-vehicle group identification condition can include:

[0116] When the ranging value of anchor point 2 is valid and any one of the following sub-conditions 21~25 is met, the in-out judgment result is in the vehicle:

[0117] Sub-condition 21: Dist[2]<DistThrsld_4, such as Dist[2]<70cm;

[0118] Sub-condition 22: Dist[2]<DistThrsld_5 and RxPower[2]<RxThsld_1, such as Dist[2]<100cm and RxPower[2]<-82dbm;

[0119] Sub-condition 23: Dist[2]<DistThrsld_6 and MaxRxPower<RxThsld_2, such as Dist[2]<130cm and MaxRxPower<-90dbm;

[0120] Sub-condition 24: the ranging value of at least one of anchor point 0 or anchor point 1 is valid, and Dist[2]<DistThrsld_7 and MaxDistSide<DistThrsld_8 and MinDistSide<DistThrsld_9 and SumDistAll<DistThrsld_10, such as Dist[2]<200cm and MaxDistSide<400cm and MinDistSide<350 and SumDistAll<930cm;

[0121] Sub-condition 25: the ranging value of anchor point 0 or anchor point 1 is invalid and Dist[2]<DistThrsld_22, such as Dist[2]<160cm.

[0122] Wherein, Dist[2] is the ranging value of anchor point 2, DistThrsld_4~DistThrsld_10 and DistThrsld_22 are corresponding distance threshold values; RxThsld_1 and RxThsld_2 are corresponding signal strength threshold values.

[0123] According to the first in-vehicle group identification condition, the ranging value of anchor point 2, the signal strength of anchor point 2, the maximum signal strength of all anchor points, the effectiveness of anchor point 0 or anchor point 1, the minimum ranging value and the minimum ranging value in anchor points 0 and 1, and the sum of the ranging values of all anchor points are comprehensively considered, so as to accurately identify various situations when the digital key is located in the trunk.

[0124] Sub-step 20314, whether the ranging values of anchor points 0 and 1 are both valid, if the ranging values of anchor points 0 and 1 are both valid, i.e. ValidFlag[0]=1 and ValidFlag[1]=1, then sub-step 20315 is executed, otherwise, sub-step 20319 is executed.

[0125] Sub-step 20315, according to SumDistSide, DiffDistSide and MinDistSide, whether it is outside the vehicle is judged, if it is outside the vehicle, then sub-step 20323 is executed, if it is not outside the vehicle, then sub-step 20316 is executed.

[0126] According to SumDistSide, DiffDistSide and MinDistSide, whether it is outside the vehicle can include judging as outside the vehicle when any one of the following conditions is met:

[0127] ① SumDistSide>DistThrsld_11(795cm);

[0128] ② DiffDistSide>DistThrsld_12(180cm);

[0129] ③ MinDistSide>DistThrsld_13(300cm) and ValidFlag[2]=0.

[0130] Sub-step 20316, according to MaxDistSide, MinDistSide, SumDistSide, whether it is the first in-vehicle area is judged, if it is the first in-vehicle area, then sub-step 20321 is executed, if it is not the first in-vehicle area, then sub-step 20317 is executed.

[0131] Determining whether it is the first in-vehicle area according to MaxDistSide, MinDistSide, SumDistSide can include that the in-out result is PS area when any of the following conditions is met:

[0132] 1. MaxDistSide < DistThrsld_14 (220 cm);

[0133] 2. MinDistSide < DistThrsld_7 (200 cm) and SumDistSide < DistThrsld_13 (300 cm);

[0134] 3. MinDistSide > DistThrsld_15 (150 cm) and MaxDistSide < DistThrsld_16 (270 cm) and SumDistSide < DistThrsld_17 (500 cm).

[0135] Sub-step 20317, whether the ranging values of anchor points 0-2 are all valid, if all are valid, that is, the values of ValidFlag[0]-ValidFlag[0] are all 1, then sub-step 20318 is executed, otherwise, sub-step 20319 is executed.

[0136] Sub-step 20318, according to DiffDistSide, SumDistSide, SumDistAll, Dist[2], DiffDistRightRear, DiffDistLeftRear, DiffDistSideRear, whether the second in-vehicle area is identified, if yes, sub-step 20321 is executed, if not, sub-step 20319 is executed.

[0137] According to DiffDistSide, SumDistSide, SumDistAll, Dist[2], DiffDistRightRear, DiffDistLeftRear, DiffDistSideRear, whether the second in-vehicle area is identified can include:

[0138] When any of the following conditions is met, the in-out result is PS area, that is, a few front and rear normal positions can be identified:

[0139] 1. DiffDistSide < DistThrsld_18 (90 cm) and SumDistSide < DistThrsld_2 (550 cm);

[0140] 2. SumDistSide > DistThrsld_13 (300 cm) and DiffDistSide < DistThrsld_12 (180 cm);

[0141] 3. Dist[2] < DistThrsld_19 (250 cm) and DiffDistSide < DistThrsld_20 (50 cm);

[0142] 4. SumDistAll < DistThrsld_21 (630 cm);

[0143] 5. DiffDistRightRear < DistThrsld_4 (70 cm) and DiffDistLeftRear < DistThrsld_4 (70 cm) and DiffDistSideRear < DistThrsld_4 (70 cm).

[0144] Otherwise, when DiffDistSideRear > DistThrsld_12 (180 cm), the in-out result is out.

[0145] Sub-step 20319, whether there is a valid ranging value in anchor point 0 and anchor point 1, if yes, i.e. the ranging value of one of anchor point 0 and 1 is valid and the ranging value of the other is invalid, then execute sub-step 20320, if not, execute sub-step 20322.

[0146] Sub-step 20320, according to Rxpower[i], Dist[j], the validity of the ranging value of anchor point 2, whether it is the third in-vehicle area, if it is the third in-vehicle area, execute sub-step 20321, if it is not the third in-vehicle area, execute sub-step 20322.

[0147] According to Rxpower[i], Dist[j], the validity of the ranging value of anchor point 2, whether it is the third in-vehicle area can include:

[0148] When any of the following conditions is met, the in-out result is the PS area:

[0149] 1. Rxpower[i] > RxThsld_3 (-88 dbm) and Dist[j] < DistThrsld_7 (200 cm);

[0150] 2. Dist[j] < DistThrsld_6 (130 cm) and ValidFlag[2] = 0.

[0151] When the above two judgment conditions are not met, the in-out result is out.

[0152] i represents an anchor point with invalid ranging values in anchor points 0 or 1, and j represents an anchor point with valid ranging values in anchor points 0 or 1.

[0153] Substep 20321: The inside-outside judgment result is inside the vehicle.

[0154] Substep 20322: The inside-outside judgment result is the PEPS area.

[0155] Substep 20323: The inside-outside judgment result is outside the vehicle.

[0156] By sequentially executing the judgment conditions of the first in-vehicle area, the second in-vehicle area, and the third in-vehicle area, various situations when the digital key is located in different areas can be quickly and accurately identified.

[0157] In the embodiment of the application, in the step 201 of obtaining the positioning information of the three UWB anchor points, the filtered ranging values can be obtained by filtering the ranging values of each anchor point read.

[0158] Substep 2011: Obtain the position change trend TrendUwb of the digital key according to the ranging information of the plurality of UWB anchor points. Specifically, the position change trend TrendUwb of the digital key can be obtained according to the ranging values of the three UWB anchor points. 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, there is no obvious change in distance, or it is unknown. TrendUwb can assist in filtering the ranging values to improve the accuracy of filtering. TrendUwb can be obtained according to the change trend of the minimum ranging value in each round of ranging values, for example. If 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.

[0159] Substep 2012: In the case where there is no valid ranging value for the UWB anchor point i at present, obtain a preset target position according to the outside area positioning result corresponding to the time t of the last valid ranging value of the UWB anchor point i, TrendUwb, and the unlocking state of the vehicle terminal. Obtain a predicted distance according to the distance relationship between the valid ranging value Dist(i, t) of the UWB anchor point i at time t and the preset target position. Obtain a predicted time length T according to the predicted distance and a preset moving speed.

[0160] Sub-step 2013, when no valid ranging value of UWB anchor point i is detected within the prediction time T, performing state step prediction of the Kalman filtering algorithm to obtain the filtered ranging value of UWB anchor point i, and when a valid ranging value of UWB anchor point i is detected, terminating the state step prediction and obtaining the filtered estimation value of UWB anchor point i according to the Kalman filtering algorithm as the filtered ranging value.

[0161] In the embodiment of the 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 not be described herein again. 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) case, the Kalman filtering algorithm is used to filter the ranging information of UWB anchor point i read in real time to obtain the filtered ranging value DistFilter[i], which corresponds to Dist[i] and is used for the in-out vehicle judgment in the foregoing embodiment.

[0162] The state 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 in the case of lacking the valid ranging value at the current time. When the ranging value of anchor point i is invalid, the state step prediction is performed using the Kalman filtering, and within the prediction time T, the filtered ranging value DistFilter[i] of anchor point i is obtained. When the valid ranging value of anchor point i is detected in real time, the state step prediction is stopped, the optimal estimation of the Kalman filtering is switched back, and the current filtered ranging value DistFilter[i] of anchor point i is obtained.

[0163] In the embodiment of the application, the out-of-vehicle area set according to the digital key function can include 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 application, the positioning result of the out-of-vehicle area corresponding to the positioning information of the three anchor points acquired in real time can be obtained. The out-of-vehicle area positioning result can be one of the PE, LOCK, WELCOME and CONNECT areas.

[0164] In the embodiment of the application, step 2012 can include sub-step 20121 to sub-step 20124.

[0165] Sub-step 20121, 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 prediction 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 prediction duration as the preset minimum prediction duration TimePredMin; wherein the difference between Dist(i, t) and the corresponding locking distance is the prediction distance. TimePredMin can be set according to the positioning scene requirement, and is not specifically limited here.

[0166] 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 prediction duration can be calculated according to the prediction distance and the user's regular walking speed, therefore, in sub-step 2031, the prediction 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.

[0167] Sub-step 20122, 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 prediction duration according to DisMinToCmd and the preset moving rate; wherein DisMinToCmd is the prediction 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 prediction 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.

[0168] Sub-step 20123, if the out-of-vehicle area positioning result corresponding to time t is LOCK, and the current state of the car machine end is a 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.

[0169] 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 current state of the car machine end is an 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.

[0170] Sub-step 20124, 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 to cause large ranging value error.

[0171] In sub-step 2013, the three ranging values read at the current time are input into the Kalman filter as observation values, 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 at the current time is solved. X is the filtered ranging value at the current time. When the ranging value of anchor point i at the current time is invalid, one-step state prediction is performed for anchor point i within the prediction time length T, and when 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.

[0172] The state equation of Kalman filtering is: ;

[0173] Wherein, for each , is the number of UWB anchor points.

[0174] The observation equation is: ;

[0175] Wherein, for each =1. The application of the state equation and observation equation of Kalman filtering is well known to those skilled in the art and will not be elaborated here. In sub-step 2013, the state one-step prediction is performed based on the validity of the ranging value and the prediction time T, which ensures the responsiveness of the system, the accuracy of the ranging value, and the robustness.

[0176] According to the UWB digital key vehicle interior / exterior identification method of this invention, a smartphone and a smartwatch were used as digital keys, and 75 sets of tests were conducted at typical locations inside the vehicle in typical postures. "Screen in front" means the phone screen is facing forward, "camera up" means the camera is facing upward, and so on. As can be seen from the data in Table 3, the vast majority of locations inside the vehicle could be identified as PS areas with 100% accuracy, a few locations had a probability of being identified as PEPS areas, and the false positive rate for identifying locations outside the vehicle was 0%.

[0177] Table 3

[0178]

[0179]

[0180] Tests were also conducted at designated locations outside the vehicle, such as above the left front wheel, above the right front wheel, and 50cm behind the trunk. All of these locations were correctly identified as outside the vehicle, with a false positive rate of 0%. Verification demonstrates that this embodiment of the invention achieves excellent performance in distinguishing between vehicle interior and exterior locations while ensuring vehicle safety and reducing UWB layout costs.

[0181] Compared with existing technologies, the UWB digital key vehicle interior / exterior judgment method of this invention obtains the positioning information of three UWB anchor points. The positioning information includes the signal strength of each anchor point and the preprocessed distance measurement value. Based on the positioning information, vehicle interior / exterior judgment parameters are obtained, and multiple sets of vehicle interior / exterior judgment conditions are executed in a preset order to obtain the vehicle interior / exterior judgment result. By optimizing the combination of judgment parameters and the judgment order, the accuracy and efficiency of vehicle interior / exterior judgment are taken into account, which can achieve high-precision vehicle interior / exterior judgment and reduce costs.

[0182] Embodiment 2 of the present invention provides a UWB digital key vehicle interior / exterior detection device, configured in the positioning device of a digital key system. For example... Figure 4 As shown, the judgment device 400 includes: an acquisition module 402, a parameter calculation module 404, and a condition execution module 406.

[0183] The acquisition module 402 is used to acquire the positioning information of three UWB anchor points; the positioning information includes: the signal strength of each anchor point and the preprocessed distance measurement value.

[0184] The parameter calculation module 404 is configured to obtain the in-and-out-of-vehicle judgment parameters according to the positioning information, and the judgment parameters include: the minimum distance value MinDistSide and the maximum distance value MaxDistSide in the anchor point 0 and the anchor point 1, the maximum signal strength MaxRxPower of all anchor points, the sum of the distance values SumDistSide of the anchor point 0 and the anchor point 1, the absolute value DiffDistSide of the difference between the distance values of the anchor point 0 and the anchor point 1, the sum of the distance values SumDistAll of all anchor points, the absolute value DiffDistRightRear of the difference between the distance values of the anchor point 0 and the anchor point 2, the absolute value DiffDistLeftRear of the difference between the distance values of the anchor point 1 and the anchor point 2, and the absolute value DiffDistSideRear of the difference between DiffDistRightRear and DiffDistLeftRear.

[0185] The conditional execution module 406 is configured to execute the multiple sets of in-and-out-of-vehicle judgment conditions in a preset order to obtain the in-and-out-of-vehicle judgment result, wherein the multiple sets of in-and-out-of-vehicle judgment conditions are obtained according to the in-and-out-of-vehicle judgment parameters.

[0186] Optionally, the conditional execution module 406 is specifically configured to execute the out-of-vehicle group identification condition, the first in-vehicle group identification condition and the second in-vehicle group identification condition in sequence according to the order, wherein the first in-vehicle group identification condition is used to identify whether the digital key is located in the trunk area, and the second in-vehicle group identification condition is used to identify whether the digital key is located in the in-vehicle area other than the trunk.

[0187] Optionally, the multiple sets of in-and-out-of-vehicle judgment conditions are obtained by analyzing the sample positioning data of the three UWB anchor points collected in advance, the multiple sets of in-and-out-of-vehicle judgment conditions include multiple sub-conditions, and the parameter threshold of each sub-condition is determined according to the collected sample positioning data.

[0188] The sample positioning data includes positioning data of N regions, and the N regions are divided into M levels according to the importance degree; M and N are both natural numbers greater than 1; if the characteristics of the sample positioning data corresponding to the region with low importance degree and the region with high importance degree satisfy the similarity condition, the sample positioning data satisfying the similarity condition is taken as the sample positioning data of the region with high importance degree.

[0189] Optionally, the N regions and the importance degree level information of each region include:

[0190] The main driver region and the digital key is static: 0 level;

[0191] The front passenger region and the digital key is static: 0 level;

[0192] Other passenger area and digital key is static: level 1;

[0193] Front and rear areas in the car and digital key is dynamic: level 0;

[0194] Edge area in the car and digital key is dynamic: level 2

[0195] Mixed area and digital key is dynamic: level 2

[0196] Trunk area and digital key is static: level 1;

[0197] Outside area and digital key includes static and dynamic: level 0;

[0198] Outside front wheel area and digital key is static: level 2;

[0199] The importance of levels 0-2 decreases in turn.

[0200] Optionally, the condition execution module 406 includes an outside judgment submodule, configured to determine that the inside / outside result is outside when any one of the following sub-conditions 1-3 is met:

[0201] Sub-condition 1: there is at least one valid ranging in anchor point 0 and anchor point 1 and MaxDistSide>DistThrsld_1;

[0202] Sub-condition 2: there is a valid ranging value of anchor point 2 and Dist[2]>DistThrsld_2;

[0203] Sub-condition 3: SumDistSide>DistThrsld_3;

[0204] Wherein, Dist[2] is the ranging value of anchor point 2, and DistThrsld_1-DistThrsld_3 are corresponding distance thresholds.

[0205] The condition execution module 406 further includes a first inside judgment submodule, configured to determine that the inside / outside result is inside when the ranging value of anchor point 2 is valid and any one of the following sub-conditions 21-25 is met:

[0206] Sub-condition 21: Dist[2]<DistThrsld_4;

[0207] Sub-condition 22: Dist[2]<DistThrsld_5 and RxPower[2]<RxThsld_1;

[0208] Sub-condition 23: Dist[2]<DistThrsld_6 and MaxRxPower<RxThsld_2;

[0209] Sub-condition 24: the ranging value of at least one of anchor point 0 or anchor point 1 is valid, and Dist[2]<DistThrsld_7 and MaxDistSide<DistThrsld_8 and MinDistSide<DistThrsld_9 and SumDistAll<DistThrsld_10;

[0210] Sub-condition 25: the ranging value of anchor point 0 or anchor point 1 is invalid, and Dist[2]<DistThrsld_22;

[0211] wherein Dist[2] is the ranging value of anchor point 2, DistThrsld_4~DistThrsld_10 and DistThrsld_22 are corresponding distance thresholds, and RxThsld_1 and RxThsld_2 are corresponding signal strength thresholds.

[0212] The condition execution module 406 can further include a second in-vehicle judgment sub-module, configured to, when the ranging values of anchor point 0 and anchor point 1 are both valid, judge whether it is out of vehicle according to SumDistSide, DiffDistSide and MinDistSide, and if not, judge whether it is a first in-vehicle area according to MaxDistSide, MinDistSide and SumDistSide.

[0213] If it is not the first in-vehicle area, and when the ranging values of anchor points 0~2 are all valid, a second in-vehicle area is identified according to DiffDistSide, SumDistSide, SumDistAll, Dist[2], DiffDistRightRear, DiffDistLeftRear and DiffDistSideRear; wherein Dist[2] is the ranging value of anchor point 2.

[0214] If it is not the second in-vehicle area, and when the ranging value of one of anchor point 0 or anchor point 1 is valid, a third in-vehicle area is identified according to Rxpower[i], Dist[j] and the validity of the ranging value of anchor point 2; the first in-vehicle area, the second in-vehicle area and the third in-vehicle area cover an area other than the trunk of the vehicle.

[0215] wherein i represents the anchor point whose ranging value is invalid among anchor points 0 or 1, and j represents the anchor point whose ranging value is valid among anchor points 0 or 1.

[0216] Compared with the prior art, the UWB digital key in-vehicle / outside judgment device of the embodiment of the present application obtains the positioning information of three UWB anchor points; the positioning information includes the signal strength and the pre-processed ranging value of each anchor point; the in-vehicle / outside judgment parameter is obtained according to the positioning information, the in-vehicle / outside judgment result is obtained by executing multiple in-vehicle / outside judgment conditions in a preset order, and through the optimization combination of the judgment parameter and the judgment order, the accuracy and efficiency of the in-vehicle / outside judgment are considered, high-precision in-vehicle / outside judgment can be realized, and the cost is reduced.

[0217] Figure 5 The structure diagram of the positioning device provided in the third embodiment of the present application is shown. The positioning device 50 includes a memory 51 and a processor 52.

[0218] The memory 51 is used for storing a computer program; the processor 52 is used for reading the computer program in the memory 51 and implementing the UWB digital key in-vehicle / outside judgment method as described in the foregoing embodiments when the program is executed.

[0219] The fourth embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is used for executing the technical solution of any method embodiment when executed by a computer processor.

[0220] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by software and necessary general hardware, and of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which 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, a hard disk or an optical disk, etc., including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the method described in each embodiment of the present application.

[0221] It is worth noting that in the above embodiment of the device, each unit and module included is only divided according to the functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy distinction, and does not limit the protection scope of the present application.

[0222] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made without departing from the scope of the present application. Therefore, although the present application has been described in 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 claims.

Claims

1. A UWB digital key in-vehicle / outside judgment method, characterized by, The application is applied to a digital key system, the digital key system includes three UWB anchor points arranged in an isosceles triangle at a head unit end, respectively denoted as anchor points 0-2, and the anchor point 2 is arranged at the tail of the head unit end, the method comprises: Obtaining positioning information of the three UWB anchor points; the positioning information includes signal strength and pre-processed ranging values of each anchor point; Obtaining in-vehicle and out-of-vehicle judgment parameters according to the positioning information, the judgment parameters include: the minimum ranging value MinDistSide and the maximum ranging value MaxDistSide of the anchor point 0 and the anchor point 1, the maximum signal strength MaxRxPower of all anchor points, the sum SumDistSide of the ranging values of the anchor point 0 and the anchor point 1, the absolute value DiffDistSide of the difference between the ranging values of the anchor point 0 and the anchor point 1, the sum SumDistAll of the ranging values of all anchor points, the absolute value DiffDistRightRear of the difference between the ranging values of the anchor point 0 and the anchor point 2, the absolute value DiffDistLeftRear of the difference between the ranging values of the anchor point 1 and the anchor point 2, and the absolute value DiffDistSideRear of the difference between DiffDistRightRear and DiffDistLeftRear; Executing multiple sets of in-vehicle and out-of-vehicle judgment conditions according to a preset order to obtain in-vehicle and out-of-vehicle judgment results; wherein the multiple sets of in-vehicle and out-of-vehicle judgment conditions include: an out-of-vehicle group identification condition, a first in-vehicle group identification condition, and a second in-vehicle group identification condition, and the multiple sets of in-vehicle and out-of-vehicle judgment conditions are obtained according to the in-vehicle and out-of-vehicle judgment parameters; The execution of the multiple sets of in-vehicle and out-of-vehicle judgment conditions according to the preset order to obtain the in-vehicle and out-of-vehicle judgment results comprises: Executing the out-of-vehicle group identification condition, the first in-vehicle group identification condition, and the second in-vehicle group identification condition in turn according to the order; wherein the first in-vehicle group identification condition is used to identify whether the digital key is located in the trunk area, and the second in-vehicle group identification condition is used to identify whether the digital key is located in the in-vehicle area other than the trunk; Wherein, the judgment of in-vehicle and out-of-vehicle according to the first in-vehicle group identification condition comprises: When Dist[2]<DistThrsld_6 and MaxRxPower<RxThsld_2 are satisfied, the in-vehicle and out-of-vehicle judgment result is in-vehicle; wherein Dist[2] is the ranging value of the anchor point, DistThrsld_6 is the corresponding distance threshold, and RxThsld_2 is the corresponding signal strength threshold; The judgment of in-vehicle and out-of-vehicle according to the second in-vehicle group identification condition comprises: When the ranging values of the anchor point 0 and the anchor point 1 are both valid, whether it is out-of-vehicle is determined according to SumDistSide, DiffDistSide, and MinDistSide, and if it is not out-of-vehicle, whether it is the first in-vehicle area is determined according to MaxDistSide, MinDistSide, and SumDistSide. If not the first in-vehicle area, and when the ranging values of anchor points 0~2 are all valid, the second in-vehicle area is identified according to DiffDistSide, SumDistSide, SumDistAll, Dist[2], DiffDistRightRear, DiffDistLeftRear, DiffDistSideRear.

2. The method of claim 1, wherein, The method further comprises: The multiple sets of in-vehicle and out-of-vehicle judgment conditions are obtained by analyzing sample positioning data of the three UWB anchor points collected in advance, the multiple sets of in-vehicle and out-of-vehicle judgment conditions comprise multiple sub-conditions, and the parameter threshold of each sub-condition is determined according to the collected sample positioning data; The sample positioning data comprises positioning data of N regions, and the N regions are divided into M levels according to importance; M and N are both natural numbers greater than 1; if the characteristics of the sample positioning data corresponding to a region with low importance level and a region with high importance level satisfy a similarity condition, the sample positioning data satisfying the similarity condition is taken as the sample positioning data of the region with high importance level.

3. The method of claim 2, wherein, The N regions and the importance level information of each region comprise: The main driver region and the digital key is static: 0 level; The front passenger region and the digital key is static: 0 level; The other passenger region and the digital key is static: 1 level; The in-vehicle front and rear regions and the digital key is dynamic: 0 level; The in-vehicle edge region and the digital key is dynamic: 2 level The hybrid region and the digital key is dynamic: 2 level The trunk region and the digital key is static: 1 level; The out-of-vehicle region and the digital key comprises static and dynamic: 0 level; The out-of-vehicle front wheel region and the digital key is static: 2 level; The importance of 0 level~2 level decreases in turn.

4. The method of claim 1, wherein, In the in-vehicle and out-of-vehicle judgment result obtained by executing the multiple sets of in-vehicle and out-of-vehicle judgment conditions in the preset order, the in-vehicle and out-of-vehicle is determined according to the out-of-vehicle group identification condition, comprising: When any one of the following sub-conditions 1~3 is satisfied, the in-vehicle and out-of-vehicle judgment result is out-of-vehicle: Sub-condition 1: there is at least one valid ranging in anchor points 0 and 1, and MaxDistSide>DistThrsld_1; Sub-condition 2: anchor point 2 has a valid ranging value, and Dist[2]>DistThrsld_2; Sub-condition 3: SumDistSide>DistThrsld_3; Wherein, DistThrsld_1~DistThrsld_3 are corresponding distance thresholds.

5. The method of claim 1, wherein, In the in-vehicle and out-of-vehicle judgment result obtained by executing the multiple sets of in-vehicle and out-of-vehicle judgment conditions in the preset order, the in-vehicle and out-of-vehicle is further determined according to the first in-vehicle group identification condition, comprising: When the ranging value of anchor point 2 is valid and any one of the following sub-conditions 21~24 is satisfied, the in-vehicle and out-of-vehicle judgment result is in-vehicle: Sub-condition 21: Dist[2]<DistThrsld_4; Sub-condition 22: Dist[2]<DistThrsld_5 and RxPower[2]<RxThsld_1; Sub-condition 23: Dist[2]<DistThrsld_6 and RxPower[2]<RxThsld_2; Sub-condition 24: Dist[2]<DistThrsld_7 and RxPower[2]<RxThsld_3; Wherein, DistThrsld_4~DistThrsld_7 are corresponding distance thresholds. Sub-condition 23: the ranging value of at least one of anchor point 0 or anchor point 1 is valid, and Dist[2]<DistThrsld_7 and MaxDistSide<DistThrsld_8 and MinDistSide<DistThrsld_9 and SumDistAll<DistThrsld_10; Sub-condition 24: the ranging value of anchor point 0 or anchor point 1 is invalid, and Dist[2]<DistThrsld_22; Wherein, RxPower[2] is the signal strength of anchor point 2, RxThsld_1 is the corresponding signal strength threshold, DistThrsld_4, DistThrsld_5, and DistThrsld_7~DistThrsld_10, and DistThrsld_22 are the corresponding distance thresholds.

6. The method of claim 1, wherein, In the step of obtaining the in-vehicle / out-of-vehicle judgment result according to the preset sequence, the in-vehicle / out-of-vehicle judgment according to the second in-vehicle group identification condition further comprises: If not the second in-vehicle area, and when the ranging value of one of anchor point 0 or anchor point 1 is valid, identifying the third in-vehicle area according to Rxpower[i], Dist[j], and the validity of the ranging value of anchor point 2; the first in-vehicle area, the second in-vehicle area and the third in-vehicle area cover the area other than the trunk of the vehicle; Wherein, i represents the anchor point with invalid ranging value in anchor point 0 or 1, and j represents the anchor point with valid ranging value in anchor point 0 or 1.

7. A UWB digital key in-vehicle / outside judgment device, characterized by comprising: a UWB digital key; a UWB digital key reader / writer; and a UWB digital key in-vehicle / outside judgment unit. The device is configured in a digital key system, and the digital key system includes three UWB anchor points arranged in an isosceles triangle at the head unit end, which are respectively denoted as anchor points 0-2, and the anchor point 2 is arranged at the tail of the head unit end, and the device comprises: An acquisition module is configured to acquire positioning information of the three UWB anchor points; the positioning information includes signal strength and preprocessed ranging value of each anchor point; A parameter calculation module is configured to obtain in-vehicle / out-of-vehicle judgment parameters according to the positioning information; the judgment parameters include: the minimum ranging value MinDistSide and the maximum ranging value MaxDistSide of anchor point 0 and anchor point 1, the maximum signal strength MaxRxPower of all anchor points, the sum of the ranging values SumDistSide of anchor point 0 and anchor point 1, the absolute value DiffDistSide of the difference between the ranging values of anchor point 0 and anchor point 1, the sum of the ranging values SumDistAll of all anchor points, the absolute value DiffDistRightRear of the difference between the ranging values of anchor point 0 and anchor point 2, the absolute value DiffDistLeftRear of the difference between the ranging values of anchor point 1 and anchor point 2, and the absolute value DiffDistSideRear of the difference between DiffDistRightRear and DiffDistLeftRear; The condition execution module is configured to execute the multiple sets of in-vehicle and out-of-vehicle judgment conditions in a preset order to obtain in-vehicle and out-of-vehicle judgment results, wherein the multiple sets of in-vehicle and out-of-vehicle judgment conditions include an out-of-vehicle set of recognition conditions, a first in-vehicle set of recognition conditions, and a second in-vehicle set of recognition conditions, and the multiple sets of in-vehicle and out-of-vehicle judgment conditions are obtained according to the in-vehicle and out-of-vehicle judgment parameters; The condition execution module is specifically configured to execute the out-of-vehicle set of recognition conditions, the first in-vehicle set of recognition conditions, and the second in-vehicle set of recognition conditions in a sequential order, wherein the first in-vehicle set of recognition conditions are used to identify whether the digital key is located in a trunk area, and the second in-vehicle set of recognition conditions are used to identify whether the digital key is located in an in-vehicle area other than the trunk area; The condition execution module includes a first in-vehicle judgment submodule and a second in-vehicle judgment submodule. The first in-vehicle judgment submodule is configured to, when Dist[2] < DistThrsld_6 and MaxRxPower < RxThsld_2 are satisfied, determine that the in-vehicle and out-of-vehicle judgment result is in-vehicle, wherein Dist[2] is a ranging value of an anchor point, DistThrsld_6 is a corresponding distance threshold, and RxThsld_2 is a corresponding signal strength threshold. The second in-vehicle judgment submodule is configured to, when the ranging values of the anchor points 0 and 1 are both valid, determine whether it is out-of-vehicle according to SumDistSide, DiffDistSide, and MinDistSide, and if it is not out-of-vehicle, determine whether it is a first in-vehicle area according to MaxDistSide, MinDistSide, and SumDistSide. If it is not the first in-vehicle area, and when the ranging values of the anchor points 0-2 are all valid, a second in-vehicle area is identified according to DiffDistSide, SumDistSide, SumDistAll, Dist[2], DiffDistRightRear, DiffDistLeftRear, and DiffDistSideRear.

8. A positioning device, characterized by The device includes 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 in any one of claims 1-6 when the program is executed.

9. 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 in any one of claims 1-6.

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