Dual-mode three-anchor-point off-board area positioning method and device, electronic device

Abstract

Embodiments of the present application disclose a dual-mode three-anchor-point vehicle exterior area positioning method and device, electronic equipment and a storage medium, comprising: acquiring positioning information of a dual-mode three-anchor-point in real time; the positioning information of the dual-mode three-anchor-point comprises ranging information of three UWB anchors and RSSI values of three BLE anchors; filtering the ranging information of each UWB anchor by a preset algorithm to obtain filtered ranging values; obtaining orientation information of a digital key relative to a vehicle terminal according to the positioning information; obtaining vehicle exterior area judgment thresholds corresponding to each preset orientation for each UWB anchor according to the orientation information; in the case that there is an effective filtered ranging value, obtaining a UWB vehicle exterior positioning result according to the effective filtered ranging value and the corresponding vehicle exterior area judgment threshold; in the case that there is no effective filtered ranging value, obtaining a BLE auxiliary vehicle exterior positioning result according to historical ranging information, historical RSSI values and a current RSSI value.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of UWB digital key, and particularly to a dual-mode three-anchor-point off-vehicle area positioning method and device and electronic equipment. 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 vehicle keys. UWB digital key not only provides a faster unlocking experience, but also effectively improves security by precise positioning to prevent illegal intrusion, enhancing user convenience and security.

[0003] However, due to the hardware requirements and complexity of UWB technology, the cost of UWB digital key is much higher than that of BLE digital key. The current mainstream UWB digital key requires deploying 4 to 6 UWB anchors on the vehicle to achieve good user experience, which has a high installation cost and is not conducive to the popularization of high-performance digital key. SUMMARY

[0004] Embodiments of the present application provide a dual-mode three-anchor-point off-vehicle area positioning method and device, and electronic equipment, which uses UWB / BLE dual-mode three-anchor-point for off-vehicle area positioning, significantly reducing the cost while maintaining the unlocking performance of UWB digital key.

[0005] In a first aspect, embodiments of the present application provide a dual-mode three-anchor-point off-vehicle area positioning method, a vehicle machine end is deployed with a UWB / BLE dual-mode three-anchor-point, and the method comprises:

[0006] real-time acquisition of positioning information of the dual-mode three-anchor-point; the positioning information of the dual-mode three-anchor-point includes ranging information of three UWB anchors and RSSI values of three BLE anchors;

[0007] filtering the ranging information of each UWB anchor using a preset algorithm to obtain filtered ranging values;

[0008] obtaining the orientation information of the digital key relative to the vehicle machine end according to the positioning information; the orientation information includes a plurality of preset orientations;

[0009] obtaining off-vehicle area judgment thresholds corresponding to each preset orientation for each UWB anchor according to the orientation information;

[0010] In the presence of an effective filtered ranging value, a UWB off-vehicle positioning result corresponding to the effective filtered ranging value and the corresponding off-vehicle region judgment threshold is obtained as a target off-vehicle positioning result; in the absence of an effective filtered ranging value, a BLE auxiliary off-vehicle positioning result is obtained according to historical ranging information and historical RSSI values and a current RSSI value as the target off-vehicle positioning result.

[0011] As an embodiment, the method further comprises:

[0012] A position change trend TrendUwb of the digital key is obtained according to ranging information of the three UWB anchor points.

[0013] The filtered ranging value is obtained by filtering the ranging information of each UWB anchor point using a preset algorithm, comprising:

[0014] In the case that the UWB anchor point i currently does not have an effective ranging value, a preset target position is obtained according to a target off-vehicle positioning result corresponding to a time t at which the last effective ranging value of the UWB anchor point i is located, TrendUwb and an unlocking state of the vehicle terminal, a predicted distance is obtained according to a distance relationship between the effective ranging value Dist(i, t) of the time t and the preset target position, a predicted time length T is obtained according to the predicted distance and a preset moving speed; i is the number of the UWB anchor point.

[0015] Within the predicted time length T, when no effective ranging value of the UWB anchor point i is detected, a state one-step prediction of a Kalman filtering algorithm is performed to obtain a filtered ranging value of the UWB anchor point i, and when an effective ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated and a filtered estimation value of the UWB anchor point i is obtained according to the Kalman filtering algorithm.

[0016] As an embodiment, the preset target position is obtained according to the target off-vehicle positioning result corresponding to the time t at which the last effective ranging value of the UWB anchor point i is located, TrendUwb and the unlocking state of the vehicle terminal, the predicted distance is obtained according to the distance relationship between the effective ranging value Dist(i, t) of the time t and the preset target position, and the predicted time length T is obtained according to the predicted distance and the preset moving speed, comprising:

[0017] If the target off-board positioning result corresponding to the time t is WELCOME, and the time t or the current TrendUwb is Approach, then a difference between the Dist(i, t) and a corresponding lock distance is calculated, and the prediction time T is obtained according to the difference; if the target off-board positioning result corresponding to the time t is WELCOME, and the current TrendUwb is not Approach, then the prediction time is set as a preset minimum prediction time TimePredMin; wherein the difference between the Dist(i, t) and the corresponding lock distance is the prediction distance;

[0018] If the target off-board positioning result corresponding to the time t is UNLOCK, then an absolute value AbsDiffDist(i) of a difference between the Dist(i, t) and a corresponding unlock distance is calculated, when the AbsDiffDist(i) is greater than the Dist(i, t), DisMinToCmd = Dist(i, t), when the AbsDiffDist(i) is less than or equal to the Dist(i, t), DisMinToCmd = AbsDiffDist(i), and the prediction time is obtained according to the DisMinToCmd and a preset moving rate; wherein DisMinToCmd is the prediction distance;

[0019] If the target off-board positioning result corresponding to the time t is LOCK, and the car machine end is currently in a lock state, and a difference between the Dist(i, t) and an unlock distance DistUnlockThrsld is less than a preset value, then the prediction time is a set value;

[0020] If the difference between the Dist(i, t) and the unlock distance DistUnlockThrsld is greater than or equal to the preset value, then absolute values (A1, A2) of distance differences between the Dist(i, t) and DistUnlockThrsld and a lock distance DistLockThrsld are obtained respectively, and DisMinToCmd is the smaller one of the absolute values (A1, A2), when the DisMinToCmd is less than a difference threshold DiffDistThsld, and the car machine end is currently in an unlock state, the prediction time is set as a set value, when the DisMinToCmd is greater than or equal to DiffDistThsld, the prediction time is obtained according to the DisMinToCmd and a preset moving rate;

[0021] If the T is greater than TimePredMax, then T = TimePredMax, and TimePredMax is a preset maximum prediction time;

[0022] The locking distance and the unlocking distance are determined according to the position of the UWB anchor point i at time t and the preset target position.

[0023] As an embodiment, the position of the digital key relative to the car machine end includes: front, rear, left, right of the car machine end, and a transition position between adjacent positions of the front, rear, left and right, which is the default position; the dual-mode three-anchor points are arranged in an isosceles triangle on both sides of the car and a preset position at the rear of the car.

[0024] The position information of the digital key relative to the car machine end obtained according to the positioning information includes:

[0025] The position judgment parameters are obtained according to the positioning information; the position judgment parameters include: the number of UWB anchor points with valid distance values, valid distance values, the difference between each two of the plurality of valid distance values, the minimum distance value, the anchor point identification information corresponding to the minimum distance value, the number of BLE anchor points with valid RSSI values, valid RSSI values, and the difference between each two of the plurality of valid RSSI values.

[0026] The target position of the target is identified according to the preset judgment condition corresponding to each position; each position judgment condition includes a plurality of position judgment parameters for representing the characteristics of the corresponding position.

[0027] As an embodiment, the UWB off-car positioning result is obtained according to the valid filtered distance value and the corresponding off-car area judgment threshold, which includes:

[0028] The judgment result corresponding to each valid filtered distance value is obtained respectively.

[0029] The judgment result closest to the car machine end is taken as the UWB off-car positioning result.

[0030] As an embodiment, the BLE auxiliary off-car positioning result is obtained according to the historical distance information and the historical RSSI value and the current RSSI value, which includes:

[0031] The position change trend TrendBle of the digital key is obtained according to the RSSI values of the three BLE anchor points.

[0032] The BLE area prediction result AreaBle is obtained according to the historical RSSI value and the current RSSI value.

[0033] calculating a distance DistToVehLastValidUwb between the digital key and the head unit at a time t when a valid ranging value is last obtained;

[0034] obtaining a corresponding lock distance LockThsldNow according to a current position of the digital key;

[0035] obtaining the BLE-aided off-board positioning result according to the TrendBle, the AreaBle, the DistToVehLastValidUwb, the LockThsldNow, a current unlock state of the head unit, and a target off-board positioning result corresponding to the time t.

[0036] As an embodiment, the AreaBle includes: Middle, Far, and VeryFar regions; and the TrendBle includes: Approach, Leave, Around, and Unknown.

[0037] The obtaining the BLE-aided off-board positioning result according to the TrendBle, the AreaBle, the DistToVehLastValidUwb, the LockThsldNow, a current unlock state of the head unit, and a target off-board positioning result corresponding to the time t includes:

[0038] If a region of the AreaBle changes from Middle to Far, and the head unit is currently in an unlocked state, and a target off-board positioning result of the time t is in a PE or LOCK region, and the LockThsldNow is greater than the DistToVehLastValidUwb, then a first time length TimeToCmdMin required for the digital key to reach a lock distance is estimated according to a difference between the LockThsldNow and the DistToVehLastValidUwb, if a valid UWB ranging value is not detected within the TimeToCmdMin or the TrendBle is not leave, then the timing is stopped and a target off-board positioning result is obtained according to the valid UWB ranging value, otherwise, when the timing reaches the TimeToCmdMin, the AreaBleAidUwb is set to WELCOME;

[0039] If the AreaBle is Middle, and the current state of the car machine end is the unlocked state, and the target vehicle outside positioning result at the moment t is the PE or LOCK area, calculate DistToCmd = LockThsldNow-DistToVehLastValidUwb, if DistToCmd<=0, set AreaBleAidUwb as the WELCOME area; otherwise, estimate the second duration TimeToCmdMax required for the user to walk to the locking distance and time, when the timing reaches TimeToCmdMax, if the TrendBle detected in the TimeToCmdMax is Leave, set AreaBleAidUwb = WELCOME area, if the TrendBle detected in the TimeToCmdMax is not Leave, AreaBleAidUwb is unchanged, if a valid ranging value is detected in the TimeToCmdMax, stop timing.

[0040] In a second aspect, the embodiments of the present application provide a dual-mode three-anchor-point vehicle outside area positioning device, which is configured on a car machine end, wherein the car machine end is deployed with a UWB / BLE dual-mode three-anchor-point, and the device comprises:

[0041] A positioning information acquisition module is configured to acquire positioning information of the dual-mode three-anchor-point in real time, wherein the positioning information of the dual-mode three-anchor-point comprises ranging information of three UWB anchors and RSSI values of three BLE anchors.

[0042] A ranging value filtering module is configured to filter the ranging information of each UWB anchor by using a preset algorithm to obtain a filtered ranging value.

[0043] An orientation identification module is configured to obtain orientation information of a digital key relative to the car machine end according to the positioning information, wherein the orientation information comprises a plurality of preset orientations.

[0044] A threshold calculation module is configured to obtain a vehicle outside area judgment threshold corresponding to each preset orientation of each UWB anchor according to the orientation information.

[0045] A UWB positioning module is configured to obtain a UWB vehicle outside positioning result as a target vehicle outside positioning result according to the valid filtered ranging value and the corresponding vehicle outside area judgment threshold in the case that there is a valid filtered ranging value.

[0046] A BLE auxiliary positioning module is configured to obtain a BLE auxiliary vehicle outside positioning result as the target vehicle outside positioning result according to historical ranging information, historical RSSI values and a current RSSI value in the case that there is no valid filtered ranging value.

[0047] In a third aspect, an electronic device is provided, comprising a memory, 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 double-mode three-anchor-point off-board positioning method as described above when executing the program.

[0049] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the double-mode three-anchor-point off-board positioning method as described in the first aspect is implemented.

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

[0051] In the embodiments of the present application, the positioning information of the double-mode three-anchor-point is acquired in real time, the positioning information of the double-mode three-anchor-point includes the ranging information of the three UWB anchors and the RSSI values of the three BLE anchors, the ranging values after filtering are obtained by filtering the ranging information of each UWB anchor according to a preset algorithm, the orientation information of the digital key relative to the vehicle terminal is obtained according to the positioning information, the orientation information includes a plurality of preset orientations, the off-board area judgment threshold corresponding to each preset orientation for each UWB anchor is obtained according to the orientation information, in the case that there is an effective ranging value after filtering, the UWB off-board positioning result is obtained according to the effective ranging value after filtering and the corresponding off-board area judgment threshold, so as to serve as the target off-board positioning result; in the case that there is no effective ranging value after filtering, the BLE auxiliary off-board positioning result is obtained according to the historical ranging information and the historical RSSI value and the current RSSI value, so as to serve as the target off-board positioning result. The present application identifies the orientation of the digital key through the three double-mode anchors, sets the corresponding off-board area judgment threshold for different preset orientations, and can obtain an accurate UWB off-board positioning result according to the effective ranging value after filtering and the corresponding off-board area judgment threshold, so as to meet the high-performance positioning requirement of the UWB digital key when unlocking. In the case that there is no effective ranging value after filtering, the BLE auxiliary off-board positioning result can also be obtained according to the historical ranging information of the UWB and the RSSI values of the three Bluetooth anchors, so as to meet the functional requirement of the digital key, and the overall cost can be significantly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions 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 also be obtained by those skilled in the art without creative labor.

[0053] Figure 1 A layout example of UWB and BLE dual-mode three-anchor points on a vehicle is provided for an embodiment of the present application.

[0054] Figure 2 A flowchart of a dual-mode three-anchor point vehicle exterior area positioning method is provided for Embodiment One of the present application.

[0055] Figure 3 A bearing judgment flowchart is provided for an embodiment of the dual-mode three-anchor point vehicle exterior area positioning method of the present application.

[0056] Figure 4 A test route map for the unlocking and locking test of the dual-mode three-anchor point vehicle exterior area positioning method according to an embodiment of the present application is provided.

[0057] Figure 5 A structural diagram of a dual-mode three-anchor point vehicle exterior area positioning device is provided for Embodiment Two of the present application.

[0058] Figure 6 A structural diagram of an electronic device is provided for Embodiment Three of the present application. DETAILED DESCRIPTION

[0059] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application, rather than limit the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for the convenience of description.

[0060] The dual-mode three-anchor point vehicle exterior area positioning method and device, electronic device, and storage medium of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0061] Figure 1 A layout diagram of UWB and BLE dual-mode three-anchor points on a vehicle is provided for the dual-mode three-anchor point vehicle exterior area positioning method of the present application. As shown in Figure 1 the dual-mode three-anchor points (0, 1, 2) are respectively installed on the right exterior mirror, the left exterior mirror, and the middle part of the vehicle tail, so that the three anchor points are distributed in an isosceles triangle shape. It should be understood that other installation positions can also be selected according to the vehicle structure characteristics and requirements, and no excessive limitation is made in this regard.

[0062] Figure 2 A flowchart of the dual-mode three-anchor point vehicle exterior area positioning method is provided for an embodiment of the present application, which is used to identify the functional area where the digital key is located relative to the vehicle, so as to realize safe unlocking and locking. The method can be executed by a dual-mode three-anchor point vehicle exterior area positioning device provided by an embodiment of the present application, which can be realized in a software and / or hardware manner and configured in the digital key module of the vehicle machine. As shown in Figure 2As shown, the dual-mode three-anchor out-of-vehicle area positioning method of the present application includes steps 201 to 206:

[0063] Step 201, real-time acquisition of positioning information of the dual-mode three-anchor.

[0064] The positioning information of the dual-mode three-anchor includes ranging information of three UWB anchors and RSSI values of three BLE anchors. The ranging information of the UWB anchor includes a ranging value and a signal strength RxPower. The ranging values and signal strengths of the three UWB anchors can be denoted as Dist[3] and RxPower[3] respectively, and the RSSI values of the three BLE anchors can be denoted as RSSI[3]. It can be understood that the positioning information of the dual-mode three-anchor can be acquired in real time after the secure connection between the vehicle terminal and the digital key is established, but no specific limitation is made.

[0065] Step 202, filtering the ranging values according to the ranging information of each UWB anchor using a preset algorithm to obtain filtered ranging values.

[0066] In the embodiment of the present application, in order to improve the accuracy of the UWB ranging value and the usability of the UWB ranging value in the NLOS (Non Line of Sight) case, the Kalman filtering algorithm is used to filter the ranging value of the UWB anchor i obtained in real time to obtain the filtered ranging value DistFilter[i].

[0067] In the embodiment of the present application, the position change trend TrendUwb of the digital key can be obtained according to the ranging information of the three UWB anchors. TrendUwb can include: Approach, Leave, Around, and Unknown. Approach, Leave, Around, and Unknown respectively represent that the digital key is getting closer and closer to the vehicle terminal, getting farther and farther away from the vehicle terminal, there is no obvious change in distance, or it is unknown. TrendUwb can assist in filtering the ranging value to improve the accuracy of the filtering. TrendUwb can be obtained according to the change trend of the minimum ranging value in each round of ranging value, 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.

[0068] Specifically, step 202 can include:

[0069] Sub-step 2021, in the case where there is no valid ranging value of the UWB anchor point i at present, a preset target position is obtained according to a target off-vehicle positioning result corresponding to a time t of a last valid ranging value of the UWB anchor point i, a trend Uwb and a state of unlocking of the vehicle terminal, a predicted distance is obtained according to a distance relationship between the valid ranging value Dist(i, t) of the time t and the preset target position, and a predicted time length T is obtained according to the predicted distance and a preset moving speed; i is the number of the UWB anchor point.

[0070] The validity of the ranging value of each anchor point can be judged according to the ranging values Dist[3] and the signal strengths RxPower[3] of the three UWB anchor points acquired in real time, and details are not repeated here.

[0071] Sub-step 2022, in the predicted time length T, when no valid ranging value of the UWB anchor point i is detected, a state one-step prediction of the Kalman filtering algorithm is performed to obtain a filtered ranging value of the UWB anchor point i, and when a valid ranging value of the UWB anchor point i is detected, the state one-step prediction is terminated and a filtered estimation value of the UWB anchor point i is obtained as the filtered ranging value according to the Kalman filtering algorithm.

[0072] The state one-step prediction of the Kalman filtering is a predicted value of the current time state based on the last valid ranging value and a motion model when there is no valid ranging value of the current time. When the ranging value of the anchor point i is invalid, the state one-step prediction of the Kalman filtering is used to obtain the filtered ranging value DistFilter[i] of the anchor point i within the predicted time length T, and when a valid ranging value of the anchor point i is detected in real time, the state one-step prediction is stopped, the optimal estimation of the Kalman filtering is switched back, and the current filtered ranging value DistFilter[i] of the anchor point i is obtained.

[0073] In the embodiment of the application, the off-vehicle area set according to the digital key function can include PE, LOCK, WELCOME and CONNECT areas. The off-vehicle area judgment threshold can include an unlocking distance and a locking distance, wherein the unlocking distance is a demarcation value between the PE and LOCK areas, and the locking distance is a boundary value of the LOCK and WELCOME areas. In the embodiment of the application, the target off-vehicle judgment result corresponding to the positioning information of the real-time acquired dual-mode three-anchor points can be obtained. The target off-vehicle judgment result can be one of the PE, LOCK, WELCOME and CONNECT areas.

[0074] Sub-step 2021 can include the following sub-steps:

[0075] Sub-step 20211, if the target off-vehicle positioning result corresponding to time t is WELCOME, and time t or the current TrendUwb is Approach, calculate the difference between Dist(i, t) and the corresponding locking distance, and obtain the predicted duration T according to the difference; if the target off-vehicle positioning result corresponding to time t is WELCOME, and the current TrendUwb is not Approach, set the predicted duration as the preset minimum predicted duration TimePredMin; wherein the difference between Dist(i, t) and the corresponding locking distance is the predicted distance. TimePredMin can be set according to the positioning scene requirement, and is not specifically limited here.

[0076] Since the target off-vehicle positioning result corresponding to time t is WELCOME, and TrendUwb is Approach, it is predicted that the user moves to the LOCK area, so the preset target position is the position corresponding to the locking distance (i.e. the dividing line between LOCK and WELCOME). In the embodiment of the application, the predicted duration can be calculated according to the predicted distance and the user's regular walking speed, therefore, in sub-step 20211, the predicted duration T is the estimated time for the user to walk from time t to the LOCK area. In this embodiment, during the process of the digital key approaching LOCK from 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.

[0077] Sub-step 20212, if the target off-vehicle positioning result corresponding to time t is UNLOCK (i.e. PE), calculate the absolute value AbsDiffDist(i) of the difference between Dist(i, t) and the corresponding unlocking distance, when AbsDiffDist(i) is greater than Dist(i, t), let DisMinToCmd = Dist(i, t), when AbsDiffDist(i) is less than or equal to Dist(i, t), let DisMinToCmd = AbsDiffDist(i), obtain the predicted duration according to DisMinToCmd and the preset moving rate; wherein DisMinToCmd is the predicted distance. In this embodiment, when the digital key is in the PE area, T is dynamically estimated according to Dist(i, t) and AbsDiffDist(i), the predicted duration T increases with the increase of the distance between the digital key and the vehicle terminal or the unlocking distance, which can ensure the responsiveness and stability of the distance measurement value prediction in the PE area.

[0078] Sub-step 20213, if the target off-vehicle positioning result corresponding to time t is LOCK, and the current state of the vehicle machine end is the locked state, and the difference between Dist(i, t) and the unlocking distance DistUnlockThrsld is less than a preset value, then the predicted duration is a set value. The set value can be 0, at this time, no one-step state prediction is performed.

[0079] 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 vehicle machine end is the unlocked state, T is a set value, for example 0, otherwise, when DisMinToCmd is greater than or equal to DiffDistThsld, a preset duration T is obtained according to DisMinToCmd, T is for example the ratio of DisMinToCmd to the user's regular walking speed.

[0080] Sub-step 20214, if T is greater than TimePredMax, then T = TimePredMax, TimePredMax is a preset maximum prediction duration, so as to avoid that the prediction duration is too long and the ranging value error is large.

[0081] In sub-step 2022, the three ranging values Dist[3] of the current time are input into the Kalman filter as observations, the observation noise matrix R and the system noise matrix Q are set according to the actual situation and the signal characteristics, and the state quantity X of the current time is solved. X is the filtered ranging value of the current time. When the ranging value of the anchor point i at the current time is invalid, one-step state prediction is performed for the anchor point i within the prediction duration T, and when the anchor point i has valid ranging values within the prediction duration, 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.

[0082] The state equation of Kalman filtering is: ;

[0083] Wherein, for each , is the number of the UWB anchor point.

[0084] The observation equation is: ;

[0085] Wherein, for each = 1. The application mode of the state equation and the observation equation of the Kalman filter is well known to those skilled in the art, and will not be described here. Step 202 filters the ranging information of each UWB anchor point to obtain filtered ranging values according to a preset algorithm. According to the effectiveness of the ranging values and the prediction time T, the state step prediction is performed to ensure the responsiveness, accuracy and robustness of the system. It can be understood that other filtering algorithms can also be used to estimate the ranging values, which are not specifically limited here.

[0086] Step 203, obtaining the orientation information of the digital key relative to the vehicle terminal according to the positioning information.

[0087] The orientation of the digital key relative to the vehicle terminal can include: front Front, rear Rear, left Left, right Right of the vehicle terminal, and transition orientation Default between adjacent orientations of Front, Rear, Left and Right. The division of the foregoing orientations is mainly used to set the unlocking distance corresponding to different orientations, as long as the unlocking accuracy requirement is met. The number and range of the orientations are not specifically limited in the embodiment.

[0088] Step 203 can include the following sub-steps:

[0089] Sub-step 2031, obtaining orientation judgment parameters according to the positioning information.

[0090] The orientation judgment parameters can include: the number of UWB anchor points with valid ranging values ValidDistNum, valid ranging values, the difference between each two of the plurality of valid ranging values, the minimum ranging value DistMin, the anchor point identification information corresponding to the minimum ranging value DistMin, the number of BLE anchor points with valid RSSI values, valid RSSI values, and the difference between each two of the plurality of valid RSSI values.

[0091] The difference between the ranging values between UWB anchor point (1, 0), UWB anchor point (1, 2), and UWB anchor point (0, 2) is respectively recorded as DiffDist[0]~ DiffDist[2], and the difference between the RSSI values between BLE anchor point (1, 0), UWB anchor point (1, 2), and UWB anchor point (0, 2) is respectively recorded as DiffRssi[0]~ DiffDist[2]. It should be noted that the valid ranging values can be filtered valid ranging values.

[0092] Sub-step 2032, identifying the target orientation of the digital key according to the preset judgment condition corresponding to each orientation; wherein each orientation judgment condition includes a plurality of orientation judgment parameters for representing the characteristics of the corresponding orientation.

[0093] The preset judgment conditions corresponding to Front, Rear, Right and Left respectively include UWB group judgment conditions and BLE group judgment conditions. The sub-step 2032 can include: the execution order of the preset judgment conditions corresponding to Front, Rear, Right and Left is to identify Rear, Front, Right and Left in sequence according to the UWB group judgment conditions first, and then identify Front, Right, Left and Rear in sequence according to the BLE group judgment conditions.

[0094] The following will be described in combination with the accompanying Figure 3 The judgment steps S301-S317 of the dual-mode three-anchor-point off-vehicle identification method of this embodiment are described as follows:

[0095] S301, when ValidRssiNum<2 or ValidDistNum=0 (Condition 1), then DirToVeh=Default, Return. DirToVeh is the current target direction, and DirToVeh=Default means that the current target direction is identified as Default, and then the subsequent program is returned for execution. Figure 3

[0096] S302, when ValidDistNum=1 and valid anchor point id=2, and (DistFilter[2]>DistThrsld_1 (600cm) or (DistFilter[2] or equal to DistThrsld_1 (600cm) and RSSI[2] is invalid) (Condition 2), then enter S303, if Condition 2 is not met, enter S304. Figure 3

[0097] S303, when RSSI[1] and RSSI[0] are both valid and both < RssiThrsld (-80dbm) (Condition 3), then DirToVeh=Rear, and then end the current direction judgment and return, when Condition 2 is met and Condition 3 is not met, DirToVeh=Default, Return. Figure 3

[0098] S304, when DistMinId=0 or 1, and ValidDistNum=2, and abs(DiffDist[0])<DiffDistThrsld_1 (0.8m), and anchor point 2 has no valid ranging value or DistFilter[2]>DistThrsld_1 (600cm) (i.e. Figure 3

[0099] ​​​​S305, when DistMinId = 0 and ((ValidDistNum = 1 and DistFilter[0] < DistThrsld_2 (100cm)) or (anchor 1 ranging value is valid and Dist[1] > DistThrsld_3 (245cm) and DistFilter[0] > DistThrsld_4 (140cm) and anchor 2 ranging value is invalid)) (i.e. condition 5 in the figure), then DirToVeh = Right, Return; if condition 5 is not met, then go to S306.

[0100] S306, when DistMinId = 1 and ((ValidDistNum = 1 and DistFilter[1] < DistThrsld_2) or (anchor 0 ranging value is valid and DistFilter[0] > DistThrsld_3 (245cm) and DistFilter[1] > DistThrsld_4 (140cm) and anchor 2 ranging value is invalid)) (i.e. condition 6 in the figure), then DirToVeh = Left, Return; when condition 6 is not met, go to S307.

[0101] S307, when abs(DiffRssi[1]) and abs(DiffRssi[2]) are both < RssiDiffThrsld_1 (3dbm) (i.e. condition 7 in the figure), then DirToVeh = Default, return; if condition 7 is not met, then go to S308. Figure 3

[0102] S308, when RSSI[0] and RSSI[1] are both valid and both > RSSI[2] (i.e. condition 8 in the figure), go to S309, when condition 8 is not met, go to S312. Figure 3

[0103] S309, when abs(DiffRssi[0]) <= RssiDiffThrsld_2 (6dbm) (i.e. condition 9 in the figure is met), go to S310, when condition 9 is not met, then go to S311. Figure 3

[0104] S310, when (abs(DiffRssi[1]) > RssiDiffThrsld_3 (10dbm) and abs(DiffRssi[2]) > RssiDiffThrsld_3 (10dbm)) (i.e. condition 10 in the figure is met), go to S311, when condition 10 is not met, then go to S312. Figure 3 ​​​When the medium condition 10 is met, DirToVeh = Front, return; or, when the ranging value of anchor point 2 is invalid, and anchor point 0 or 1 has one or more valid ranging values, and the valid ranging values are all > DistThrsld_3 (245 cm), i.e., the condition 10 is met Figure 3 When the medium condition 11 is met, DirToVeh = Front, return. When the condition 10 or the condition 11 is not met, DirToVeh = Default, return.

[0105] S311, when anchor points 0 and 1 both have valid ranging values, and abs(DiffDist[0]) < DiffDistThrsld_2 (60 cm), i.e., the condition 11 is met Figure 3 When the medium condition 12 is met, DirToVeh = Default, return.

[0106] S312, when RSSI[0] is valid and is the maximum RSSI value, i.e., the condition 13 is met, go to S313, and when the condition 13 is not met, go to S314. Figure 4 When the medium condition 13 is met, go to S313, and when the condition 13 is not met, go to S314.

[0107] S313, when any of the following sub-conditions in condition 14 is met, DirToVeh = Default, otherwise, DirToVeh = Right.

[0108] The sub-conditions of the condition 14 include:

[0109] Sub-condition 1: (anchor point 0 has a valid ranging value, DistFilter[0] > DistThrsld_1 (600 cm)) and (abs(DiffRssi[0]) < RssiDiffThrsld_2 (6 dbm) or abs(DiffRssi[1]) < RssiDiffThrsld_2 (6 dbm));

[0110] Sub-condition 2: anchor point 0 does not have a valid ranging value, and anchor point 1 or 2 has a valid ranging value;

[0111] Sub-condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10 dbm).

[0112] S314, when RSSI[1] is valid and is the maximum RSSI value, i.e., the condition 15 is met, go to S315, and when the condition 15 is not met, go to S316.

[0113] S315、When any of the following sub-conditions of Condition 16 is satisfied, DirToVeh = Default, and when none of the following sub-conditions of Condition 16 is satisfied, DirToVeh = Left.

[0114] Condition 16 includes:

[0115] Sub-Condition 1: (Anchor 1 has valid ranging value, DistFilter[1] > DistThrsld_1 (600cm)) and (abs(DiffRssi[0]) < RssiDiffThrsld_2 (6dbm) or abs(DiffRssi[1]) < RssiDiffThrsld_2 (6dbm));

[0116] Sub-Condition 2: Anchor 1 has no valid ranging value, and Anchor 0 or 2 has valid ranging value.

[0117] Sub-Condition 3: abs(DiffRssi[0]) < RssiDiffThrsld_3 (10dbm).

[0118] S316、When RSSI[2] is valid and is the maximum RSSI value, and Anchor 2 has valid ranging value (Condition 17 in the figure), go to S317, otherwise DirToVeh = Default.

[0119] S317、When DistFilter[2] > DistThrsld_1 (600cm), and Anchor 0 or 1 has valid RSSI value, and (abs(DiffRssi[1]) < RssiDiffThrsld_2 (6dbm) and abs(DiffRssi[2]) < RssiDiffThrsld_2) (Condition 18 in the figure), DirToVeh = Default; or, when Anchor 2 has no valid ranging value, and Anchor 0 or 1 has valid ranging value (Condition 19 in the figure), DirToVeh = Default; when Condition 18 or Condition 19 is not satisfied, DirToVeh = Rear.

[0120] Step 204, obtaining a vehicle-outside area judgment threshold corresponding to each preset orientation of each UWB anchor according to the orientation information.

[0121] Firstly, according to the application scene or user demand, set the total unlocking distance DistUnlockThrsld and the total locking distance DistLockThrsld, the digital key function has different function areas around the vehicle body, the unlocking distance and the locking distance are the distances corresponding to the boundaries of PE and LOCK and the boundaries of LOCK and WELCOME area, the unlocking distance is for example 2m, and the locking distance is for example 5m.

[0122] According to the total unlocking distance and the total locking distance, combined with the specific positions of the three anchor points outside the vehicle, set the unlocking distance and the locking distance corresponding to each anchor point. In this embodiment, the anchor point 1 and the anchor point 0 are symmetrically arranged relative to the whole vehicle among the three UWB anchor points, so they can share the unlocking distance and the locking distance, therefore only two sets of unlocking distance and two sets of locking distance need to be set. The specific settings are as follows:

[0123] 1) The unlocking distance of the left and right rearview mirror anchor points (i.e. anchor point 1 and anchor point 0): DistUnlockThrsld_1[3] = [DistUnlockThrsld_11, DistUnlockThrsld_12, DistUnlockThrsld_13]. Among them, DistUnlockThrsld_11 is the unlocking distance corresponding to self direction, self direction is the position of the left rearview mirror anchor point as Left and the position of the right rearview mirror anchor point as Right; DistUnlockThrsld_12 is the unlocking distance corresponding to Front and Rear positions, and DistUnlockThrsld_13 is the unlocking distance corresponding to Default position and opposite direction, opposite direction is the position of the left rearview mirror as Right and the position of the right rearview mirror as Left.

[0124] 2) The locking distance of the left and right rearview mirror anchor points: DistLockThrsld_1[3] = [DistLockThrsld_11, DistLockThrsld_12, DistLockThrsld_13]. The corresponding relationship between each locking distance and the position is the same as the corresponding relationship between the unlocking distance and the position described above, so it is not described again.

[0125] 3) Unlock distance of rear anchor point: DistUnlockThrsld_2[3] = [DistUnlockThrsld_21, DistUnlockThrsld_22, DistUnlockThrsld_23]. DistUnlockThrsld_21 is the unlock distance corresponding to Rear; DistUnlockThrsld_22 is the unlock distance corresponding to Left and Right; DistUnlockThrsld_23 is the unlock distance corresponding to Default and Front.

[0126] 4) Lock distance of rear anchor point: DistLockThrsld_2 = [DistLockThrsld_21, DistLockThrsld_22, DistLockThrsld_23]. The correspondence between each lock distance and the orientation is the same as the correspondence between the aforementioned unlock distance and the orientation, and thus will not be described again. According to the total unlock and lock distance, the shape and size of the vehicle body, and the installation position of the three UWB anchor points, the unlock and lock distance of each UWB anchor point in different orientations can be calculated.

[0127] Step 205: In the case that there is a valid filtered ranging value, the UWB out-of-vehicle positioning result is obtained according to the valid filtered ranging value and the corresponding out-of-vehicle area judgment threshold, and is taken as the target out-of-vehicle positioning result.

[0128] In the embodiment of the application, step 205 can include: obtaining the judgment result corresponding to each valid filtered ranging value respectively; and taking the judgment result closest to the vehicle terminal as the UWB out-of-vehicle positioning result.

[0129] N filtered effective ranging values are obtained through step 202, and the UWB out-of-vehicle positioning result AreaUwb is obtained according to the unlock and lock distance of the UWB anchor point i, and the specific steps are as follows:

[0130] (1) If DistFilter[i] < DistUnlockThrsld(i), AreaUwbTemp[i] is the PE area;

[0131] (2) If not PE and DistFilter[i] < DistLockThrsld(i), AreaUwbTemp[i] is the LOCK area;

[0132] (3) If not PE and LOCK, AreaUwbTemp[i] is the WELCOME area;

[0133] (4) Similarly, N filtered effective ranging values are obtained, and AreaUwb corresponding to the N filtered effective ranging values is obtained and recorded in AreaUwbTemp[N].

[0134] (5) The area closest to the vehicle in AreaUwbTemp is compared, and it is assumed that the area is the jth area, AreaUwb = AreaUwbTemp[j], and AreaUwb can include a PE area, a LOCK area, or a WELCOME area.

[0135] (6) If N = 0, AreaUwb = CONNECT area.

[0136] In step 206, in the absence of an effective filtered ranging value, a BLE-aided off-board positioning result AreaBleAidUwb is obtained according to historical ranging information and historical RSSI values and a current RSSI value, and the BLE-aided off-board positioning result is used as a target off-board positioning result.

[0137] In the embodiment of the application, step 206 can include the following sub-steps:

[0138] In sub-step 2061, a position change trend TrendBle of the digital key is obtained according to RSSI values of the three BLE anchors. TrendBle can include Approach, Leave, Around, and Unknown. TrendBle can be obtained according to a change trend of the RSSI values of the three BLE anchors, and the embodiment of the application does not make a specific limitation in this regard.

[0139] In sub-step 2062, a BLE area prediction result AreaBle is obtained according to historical RSSI values and a current RSSI value. AreaBle can include Middle, Far, and VeryFar areas.

[0140] In the embodiment of the application, the current RSSI[3] of the three BLE anchors is used for pre-area judgment, and a general position range of the digital key relative to the vehicle is obtained and recorded in AreaBle. AreaBle can include Middle, Far, and VeryFar. Specifically, Rssi threshold values RssiThrsldMiddle and RssiThrsldFar of Middle and Far are set in advance, and the steps of judging AreaBle according to the Rssi values and the corresponding threshold values are as follows:

[0141] (1) If the current RSSI of any anchor point > RssiThrsldMiddle, AreaBle = Middle. At this time, the digital key can be close to or not far from the vehicle, and there is a possibility of unlocking or locking.

[0142] (2) Otherwise, if RSSI of any anchor is currently present > RssiThrsldFar, then AreaBle = Far. At this time, the digital key is far away from the vehicle, and the possibility of locking is greater, and the possibility of unlocking is smaller;

[0143] (3) Otherwise, AreaBle = VeryFar. That is, the digital key is very far away from the vehicle, or there is no valid positioning information of BLE.

[0144] Sub-step 2063, calculate the distance DistToVehLastValidUwb between the digital key and the vehicle at the time t when the last valid ranging value is obtained.

[0145] According to the anchor point and the ranging value corresponding to the time t when the last available UWB ranging value occurs, and the direction DirToVeh of the digital key at time t, the distance DistToVehLastValidUwb between the digital key and the vehicle at time t is estimated.

[0146] Sub-step 2064, obtain the corresponding locking distance LockThsldNow according to the current direction of the digital key. According to the current direction, the locking distance of the anchor point closest to the digital key is used as the current locking distance LockThsldNow. If the current direction is Default, the anchor point corresponding to the last available UWB ranging value is used to determine LockThsldNow.

[0147] Sub-step 2065, obtain the BLE auxiliary off-vehicle positioning result AreaBleAidUwb according to TrendBle, AreaBle, DistToVehLastValidUwb, LockThsldNow, the current locking and unlocking state of the vehicle terminal, and the target off-vehicle positioning result corresponding to time t.

[0148] In the embodiment of the application, sub-step 2065 can include the following sub-steps:

[0149] Sub-step 20651, if the area of AreaBle changes from Middle to Far, and the current state of the car machine end is unlocked, and the target vehicle exterior positioning result at time t is PE or LOCK area, and LockThsldNow is greater than DistToVehLastValidUwb, then estimate the first time length TimeToCmdMin required for the digital key to reach the locking distance according to the difference between LockThsldNow and DistToVehLastValidUwb, if no valid UWB ranging value is detected within TimeToCmdMin or TrendBle is not leave, stop timing and get the target vehicle exterior positioning result according to the valid UWB ranging value, otherwise, when the timing reaches TimeToCmdMin, set AreaBleAidUwb to WELCOME, otherwise, when the timing does not reach TimeToCmdMin, AreaBleAidUwb remains unchanged. TimeToCmdMin is used for the case where AreaBle changes from Middle to Far, at this time the user has moved away from the vehicle, the system needs to respond quickly, therefore the shortest time threshold is used to ensure timely locking.

[0150] Sub-step 20652, if AreaBle is Middle, and the current state of the car machine end is unlocked, and the target vehicle exterior positioning result at time t is PE or LOCK area, calculate DistToCmd = LockThsldNow - DistToVehLastValidUwb, if DistToCmd <= 0, set AreaBleAidUwb to WELCOME area; otherwise, estimate the second time length TimeToCmdMax required for the user to walk to the locking distance and time, when the timing reaches TimeToCmdMax, if the TrendBle detected within TimeToCmdMax is Leave, set AreaBleAidUwb = WELCOME area, if the TrendBle detected within TimeToCmdMax is not Leave, AreaBleAidUwb remains unchanged, if a valid ranging value is detected within TimeToCmdMax, stop timing. TimeToCmdMax is used for the case where AreaBle remains Middle, at this time the user's position change is not clear, the system needs to observe the user's behavior trend for a longer time to avoid misjudgment, therefore the longest time threshold is used to increase the accuracy of judgment.

[0151] When AreaBleAidUwb is obtained, the target vehicle exterior positioning result (i.e. the final vehicle exterior positioning area) AreaOut = AreaBleAidUwb. If there is no valid historical and current BLE information, AreaOut = CONNECT area.

[0152] The double-mode three-anchor-point vehicle exterior area positioning method provided by the embodiment of the present application is used for Figure 5 As shown in the table, the unlock distance is 0.5-2.2 meters, the average unlock distance is 1.57 meters, and the standard deviation is 0.46 meters. The lock distance is 5.8-8.0 meters, the average lock distance is 6.86 meters, and the standard deviation is 0.72 meters.

[0153] The test results are shown in Table 1. Among them, UnlockDist is the unlock distance, and LockDist is the lock distance.

[0154] Table 1

[0155]

[0156] From the test results, it can be concluded that when approaching from each direction of the vehicle, the unlock distance is between 0.5 meters and 2.2 meters, the average unlock distance is 1.57 meters, and the standard deviation is 0.46 meters. When moving away from the vehicle in each direction, the lock distance is between 5.8 meters and 8.0 meters, the average lock distance is 6.86 meters, and the standard deviation is 0.72 meters.

[0157] In addition, a test using a smart watch as a digital key was also conducted. The tester wore the watch on his wrist and performed vehicle unlocking and locking tests on the 12 routes in reading screen posture and walking posture with hands down, respectively. The test results were similar to those of the mobile phone, and the unlocking and locking in each direction were successful, and the distance was relatively stable. Through the test, it can be known that using the method provided by the embodiment of the present application can provide stable unlocking and locking experience for the user.

[0158] Compared with the prior art, the double-mode three-anchor-point vehicle exterior area positioning method of the embodiment of the present application identifies the direction of the digital key through three double-mode anchors, sets corresponding vehicle exterior area judgment thresholds for different preset directions, and obtains accurate UWB vehicle exterior positioning results according to the effective filtered ranging values and the corresponding vehicle exterior area judgment thresholds, thereby meeting the high-performance positioning requirements of the UWB digital key when unlocking. In the case where there is no effective filtered ranging value, a BLE auxiliary vehicle exterior positioning result can also be obtained according to the historical ranging information of the UWB and the RSSI values of the three Bluetooth anchors, thereby meeting the functional requirements of the digital key, and the overall cost can be significantly reduced. The unlocking of the embodiment of the present application completely relies on UWB information, and only uses BLE information as an auxiliary, so that the performance of the locking and other functional modules is better in the NLOS case. Moreover, the BLE does not need to be calibrated with prior information, thereby maintaining the low dependence on the environment and the universality of the pure UWB solution.

[0159] Embodiment two of the present application provides a dual-mode three-anchor-point off-vehicle area positioning device, which can be configured in a digital key system of a vehicle terminal. The vehicle terminal is deployed with a UWB / BLE dual-mode three-anchor-point. As shown in Figure 6 The positioning device 500 includes a positioning information acquisition module 502, a ranging value filtering module 504, an orientation identification module 506, a threshold calculation module 508, a UWB positioning module 510, and a BLE auxiliary positioning module 512.

[0160] The positioning information acquisition module 502 is configured to acquire the positioning information of the dual-mode three-anchor-point in real time. The positioning information of the dual-mode three-anchor-point includes the ranging information of the three UWB anchor points and the RSSI values of the three BLE anchor points.

[0161] The ranging value filtering module 504 is configured to filter the ranging information of each UWB anchor point using a preset algorithm to obtain filtered ranging values.

[0162] The orientation identification module 506 is configured to obtain the orientation information of the digital key relative to the vehicle terminal according to the positioning information. The orientation information includes a plurality of preset orientations.

[0163] The threshold calculation module 508 is configured to obtain the off-vehicle area judgment threshold corresponding to each preset orientation for each UWB anchor point according to the orientation information.

[0164] The UWB positioning module 510 is configured to obtain a UWB off-vehicle positioning result as a target off-vehicle positioning result according to the valid filtered ranging values and the corresponding off-vehicle area judgment threshold when there are valid filtered ranging values.

[0165] The BLE auxiliary positioning module 512 is configured to obtain a BLE auxiliary off-vehicle positioning result as a target off-vehicle positioning result according to the historical ranging information, the historical RSSI values, and the current RSSI values when there are no valid filtered ranging values.

[0166] Optionally, the positioning device can further include a UWB position change trend judgment module,

[0167] The UWB position change trend judgment module is configured to obtain the position change trend TrendUwb of the digital key according to the ranging information of the three UWB anchor points.

[0168] The ranging value filtering module 504 can include a prediction duration estimation submodule, a one-step prediction submodule, and an optimal estimation submodule.

[0169] The prediction duration estimation submodule is configured to, in a case where there is no valid ranging value of the UWB anchor point i currently, obtain a preset target position according to a target off-vehicle positioning result corresponding to a time t at which a last valid ranging value of the UWB anchor point i is located, the TrendUwb, and a state of the vehicle terminal, obtain a prediction distance according to a distance relationship between a valid ranging value Dist(i, t) of the time t and the preset target position, and obtain a prediction duration T according to the prediction distance and a preset moving speed; i is a number of the UWB anchor point.

[0170] The one-step prediction submodule is configured to, in the prediction duration T, perform one-step prediction of a state of a Kalman filter algorithm in a case where no valid ranging value of the UWB anchor point i is detected, to obtain a filtered ranging value of the UWB anchor point i.

[0171] The optimal estimation submodule is configured to terminate the one-step prediction of the state in a case where a valid ranging value of the UWB anchor point i is detected, and obtain a filtered estimation value of the UWB anchor point i according to the Kalman filter algorithm.

[0172] Optionally, the prediction duration estimation submodule can include:

[0173] The first subunit is configured to, if the target off-vehicle positioning result corresponding to the time t is WELCOME and the time t or the current TrendUwb is Approach, calculate a difference between Dist(i, t) and a corresponding locking distance, and obtain the prediction duration T according to the difference; if the target off-vehicle positioning result corresponding to the time t is WELCOME and the current TrendUwb is not Approach, set the prediction duration as a preset minimum prediction duration TimePredMin; wherein the difference between Dist(i, t) and the corresponding locking distance is the prediction distance.

[0174] The second subunit is configured to, if the target off-vehicle positioning result corresponding to the time t is UNLOCK, calculate an absolute value AbsDiffDist(i) of a difference between Dist(i, t) and a corresponding unlocking distance, when the AbsDiffDist(i) is greater than Dist(i, t), set DisMinToCmd = Dist(i, t), when the AbsDiffDist(i) is less than or equal to Dist(i, t), set DisMinToCmd = AbsDiffDist(i), and obtain the prediction duration according to DisMinToCmd and the preset moving speed; wherein DisMinToCmd is the prediction distance.

[0175] The third subunit is configured to: if the target off-vehicle positioning result corresponding to the time t is LOCK, and the current state of the vehicle terminal is the locked state, and the difference between Dist(i, t) and the unlocking distance DistUnlockThrsld is less than a preset value, then the predicted duration is a set value; if the difference between Dist(i, t) and the unlocking distance DistUnlockThrsld is greater than or equal to the preset value, then the absolute values (A1, A2) of the distance differences between Dist(i, t) and DistUnlockThrsld and the locking distance DistLockThrsld are obtained respectively, and DisMinToCmd is the smaller one of the absolute values (A1, A2), when DisMinToCmd is less than the difference value threshold DiffDistThsld, and the current state of the vehicle terminal is the unlocked state, the predicted duration is a set value, when DisMinToCmd is greater than or equal to DiffDistThsld, the predicted duration is obtained according to DisMinToCmd and a preset moving speed. The locking distance and the unlocking distance are preset target positions and are determined according to the positions of the UWB anchor points i at the time t.

[0176] The fourth subunit is configured to: if T is greater than TimePredMax, then T = TimePredMax, and TimePredMax is a preset maximum predicted duration.

[0177] Optionally, the positions of the digital key relative to the vehicle terminal include: a front direction Front, a rear direction Rear, a left direction Left, a right direction Right, and a transition direction Default between adjacent positions in Front, Rear, Left and Right; and the dual-mode three-anchor points are arranged in an isosceles triangle on both sides of the vehicle and at a preset position of the rear of the vehicle.

[0178] The position identification module 506 can include:

[0179] The parameter calculation sub-module is configured to obtain a position judgment parameter according to the positioning information; the position judgment parameter includes: the number of UWB anchor points with valid ranging values ValidDistNum, the valid ranging values, the differences between each two of the plurality of valid ranging values, the minimum ranging value DistMin, the anchor point identification information corresponding to the minimum ranging value DistMin, the number of BLE anchor points with valid RSSI values, the valid RSSI values, and the differences between each two of the plurality of valid RSSI values.

[0180] The position judgment sub-module is configured to identify the target position of the target according to a preset judgment condition corresponding to each position; each position judgment condition includes a plurality of position judgment parameters for characterizing the corresponding position.

[0181] The UWB positioning module 510 is configured to obtain a judgment result corresponding to each valid filtered ranging value respectively, and take the judgment result closest to the vehicle terminal as the UWB off-vehicle positioning result.

[0182] The BLE auxiliary positioning module 512 includes:

[0183] The BLE position change trend judgment sub-module is configured to obtain a position change trend TrendBle of the digital key according to RSSI values of the three BLE anchors;

[0184] The BLE area prediction sub-module is configured to obtain a BLE area prediction result AreaBle according to historical RSSI values and a current RSSI value;

[0185] The key distance calculation sub-module is configured to calculate a distance DistToVehLastValidUwb between the digital key and the vehicle terminal at a time t when the last valid ranging value is obtained;

[0186] The lock distance calculation sub-module is configured to obtain a corresponding lock distance LockThsldNow according to a current orientation of the digital key; and

[0187] The BLE position judgment sub-module is configured to obtain a BLE auxiliary off-vehicle positioning result according to the TrendBle, the AreaBle, the DistToVehLastValidUwb, the LockThsldNow, a current unlocking state of the vehicle terminal, and a target off-vehicle positioning result corresponding to the time t.

[0188] Optionally, the AreaBle includes a Middle, Far, and VeryFar area; and the TrendBle includes an Approach, Leave, Around, and Unknown.

[0189] The BLE position judgment sub-module can include:

[0190] The first estimation subunit is used for estimating a first time length TimeToCmdMin required for the digital key to reach the locking distance according to a difference between the LockThsldNow and the DistToVehLastValidUwb if the area of the AreaBle changes from the Middle to the Far, the current state of the vehicle terminal is the unlocked state, the target off-vehicle positioning result at the time t is the PE or LOCK area, and the LockThsldNow is greater than the DistToVehLastValidUwb, stopping the timing and obtaining the target off-vehicle positioning result according to the valid UWB ranging value if the valid UWB ranging value is not detected within the TimeToCmdMin or the TrendBle is not leave, otherwise, when the timing reaches the TimeToCmdMin, setting the AreaBleAidUwb as the WELCOME.

[0191] The second estimation subunit is used for calculating DistToCmd = LockThsldNow-DistToVehLastValidUwb if the AreaBle is the Middle, the current state of the vehicle terminal is the unlocked state, and the target off-vehicle positioning result at the time t is the PE or LOCK area, setting the AreaBleAidUwb as the WELCOME area if the DistToCmd <= 0, otherwise, estimating a second time length TimeToCmdMax required for the user to walk to the locking distance and timing, setting the AreaBleAidUwb = WELCOME area if the TrendBle detected within the TimeToCmdMax is leave when the timing reaches the TimeToCmdMax, the AreaBleAidUwb is unchanged if the TrendBle detected within the TimeToCmdMax is not leave, and stopping the timing if the valid ranging value is detected within the TimeToCmdMax.

[0192] Compared with the prior art, the dual-mode three-anchor off-vehicle area positioning device of the embodiment of the present application identifies the direction of the digital key through three dual-mode anchors, sets corresponding off-vehicle area judgment thresholds for different preset directions, and obtains accurate UWB off-vehicle positioning results according to the valid filtered ranging value and the corresponding off-vehicle area judgment threshold, thereby meeting the high-performance positioning requirements of the UWB digital key in the unlocked state, obtaining the BLE auxiliary off-vehicle positioning result according to the historical ranging information of the UWB and the RSSI values of the three Bluetooth anchors in the case where there is no valid filtered ranging value, meeting the functional requirements of the digital key, and significantly reducing the overall cost.

[0193] ​A structural schematic diagram of an electronic device is provided for the third embodiment of the present application. The electronic device 60 comprises a memory 61 and a processor 62;

[0194] The memory 61 is configured to store a computer program, and the processor 62 is configured to read the computer program in the memory 61 and implement the double-mode three-anchor-point off-board area positioning method as described in the foregoing embodiments when the program is executed.

[0195] The fourth embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program is configured to execute the technical solution of any method embodiment when executed by a computer processor.

[0196] From the above description of the embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, 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 memory, a hard disk, or an optical disk, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the methods described in various embodiments of the present application.

[0197] It is worth noting that in the above embodiments of the device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be implemented; in addition, the specific names of each functional unit are only for easy distinction from each other, and do not limit the protection scope of the present application.

[0198] Note that the above are only preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A dual-mode three-anchor point off-board area positioning method, characterized in that, A vehicle terminal is provided with a UWB / BLE dual-mode three-anchor point, and the method comprises: Real-time acquisition of positioning information of the dual-mode three-anchor point; the positioning information of the dual-mode three-anchor point comprises ranging information of three UWB anchor points and RSSI values of three BLE anchor points; Filtering of the ranging information of each UWB anchor point by a preset algorithm to obtain filtered ranging values; Obtaining of orientation information of a digital key relative to the vehicle terminal according to the positioning information; the orientation information comprises a plurality of preset orientations; Obtaining of a vehicle-outside area judgment threshold corresponding to each preset orientation of each UWB anchor point according to the orientation information; In the case where there is an effective filtered ranging value, obtaining of a UWB vehicle-outside positioning result according to the effective filtered ranging value and the corresponding vehicle-outside area judgment threshold as a target vehicle-outside positioning result; in the case where there is no effective filtered ranging value, obtaining of a BLE auxiliary vehicle-outside positioning result according to historical ranging information and historical and current RSSI values as the target vehicle-outside positioning result.

2. The method of claim 1, wherein, The method further comprises: Obtaining of a position change trend TrendUwb of the digital key according to the ranging information of the three UWB anchor points; The filtering of the ranging information of each UWB anchor point by a preset algorithm to obtain filtered ranging values comprises: In the case where there is no effective ranging value of UWB anchor point i at present, obtaining of a preset target position according to a target vehicle-outside positioning result corresponding to a time t of a last effective ranging value of the UWB anchor point i, TrendUwb and an unlocking state of the vehicle terminal, obtaining of a predicted distance according to a distance relationship between an effective ranging value Dist(i, t) of the time t and the preset target position, and obtaining of a predicted time length T according to the predicted distance and a preset moving speed; i is the number of the UWB anchor point; Within the predicted time length T, performing state one-step prediction of a Kalman filtering algorithm to obtain a filtered ranging value of the UWB anchor point i when no effective ranging value of the UWB anchor point i is detected, and terminating the state one-step prediction and obtaining a filtered estimation value of the UWB anchor point i according to the Kalman filtering algorithm when the effective ranging value of the UWB anchor point i is detected.

3. The method of claim 2, wherein, The obtaining of a preset target position according to a target vehicle-outside positioning result corresponding to a time t of a last effective ranging value of the UWB anchor point i, TrendUwb and an unlocking state of the vehicle terminal, the obtaining of a predicted distance according to a distance relationship between an effective ranging value Dist(i, t) of the time t and the preset target position, and the obtaining of a predicted time length T according to the predicted distance and a preset moving speed, comprise: If the target off-board positioning result corresponding to the time t is WELCOME, and the time t or the current TrendUwb is Approach, a difference between the Dist(i, t) and a corresponding lock distance is calculated, and the prediction time T is obtained according to the difference; if the target off-board positioning result corresponding to the time t is WELCOME, and the current TrendUwb is not Approach, the prediction time is set as a preset minimum prediction time TimePredMin; wherein the difference between the Dist(i, t) and the corresponding lock distance is the prediction distance. If the target off-board positioning result corresponding to the time t is UNLOCK, an absolute value AbsDiffDist(i) of a difference between the Dist(i, t) and a corresponding unlock distance is calculated, when the AbsDiffDist(i) is greater than the Dist(i, t), DisMinToCmd = Dist(i, t), when the AbsDiffDist(i) is less than or equal to the Dist(i, t), DisMinToCmd = AbsDiffDist(i), and the prediction time is obtained according to the DisMinToCmd and a preset moving rate; wherein DisMinToCmd is the prediction distance. If the target off-board positioning result corresponding to the time t is LOCK, and the current car machine end is in a lock state, and a difference between the Dist(i, t) and an unlock distance DistUnlockThrsld is less than a preset value, the prediction time is a set value. If the difference between the Dist(i, t) and the unlock distance DistUnlockThrsld is greater than or equal to the preset value, absolute values (A1, A2) of distance differences between the Dist(i, t) and DistUnlockThrsld and a lock distance DistLockThrsld are obtained respectively, and DisMinToCmd is the smaller one of the absolute values (A1, A2), when the DisMinToCmd is less than a difference threshold DiffDistThsld, and the current car machine end is in an unlock state, the prediction time is a set value, when the DisMinToCmd is greater than or equal to DiffDistThsld, the prediction time is obtained according to the DisMinToCmd and a preset moving rate. If the T is greater than TimePredMax, T = TimePredMax, and TimePredMax is a preset maximum prediction time. Wherein the lock distance and the unlock distance are the preset target position and are determined according to the position of the UWB anchor point i at the time t.

4. The method of claim 1, wherein, The orientation of the digital key relative to the head unit end includes: front (Front), rear (Rear), left (Left), right (Right) of the head unit end, and a transition orientation (Default) between adjacent orientations of the Front, Rear, Left and Right; The double-mode three-anchor point is arranged in an isosceles triangle on both sides of the vehicle and a preset position at the rear of the vehicle. The orientation information of the digital key relative to the head unit end is obtained according to the positioning information, including: A position judgment parameter is obtained according to the positioning information; The position judgment parameter includes: the number of UWB anchor points with valid distance measurement values (ValidDistNum), valid distance measurement values, the difference between each two of the plurality of valid distance measurement values, the minimum distance measurement value (DistMin), the anchor point identification information corresponding to the minimum distance measurement value (DistMinId), the number of BLE anchor points with valid RSSI values, valid RSSI values, and the difference between each two of the plurality of valid RSSI values. A target orientation of the target is identified according to a preset judgment condition corresponding to each orientation; wherein each orientation judgment condition includes a plurality of orientation judgment parameters for characterizing the corresponding orientation.

5. The method of claim 1, wherein, The UWB out-of-vehicle positioning result is obtained according to the valid filtered distance measurement value and the corresponding out-of-vehicle area judgment threshold, including: A judgment result corresponding to each valid filtered distance measurement value is obtained respectively; The judgment result closest to the head unit end is taken as the UWB out-of-vehicle positioning result.

6. The method of claim 1, wherein, The BLE auxiliary out-of-vehicle positioning result is obtained according to historical distance measurement information and historical RSSI values and a current RSSI value, including: A position change trend (TrendBle) of the digital key is obtained according to the RSSI values of the three BLE anchor points; A BLE area prediction result (AreaBle) is obtained according to the historical RSSI values and the current RSSI value; A distance (DistToVehLastValidUwb) between the digital key and the head unit end at a time t when the last valid distance measurement value is obtained is calculated; A corresponding locking distance (LockThsldNow) is obtained according to the current orientation of the digital key; The BLE auxiliary out-of-vehicle positioning result is obtained according to the TrendBle, AreaBle, DistToVehLastValidUwb, LockThsldNow, and the current unlocking state of the head unit end, and the target out-of-vehicle positioning result corresponding to the time t.

7. The method of claim 6, wherein, The AreaBle includes: Middle, Far, and VeryFar areas; The TrendBle includes: Approach, Leave, Around, and Unknown; The BLE auxiliary out-of-vehicle positioning result is obtained according to the TrendBle, AreaBle, DistToVehLastValidUwb, LockThsldNow, and the current unlocking state of the head unit end, and the target out-of-vehicle positioning result corresponding to the time t. If the area of the AreaBle changes from Middle to Far, and the current state of the vehicle terminal is unlocked, and the target off-vehicle positioning result at the time t is PE or LOCK area, and the LockThsldNow is greater than the DistToVehLastValidUwb, a first time length TimeToCmdMin required for the digital key to reach the locking distance is estimated according to the difference between the LockThsldNow and the DistToVehLastValidUwb, if no valid UWB ranging value is detected within the TimeToCmdMin or the TrendBle is not leave, the timing is stopped and the target off-vehicle positioning result is obtained according to the valid UWB ranging value, otherwise, when the timing reaches the TimeToCmdMin, the AreaBleAidUwb is set to WELCOME; If the AreaBle is Middle, and the current state of the vehicle terminal is unlocked, and the target off-vehicle positioning result at the time t is PE or LOCK area, the DistToCmd = LockThsldNow-DistToVehLastValidUwb is calculated, if DistToCmd<=0, the AreaBleAidUwb is set to WELCOME area, otherwise, a second time length TimeToCmdMax required for the user to walk to the locking distance is estimated and timing is started, when the timing reaches the TimeToCmdMax, if the TrendBle detected within the TimeToCmdMax is Leave, the AreaBleAidUwb = WELCOME area is set, if the TrendBle detected within the TimeToCmdMax is not Leave, the AreaBleAidUwb remains unchanged, if a valid ranging value is detected within the TimeToCmdMax, the timing is stopped.

8. A dual mode three anchor vehicle exterior area positioning device, characterized by, The device is configured in the vehicle terminal, and the vehicle terminal is deployed with a UWB / BLE dual-mode three-anchor point, and the device comprises: A positioning information acquisition module is configured to acquire the positioning information of the dual-mode three-anchor point in real time; the positioning information of the dual-mode three-anchor point comprises ranging information of three UWB anchor points and RSSI values of three BLE anchor points; A ranging value filtering module is configured to filter the ranging information of each UWB anchor point by using a preset algorithm to obtain a filtered ranging value; An orientation identification module is configured to obtain orientation information of a digital key relative to the vehicle terminal according to the positioning information; the orientation information comprises a plurality of preset orientations; A threshold calculation module is configured to obtain an off-vehicle area judgment threshold corresponding to each preset orientation of each UWB anchor point according to the orientation information. The UWB positioning module is configured to, when there is a valid filtered ranging value, obtain a UWB off-vehicle positioning result according to the valid filtered ranging value and the corresponding off-vehicle area judgment threshold, and take the UWB off-vehicle positioning result as a target off-vehicle positioning result. The BLE auxiliary positioning module is configured to, when there is no valid filtered ranging value, obtain a BLE auxiliary off-vehicle positioning result according to historical ranging information, historical RSSI values and a current RSSI value, and take the BLE auxiliary off-vehicle positioning result as the target off-vehicle positioning result.

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

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

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