Digital key location determination method and device, storage medium and electronic device

Abstract

This invention provides a method, device, storage medium, and electronic device for determining the location of a digital key, belonging to the field of vehicle technology. The method includes: determining a first measurement distance corresponding to a first anchor node and a second measurement distance corresponding to a second anchor node; based on the anchor node spacing, the first measurement distance, and the second measurement distance, determining whether the key is on the line connecting the two anchor nodes; if the key is not on the line, determining whether the key is on the straight line containing the two anchor nodes; if the key is on the straight line, determining a reference distance between the first and second measurement distances; if the key is not on the straight line, using the distance from the key to the straight line as the reference distance; and based on the reference distance, the first measurement distance, the second measurement distance, and a preset in-vehicle area range, determining whether the key is located inside the vehicle. Applying this method, digital key positioning can be performed based on two sets of distance measurement results, eliminating the need to deploy a large number of anchor nodes and reducing system complexity.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method and apparatus for determining the location of a digital key, a storage medium, and an electronic device. Background Technology

[0002] With the development of vehicle technology, digital keys have become one of the main tools for realizing vehicle key functions. Digital keys based on Ultra Wide Band (UWB) technology are one of the common types of digital keys, and this type of digital key is usually called a UWB digital key.

[0003] In digital key applications, different areas inside and outside the vehicle are typically divided into different functional zones. When the digital key is in the corresponding functional zone, the corresponding vehicle control function is triggered. When controlling the vehicle based on the digital key, it is necessary to determine whether the digital key is inside or outside the vehicle. Currently, determining the location of a UWB digital key usually involves deploying a large number of UWB base stations (i.e., anchor nodes) on the vehicle. These base stations measure the distance to the UWB digital key, and based on the extensive ranging data, the precise coordinates of the UWB digital key are calculated, thereby identifying its location.

[0004] Current location determination methods for UWB digital keys rely on a large number of UWB base stations. However, the interior space of a vehicle is usually very limited, and deploying a large number of UWB base stations would increase the complexity of the vehicle system, potentially negatively impacting system stability, and would also be costly. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a digital key location determination method to solve the problems of existing location determination methods, which require the deployment of a large number of UWB base stations, resulting in high complexity of the vehicle system, poor system stability, and high cost.

[0006] This invention also provides a digital key location determination device to ensure the practical implementation and application of the above method.

[0007] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0008] The first aspect of this invention provides a method for determining the location of a digital key, comprising:

[0009] When it is necessary to determine the location of the target digital key, a first measurement distance and a second measurement distance are determined; the first measurement distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measurement distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle;

[0010] Determine the anchor node spacing; the anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane;

[0011] Based on the anchor node spacing, the first measured distance, and the second measured distance, it is determined whether the target digital key is located at the target line segment; the target line segment is the line connecting the first anchor node and the second anchor node.

[0012] If the target digital key is not located on the target line segment, then determine whether the target digital key is located on the line containing the target line segment;

[0013] If the target digital key is located on the line where the target line segment is located, then the reference distance corresponding to the target digital key is determined from the first measurement distance and the second measurement distance;

[0014] If the target digital key is not located on the line where the target line segment is located, then the distance from the target digital key to the line where the target line segment is located is determined, and this distance is used as the reference distance corresponding to the target digital key;

[0015] Based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range, it is determined whether the target digital key is located inside the vehicle.

[0016] A second aspect of the present invention provides a digital key location determination device, comprising:

[0017] The first determining unit is used to determine a first measuring distance and a second measuring distance when it is necessary to determine the location of the target digital key; the first measuring distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measuring distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle;

[0018] The second determining unit is used to determine the anchor node spacing; the anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane;

[0019] The first judgment unit is used to determine whether the target digital key is located at the position of the target line segment based on the anchor node spacing, the first measurement distance, and the second measurement distance; the target line segment is the line connecting the first anchor node and the second anchor node.

[0020] The second judgment unit is used to determine whether the target digital key is located on the line where the target line segment is located if the target digital key is not located on the target line segment.

[0021] The third determining unit is used to determine a reference distance corresponding to the target digital key between the first measured distance and the second measured distance if the target digital key is located on the straight line where the target line segment is located.

[0022] The fourth determining unit is used to determine the distance from the target digital key to the line where the target line segment is located if the target digital key is not located on the line where the target line segment is located, and to use the distance as the reference distance corresponding to the target digital key.

[0023] The third judgment unit is used to determine whether the target digital key is located inside the vehicle based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range.

[0024] A third aspect of the present invention provides a storage medium comprising stored instructions, wherein, when the instructions are executed, the device containing the storage medium is controlled to perform the digital key location determination method described above.

[0025] A fourth aspect of the present invention provides an electronic device, including a memory and one or more instructions, wherein one or more instructions are stored in the memory and configured to be executed by one or more processors as described above for determining the location of a digital key.

[0026] A method for determining the location of a digital key based on the above embodiments of the present invention includes: when it is necessary to determine the location of a target digital key, determining a first measurement distance and a second measurement distance; the first measurement distance is the distance between a first anchor node and the target digital key on a horizontal plane; the second measurement distance is the distance between a second anchor node and the target digital key on a horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle; determining the anchor node spacing; the anchor node spacing is the distance between the first anchor node and the second anchor node on a horizontal plane; based on the anchor node spacing, the first measurement distance, and the second measurement distance, determining whether the target digital key is located at the location of a target line segment; the target line segment is the first... The method involves connecting the anchor node to the second anchor node; if the target digital key is not located on the target line segment, it is determined whether the target digital key is located on the line containing the target line segment; if the target digital key is located on the line containing the target line segment, a reference distance corresponding to the target digital key is determined from the first and second measurement distances; if the target digital key is not located on the line containing the target line segment, the distance from the target digital key to the line containing the target line segment is determined and used as the reference distance corresponding to the target digital key; based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and a preset in-vehicle area range, it is determined whether the target digital key is located inside the vehicle. Applying the method provided in this embodiment of the invention, only two anchor nodes deployed inside the vehicle are needed to measure the distance to the digital key. Based on the distance between the two anchor nodes and the distance from the digital key to the two anchor nodes, a reference distance for evaluating whether the digital key is within a predetermined range can be determined, thereby determining whether the digital key is located inside the vehicle. This process eliminates the need to calculate the precise coordinates of the digital key and deploy a large number of anchor nodes for distance measurement, which helps reduce the complexity of the vehicle system, improves the stability of the vehicle system, and reduces costs. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 A flowchart of a method for determining the location of a digital key provided in an embodiment of the present invention;

[0029] Figure 2 A schematic diagram illustrating the deployment location of an anchor node according to an embodiment of the present invention;

[0030] Figure 3This is a schematic diagram illustrating the relative positional relationship between an anchor node and a digital key, provided as an embodiment of the present invention.

[0031] Figure 4 This is another schematic diagram illustrating the relative positional relationship between an anchor node and a digital key, provided as an embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram illustrating an anchor node deployment method provided in an embodiment of the present invention;

[0033] Figure 6 This is another schematic diagram of an anchor node deployment method provided in an embodiment of the present invention;

[0034] Figure 7 Another schematic diagram illustrating the relative positional relationship between an anchor node and a digital key, provided in an embodiment of the present invention;

[0035] Figure 8 This is yet another schematic diagram illustrating an anchor node deployment method provided in an embodiment of the present invention;

[0036] Figure 9 This is another schematic diagram of an anchor node deployment method provided in an embodiment of the present invention;

[0037] Figure 10 This is a schematic diagram of the structure of a digital key position determination device provided in an embodiment of the present invention;

[0038] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0041] This invention provides a method for determining the location of a digital key. This method can be applied to a vehicle control system, and its execution entity can be the vehicle system's Electronic Control Unit (ECU) or other control modules. The flowchart of the method is shown below. Figure 1 As shown, it includes:

[0042] S101: When it is necessary to determine the location of the target digital key, determine a first measurement distance and a second measurement distance; the first measurement distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measurement distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle;

[0043] The method provided in this invention can be applied to the location determination scenario of UWB digital keys. In specific implementation, at least two anchor nodes, namely a first anchor node and a second anchor node, can be pre-deployed inside the vehicle. The anchor nodes are UWB base stations, which can measure the distance between the digital key and the anchor node based on UWB technology. The positions of each anchor node deployed in the vehicle are known. For example, a vehicle coordinate system can be established following the principle of a right-hand coordinate system, with the vehicle's centroid as the origin, the y-axis passing through the vehicle's centerline along the front direction as the origin, and the x-axis passing through the origin and perpendicular to the y-axis as the x-axis. Let M... i As an identifier for the anchor node, 'i' represents the node number, and the installation position of each anchor node can be marked as 'M'. i (x i ,y i ,z i ), where x i Represents the lateral position coordinates on the horizontal plane, y i The z-coordinate represents the longitudinal position coordinate on the horizontal plane. i The height information is perpendicular to the horizontal plane. Using K as the identifier for the digital key, the real-time spatial position of the digital key can be represented as K(x,y,h), where x is the horizontal coordinate on the horizontal plane, y is the vertical coordinate on the horizontal plane, and h is the height information perpendicular to the horizontal plane. The position coordinates of the digital key are unknown. Figure 2 A schematic diagram illustrating the deployment location of anchor nodes on a vehicle is shown. The anchor nodes are UWB nodes, and the digital key is a UWB key. The solid line border represents the vehicle. M1, M2, M3, and M4 are anchor nodes deployed at the vertices of the vehicle's edge, while M5 and M6 are anchor nodes deployed inside the vehicle. M5 and M6 can serve as the first and second anchor nodes in this embodiment of the invention. In the specific implementation process, the coordinate boundaries of the interior area can be pre-defined based on the vehicle's actual dimensions, for example... Figure 2 The positional relationship shown, YR and Y L That is, the upper and lower boundaries of the vertical coordinate of the area inside the vehicle, X L and X R This refers to the left and right boundaries of the horizontal coordinate of the area inside the vehicle.

[0044] In the method provided by this embodiment of the invention, when it is necessary to determine whether the vehicle's digital key is inside or outside the vehicle, the controller can obtain the distance measurement result obtained by the first anchor node measuring the distance to the digital key, and obtain the distance measurement result obtained by the second anchor node measuring the distance to the digital key. The distance measurement result of anchor node i can be marked as Range. i The distance relationship between the anchor node and the digital key can be shown as follows:

[0045] (Equation 1)

[0046] The parameters in the formula can be found in the previous explanation. It should be noted that this formula only describes the relationship between the distance and coordinates between the anchor node and the digital key, and does not calculate the Range based on this formula. i During data processing, the anchor node obtains the ranging results based on UWB technology.

[0047] In the method provided by this invention, the height information of the digital key above the ground can be preset based on experience, i.e., the height value h of the digital key can be preset. This height value can be set based on statistical data of an adult holding a key, for example, it can be taken between 0.5 and 0.8 m. Based on the height information of the anchor node and the height information of the digital key, the distance measurement result can be projected in two dimensions to calculate the distance on the horizontal plane, i.e., the distance between the corresponding anchor node and the digital key on the horizontal plane. The distance Range between the anchor node and the digital key on the horizontal plane is... i_2D The calculation method is as follows:

[0048] (Equation 2)

[0049] In the method provided by the embodiments of the present invention, based on the distance measurement results of the first anchor node and the second anchor node, two-dimensional projection can be performed on the distance measurement results of the first anchor node and the second anchor node respectively, based on the height information of the first anchor node and the second anchor node and the preset height information of the digital key, to obtain the horizontal distance from the first anchor node to the target digital key and the horizontal distance from the second anchor node to the target digital key. The horizontal distance from the first anchor node to the target digital key is used as the first measurement distance, and the horizontal distance from the second anchor node to the target digital key is used as the second measurement distance.

[0050] S102: Determine the anchor node spacing; the anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane;

[0051] In the method provided by this embodiment of the invention, the distance between the first anchor node and the second anchor node on the horizontal plane can be calculated based on the position coordinates of the first anchor node and the second anchor node. This horizontal distance is then used as the anchor node spacing. The anchor node spacing can be calculated as follows:

[0052] (Equation 3)

[0053] Among them, Dist kj_2D This represents the distance between anchor node k and anchor node j on the horizontal plane, i.e., the anchor node spacing, (x k ,y k (x) represents the x and y coordinates of anchor node k. j ,y j ) represents the horizontal and vertical coordinates of anchor node j.

[0054] S103: Based on the anchor node spacing, the first measured distance, and the second measured distance, determine whether the target digital key is located at the target line segment; the target line segment is the line connecting the first anchor node and the second anchor node;

[0055] In the method provided by the embodiments of the present invention, it is possible to determine whether the target digital key is located on the line connecting the first anchor node and the second anchor node in the horizontal direction based on the relationship between the anchor node spacing, the first measurement distance and the second measurement distance.

[0056] S104: If the target digital key is not located on the target line segment, then determine whether the target digital key is located on the line where the target line segment is located;

[0057] In the method provided by this embodiment of the invention, if the target digital key is not located on the line connecting the first anchor node and the second anchor node (i.e., the target line segment), it is further determined whether the target digital key is located on the straight line containing the first anchor node and the second anchor node (i.e., the straight line containing the target line segment). Specifically, the determination of whether the target digital key is located on the straight line containing the target line segment can be based on the relationship between the first measured distance, the second measured distance, and the anchor node spacing. For example, if the difference between the first measured distance and the anchor node spacing is equal to the second measured distance, or the difference between the second measured distance and the anchor node spacing is equal to the first measured distance, then the target digital key is considered to be located on the straight line containing the target line segment.

[0058] If the target digital key is located at the position of the target line segment, then the target digital key is considered to be inside the vehicle.

[0059] S105: If the target digital key is located on the straight line of the target line segment, then determine the reference distance corresponding to the target digital key between the first measured distance and the second measured distance;

[0060] In the method provided by this embodiment of the invention, if the target digital key is located on the straight line between the first anchor node and the target anchor node (but not between the two points), then one of the first measurement distance and the second measurement distance is selected as the reference distance for evaluating the position of the target digital key.

[0061] S106: If the target digital key is not located on the line where the target line segment is located, then determine the distance from the target digital key to the line where the target line segment is located, and use this distance as the reference distance corresponding to the target digital key;

[0062] In the method provided by this embodiment of the invention, if the target digital key is not located on the straight line of the target line segment, the distance from the target digital key to the straight line of the first anchor node and the second anchor node is calculated according to a pre-set distance calculation method based on the first measurement distance, the second measurement distance and the anchor node spacing, and the distance is used as a reference distance for evaluating the position of the target digital key.

[0063] S107: Based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range, determine whether the target digital key is located inside the vehicle.

[0064] In the method provided by this invention, the target digital key can be assessed based on a reference distance, a first measurement distance, and a second measurement distance to determine whether the target digital key is located inside the vehicle. It is understood that if the target digital key is not located inside the vehicle, it is located outside the vehicle.

[0065] Based on the method provided in this invention, only two anchor nodes deployed inside the vehicle are needed to measure the distance to the digital key. A reference distance for assessing whether the digital key is within a predetermined range can be determined based on the distance between the two anchor nodes and the distance from the digital key to the two anchor nodes, thereby determining whether the digital key is located inside the vehicle. This process eliminates the need to calculate the precise coordinates of the digital key and deploy a large number of anchor nodes for distance measurement, which helps reduce the complexity of the vehicle system, improves the stability of the vehicle system, and reduces costs.

[0066] exist Figure 1Based on the method shown, in the method provided by the embodiments of the present invention, the method mentioned in step S103 may optionally include, in the step of determining whether the target digital key is located on the target line segment based on the anchor node spacing, the first measurement distance, and the second measurement distance, the following:

[0067] The first measured distance and the second measured distance are summed, and the result is taken as the total measured distance.

[0068] Compare the sum of the measured distances with the spacing between the anchor nodes;

[0069] If the sum of the measured distances is equal to the anchor node spacing, then the target digital key is determined to be located at the position of the target line segment;

[0070] If the sum of the measured distances is greater than the anchor node spacing, then it is determined that the target digital key is not located at the position of the target line segment.

[0071] In the method provided by this embodiment of the invention, the first measured distance and the second measured distance can be added together, and the sum of the first measured distance and the second measured distance is taken as the total measured distance. The total measured distance is compared with the anchor node spacing. If the total measured distance is equal to the anchor node spacing, then the target digital key is considered to be located on the target line segment. If the total measured distance is greater than the anchor node spacing, then the target digital key is considered not to be on the target line segment.

[0072] Based on the methods provided in the above embodiments, the methods provided in the embodiments of the present invention further include:

[0073] If the sum of the measured distances is less than the anchor node spacing, then the first measured distance and the second measured distance are respectively corrected for errors to obtain the first corrected distance corresponding to the first measured distance and the second corrected distance corresponding to the second measured distance;

[0074] In the method provided by this embodiment of the invention, if it is found during the comparison between the total measured distance and the anchor node spacing that the total measured distance is less than the anchor node spacing, then based on a preset forward ranging error, error correction is performed on the first measured distance and the second measured distance respectively. The error-corrected first measured distance is taken as the first corrected distance, and the error-corrected second measured distance is taken as the second corrected distance. Specifically, the forward ranging error can be taken as a value between 10-15cm. During error correction, the first measured distance and the preset forward ranging error can be summed, and the summation result is taken as the first corrected distance. The second measured distance and the forward ranging error are summed, and the summation result is taken as the second corrected distance.

[0075] The first correction distance and the second correction distance are summed, and the result is used as the total measured correction distance.

[0076] Compare the sum of the measured correction distances with the anchor node spacing;

[0077] If the sum of the measured correction distances is less than the anchor node spacing, the current position determination process ends.

[0078] In the method provided by this embodiment of the invention, the first correction distance and the second correction distance can be summed, and the sum of the first correction distance and the second correction distance is taken as the total measured correction distance. The total measured correction distance is compared with the anchor node spacing. If the total measured correction distance is still less than the anchor node spacing, then it is considered that no valid distance measurement result has been obtained, the current position determination process ends, and the process waits for the next position determination process.

[0079] In the method provided by the embodiments of the present invention, if the sum of the measured correction distances is not less than the anchor node spacing, the subsequent determination process is based on the first correction distance (equivalent to the first measured distance) and the second correction distance (equivalent to the second measured distance).

[0080] exist Figure 1 Based on the method shown, the method provided in this embodiment of the invention, in step S105, involves determining the reference distance corresponding to the target digital key between the first measurement distance and the second measurement distance, including:

[0081] Compare the first measured distance and the second measured distance;

[0082] The smaller of the first and second measurement distances is taken as the target measurement distance;

[0083] The target measurement distance is used as the reference distance corresponding to the target digital key.

[0084] In the method provided by this embodiment of the invention, if the target digital key is located on the straight line of the target line segment, the first measured distance and the second measured distance are compared, and the smaller of the two measured distances is taken as the target measured distance, which is then used as the reference distance corresponding to the target digital key. That is, if the first measured distance is less than the second measured distance, the first measured distance is taken as the target measured distance; if the second measured distance is less than the first measured distance, the second measured distance is taken as the target measured distance.

[0085] exist Figure 1Based on the method shown, the process of determining the distance from the target digital key to the straight line containing the target line segment mentioned in step S106 of the method provided in this embodiment of the invention includes:

[0086] Construct a target triangle by using the first anchor node, the second anchor node, and the target digital key as vertices;

[0087] In the method provided by this embodiment of the invention, if the target digital key is not located on the straight line of the target line segment, the first anchor node, the second anchor node, and the target digital key are regarded as the vertices of a triangle, thereby constructing a triangle, which is then used as the target triangle. The lengths of the three sides of the target triangle are the first measurement distance, the second measurement distance, and the anchor node spacing, respectively.

[0088] Based on the first measured distance, the second measured distance, and the anchor node spacing, it is determined whether the first included angle and the second included angle in the target triangle are both acute angles; the first included angle is the included angle corresponding to the first anchor node, and the second included angle is the included angle corresponding to the second anchor node;

[0089] In the method provided by this invention, the determination can be based on whether the first measured distance, the second measured distance, and the anchor interior angle (i.e., the first included angle and the second included angle) are all acute angles. Specifically, on the horizontal plane, A1 represents the position of the first anchor node, A2 represents the position of the second anchor node, and A3 represents the position of the target digital key. Figure 3 This illustrates the relative positional relationship between an anchor node and a digital key. Figure 3 In the positional relationship shown, the first and second included angles of the target triangle are both acute angles. Figure 4 This illustrates another relative positional relationship between the anchor node and the digital key, in Figure 4 In the positional relationship shown, the first and second included angles in the target triangle are not both acute angles; the included angle of the triangle corresponding to A1 is an obtuse angle.

[0090] Specifically, whether both the first and second included angles are acute angles can be determined using the following criteria:

[0091] (Equation 4)

[0092] Among them, Range 1_2D Indicates the first measured distance, Range 2_2D Dist indicates the second measured distance. 12_2D Indicates the spacing between anchor nodes.

[0093] If the first measured distance, the second measured distance, and the anchor node spacing conform to the two relationships shown in Equation 4, that is, the sum of the square of the first measured distance and the square of the anchor node spacing is greater than or equal to the square of the second measured distance, and the sum of the square of the second measured distance and the square of the anchor node spacing is greater than or equal to the square of the first measured distance, then the first included angle and the second included angle are considered to be acute angles.

[0094] Correspondingly, if the first measurement distance, the second measurement distance, and the anchor node spacing conform to the relationship shown in Equation 5, it means that the first included angle and the second included angle are not acute angles, that is, one of the included angles is an obtuse angle.

[0095] (Equation 5)

[0096] If the sum of the square of the first measured distance and the square of the anchor node spacing is less than the square of the second measured distance, or if the sum of the square of the second measured distance and the square of the anchor node spacing is less than the square of the first measured distance, then it is considered that the first included angle and the second included angle are not both acute angles.

[0097] If both the first included angle and the second included angle are acute angles, then the preset first calculation strategy is used as the target calculation strategy; the first calculation strategy is a calculation strategy set based on the law of cosines.

[0098] In the method provided by this embodiment of the invention, a calculation strategy for calculating the height of an acute triangle is pre-set based on the law of cosines, and this calculation strategy is used as the first calculation strategy. If both the first included angle and the second included angle in the target triangle are acute angles, the first calculation strategy can be used as the target calculation strategy to calculate the height of the common side of the first included angle and the second included angle. For example... Figure 3 The height of line segment A1A2 in the relative positional relationship shown.

[0099] The first computational strategy can be shown as follows:

[0100] (Equation 6)

[0101] Where DIST is the height of the common side of the first and second included angles, which is the height corresponding to the line connecting the first and second anchor nodes. The meanings of the other parameters can be found in the previous text.

[0102] If neither the first included angle nor the second included angle is an acute angle, then the preset second calculation strategy is used as the target calculation strategy; the second calculation strategy is a calculation strategy set based on Heron's formula.

[0103] The method provided in this invention pre-defines a calculation strategy for calculating the height of an obtuse triangle based on Heron's formula, and uses this strategy as a second calculation strategy. If one of the included angles in the target triangle (first and second included angles) is obtuse, the second calculation strategy can be used as the target calculation strategy to calculate the height of the common side between the first and second included angles. For example... Figure 4 The height of line segment A1A2 in the relative positional relationship shown.

[0104] The second calculation strategy can be shown below:

[0105] (Equation 7)

[0106] Among them, you can refer to Figure 4 The relative positions shown are as follows: h represents the altitude of the longest side in the target triangle, p represents the semi-perimeter of the target triangle, θ1 represents the acute angle of either the first or second included angle, and θ2 represents the angle between the altitude of the longest side in the target triangle and the line connecting the two anchor nodes. The meanings of the remaining parameters can be found in the preceding text.

[0107] The target length is determined based on the first measurement distance, the second measurement distance, the anchor node spacing, and the target calculation strategy; the target length is the height of the common side of the first included angle and the second included angle.

[0108] The target length is taken as the distance from the target digital key to the straight line containing the target line segment.

[0109] In the method provided by the embodiments of the present invention, the height of the common side of the first included angle and the second included angle in the target triangle can be calculated based on the first measurement distance, the second measurement distance and the anchor node spacing, according to the target calculation strategy. The calculation result is used as the target length, which is the distance from the target digital key to the straight line where the target line segment is located.

[0110] exist Figure 1 Based on the method shown, in the method provided by this embodiment of the invention, both the first anchor node and the second anchor node are deployed on the central axis of the vehicle. The process mentioned in step S107, which determines whether the target digital key is located inside the vehicle based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range, includes:

[0111] If the target digital key is located on the line where the target line segment is located, then a first reference anchor node is determined between the first anchor node and the second anchor node;

[0112] In the method provided by this embodiment of the invention, both the first anchor node and the second anchor node are deployed at the centerline position of the vehicle, for example... Figure 1The anchor nodes (i.e., UWB nodes) shown are M5 and M6. In this scenario, if the target digital key is located on the straight line of the target line segment (but not on the target line segment), then one of the first and second anchor nodes is selected as the first reference anchor node. Specifically, the anchor node corresponding to the reference distance of the target digital key can be used as the first reference anchor node. For example, if the reference distance is the first measured distance, then the first anchor node is used as the first reference anchor node; if the reference distance is the second measured distance, then the second anchor node is used as the second reference anchor node.

[0113] Based on the position coordinates of the first reference anchor node and the range of the vehicle interior area, determine the first longitudinal boundary distance corresponding to the first reference anchor node;

[0114] In the method provided by this embodiment of the invention, the distance from the first reference anchor node to its nearest longitudinal boundary can be calculated based on the position coordinates of the first reference anchor node and a preset range of the vehicle interior area. For example... Figure 5 As shown, the longitudinal boundary coordinates of the area inside the vehicle are Y... R (Upper boundary) and Y L (Lower boundary) If anchor node M5 is the first reference anchor node, then based on the ordinate of M5 and the boundary coordinate Y... R Calculate the distance L_M5Y from M5 to the upper boundary. R This distance is taken as the first longitudinal boundary distance. If anchor node M6 is the first reference anchor node, then the distance is based on the ordinate of M6 and the boundary coordinate Y. L Calculate the distance L_M6Y from M6 to the lower boundary. L This distance is taken as the first longitudinal boundary distance.

[0115] Compare the reference distance corresponding to the target digital key with the distance of the first longitudinal boundary;

[0116] If the reference distance corresponding to the target digital key is less than or equal to the first longitudinal boundary distance, then the target digital key is determined to be located inside the vehicle.

[0117] If the reference distance corresponding to the target digital key is greater than the first longitudinal boundary distance, then the target digital key is determined to be located outside the vehicle.

[0118] In the method provided by the embodiments of the present invention, the reference distance corresponding to the target digital key can be compared with the distance of the first longitudinal boundary. If the reference distance exceeds the distance of the first longitudinal boundary, the target digital key is considered to be located outside the vehicle. If the reference distance does not exceed the distance of the first longitudinal boundary, the target digital key is considered to be located inside the vehicle.

[0119] If the target digital key is not located on the straight line of the target line segment, then the first lateral boundary distance corresponding to the vehicle interior area is determined;

[0120] In the method provided by this embodiment of the invention, if the target digital key is not on the straight line where the target line segment is located, the first lateral boundary distance corresponding to the interior area is determined based on the lateral boundary coordinates of the interior area. For example... Figure 6 As shown, if X L =X R Then X can be R As the first lateral boundary distance, or based on 1 / 2(X) L + X R Calculate the distance to the first lateral boundary.

[0121] Compare the reference distance corresponding to the target digital key with the distance of the first lateral boundary;

[0122] In the method provided by this invention, the reference distance corresponding to the target digital key can be compared with the distance of the first lateral boundary. It is understood that if the target digital key is not on the straight line of the target line segment, the reference distance corresponding to the target digital key is equal to the distance from the target digital key to the straight line of the target line segment. When both the first anchor node and the second anchor node are on the vehicle's centerline, the first lateral boundary distance is the distance from the lateral boundary of the vehicle's interior area to the centerline, and the reference distance is the distance from the target digital key to the centerline. By comparing the two, it can be determined whether the target digital key exceeds the vehicle boundary laterally.

[0123] In the method provided by this embodiment of the invention, if the reference distance corresponding to the target digital key is greater than the first lateral boundary distance, the target digital key is considered to be located outside the vehicle.

[0124] If the reference distance corresponding to the target digital key is less than or equal to the first lateral boundary distance, then based on the reference distance corresponding to the target digital key, the first measurement distance, and the second measurement distance, it is determined whether the target digital key meets the preset first longitudinal over-limit condition.

[0125] In the method provided by this invention, if the reference distance corresponding to the target digital key is not greater than the first lateral boundary distance, it is considered that the target digital key has not exceeded the boundary in the lateral direction. At this time, the reference distance, the first measured distance, and the second measured distance are further combined to determine whether it exceeds the boundary in the longitudinal direction. Specifically, a first longitudinal exceedance condition can be set according to actual needs to determine whether the target digital key exceeds the boundary. For example, it can be determined whether the first included angle and the second included angle (i.e., the two interior angles of the triangle corresponding to the first anchor node and the second anchor node) in the target triangle (i.e., the triangle with the first anchor node, the second anchor node, and the target digital key as vertices respectively) are both acute angles to determine whether the target digital key is in the longitudinal region between the first anchor node and the second anchor node. If both the first included angle and the second included angle are acute angles, then it is considered that the target digital key is in the longitudinal region between the first anchor node and the second anchor node, and at this time, it is considered that the target digital key does not meet the first longitudinal exceedance condition. If neither the first nor the second included angle is acute (i.e., one of the included angles is obtuse), then the anchor node closer to the target digital key between the first and second anchor nodes is used as the reference anchor node. Based on the measured distance corresponding to the reference anchor node, a distance projection is performed longitudinally to obtain the longitudinal distance between the target digital key and the reference anchor node. Based on the coordinates of the reference anchor node, its corresponding longitudinal boundary distance is calculated. The longitudinal distance between the target digital key and the reference anchor node is compared with the longitudinal boundary distance. If this distance does not exceed the longitudinal boundary distance, the target digital key is considered to not meet the first longitudinal exceedance condition; if the distance exceeds the longitudinal boundary distance, the target digital key is considered to meet the first longitudinal exceedance condition. The calculation method for the longitudinal distance between the target digital key and the reference anchor node is as follows:

[0126] (Equation 8)

[0127] Where DIST_PMi represents the vertical distance between the target digital key and the reference anchor node, and Range i2D This represents the measured distance corresponding to the reference anchor node. For example, if the reference anchor node is the first anchor node, Range... i2D This is the first measured distance. If the reference anchor node is the second anchor node, then the Range... i2D This is the second measured distance. Further reference is available. Figure 6If the reference anchor node is M5, the distance between the target digital key and the reference anchor node in the longitudinal direction can be calculated based on Equation 8. Assuming a perpendicular line is drawn from the point corresponding to the target digital key to the straight line containing the target line segment (the straight line connecting the first and second anchor nodes, i.e., the vehicle's centerline), with the foot of the perpendicular at point P, then the distance DIST_PM5 from point P to anchor node M5 is the distance between the target digital key and the reference anchor node in the longitudinal direction. If the longitudinal boundary distance is L_M5Y... R That is, the distance from anchor node M5 to the boundary is L_M5Y. R If DIST_PM5 <L_M5Y R If the target digital key does not meet the first longitudinal over-limit condition, it is considered that it does not exceed the vehicle boundary in the longitudinal direction; otherwise, it is considered that the target digital key meets the first longitudinal over-limit condition, that is, it has exceeded the vehicle boundary in the longitudinal direction.

[0128] If the target digital key does not meet the first longitudinal over-limit condition, then it is determined that the target digital key is located inside the vehicle.

[0129] In the method provided by this embodiment of the invention, if the target digital key does not meet the first longitudinal over-limit condition, it is considered that the target digital key is located inside the vehicle; if the target digital key meets the first longitudinal over-limit condition, it is considered that the target digital key is located outside the vehicle.

[0130] exist Figure 1 Based on the method shown, in the method provided by this embodiment of the invention, the first anchor node and the second anchor node are not both deployed on the vehicle's centerline. The process mentioned in step S107, which determines whether the target digital key is located inside the vehicle based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and a preset in-vehicle area range, includes:

[0131] Among the first anchor node and the second anchor node, a second reference anchor node is determined;

[0132] In the method provided by this invention, the first anchor node and the second anchor node are not both deployed on the vehicle's centerline. One anchor node can be deployed on the centerline while the other is not, or neither anchor node can be on the centerline. In this scenario, one anchor node can be selected as the second reference anchor node. This selection can be random, fixed, or based on whether it is closer to or farther from the target digital key.

[0133] Among the first measurement distance and the second measurement distance, determine the target measurement distance corresponding to the second reference anchor node;

[0134] In the method provided by the embodiments of the present invention, the measurement distance corresponding to the second reference anchor node is used as the target measurement distance. For example, if the second reference anchor node is the first anchor node, then the first measurement distance is used as the target measurement distance; if the second reference anchor node is the second anchor node, then the second measurement distance is used as the target measurement distance.

[0135] By projecting the target measurement distance laterally, the lateral measurement distance corresponding to the target digital key is obtained;

[0136] In the method provided by this embodiment of the invention, the target measurement distance is projected and calculated in the horizontal direction, and the calculation result is used as the horizontal measurement distance corresponding to the target digital key, that is, the distance between the target digital key and the second reference anchor node in the horizontal direction. Specifically, refer to... Figure 7 The relative positions shown are such that, assuming A2 is the second reference anchor node and A3 is the target digital key, Range 2_2D The target distance is measured, and the corresponding lateral measurement distance is the length shown by the dashed line DIST_R. If the interior angle α of the triangle corresponding to the second reference anchor node is less than 90°, DIST_R can be calculated as follows:

[0137] (Equation 9)

[0138] The interior angle α corresponding to the second reference anchor node can be calculated based on the three sides of the triangle. Figure 7 In the position shown, the horizontal direction is the longitudinal direction of the vehicle, and θ is the angle between the line connecting the two anchor nodes and the longitudinal direction of the vehicle, which can be calculated based on the position coordinates of the two anchor nodes.

[0139] It should be noted that, Figure 7 The structure shown only assumes that the interior angles corresponding to the two anchor nodes are both acute angles. If α is greater than or equal to 90°, DIST_R can be calculated as follows:

[0140] (Equation 10)

[0141] By longitudinally projecting the target measurement distance, the longitudinal measurement distance corresponding to the target digital key is obtained;

[0142] In the method provided by this invention, the target measurement distance is projected and calculated longitudinally, and the calculation result is used as the longitudinal measurement distance corresponding to the target digital key, that is, the distance between the target digital key and the second reference anchor node in the longitudinal direction. Regarding the longitudinal projection method, an analogy can be used: an auxiliary line parallel to the vehicle's transverse direction is drawn through the target measurement distance, and a perpendicular line is drawn through the target digital key perpendicular to this auxiliary line. The length of this perpendicular line can be calculated based on the target measurement distance, which is the projection of the target measurement distance in the longitudinal direction, i.e., the longitudinal measurement distance.

[0143] Based on the vehicle interior area and the position coordinates of the second reference anchor node, determine the second longitudinal boundary distance and the second lateral boundary distance corresponding to the second reference anchor node;

[0144] In the method provided by the embodiments of the present invention, the distance between the second reference anchor node and the vehicle boundary in the longitudinal and lateral directions can be calculated based on the distance inside the vehicle and the position coordinates of the second reference anchor node. The distance between the second reference anchor node and the longitudinal boundary of the vehicle is taken as the second longitudinal boundary distance, and the distance between the second reference anchor node and the lateral boundary of the vehicle is taken as the second lateral boundary distance.

[0145] The lateral measurement distance is compared with the distance of the second lateral boundary.

[0146] In the method provided by this invention, the lateral measurement distance can be compared with the distance to the second lateral boundary. For a better illustration of the relationship between the lateral measurement distance and the distance to the second lateral boundary, please refer to... Figure 8 If we take anchor node M5 as the second reference anchor node, K as the target digital key, DIST_R as the lateral measurement distance, and L_M5 as the lateral distance between the second reference anchor node and the vehicle's centerline, then the distance between the second reference anchor node and the vehicle's lateral boundary can be understood as X. R - L_M5. If DIST_R exceeds X R - L_M5(X R =X L If the distance between the target digital key and the vehicle's centerline is DIST_L, then the target digital key is located beyond the vehicle's lateral boundaries. In other words, the lateral distance between the target digital key and the vehicle's centerline is DIST_L, where DIST_L = DIST_R + L_M5. If DIST_L ≤ 1 / 2 (X... L + X R If the key is located inside the vehicle, it is assumed that the target digital key is inside the vehicle; otherwise, it is located outside the vehicle.

[0147] In the method provided by this embodiment of the invention, if the lateral measurement distance is greater than the second lateral boundary distance, the target digital key is considered to be located outside the vehicle.

[0148] If the lateral measurement distance is less than or equal to the second lateral boundary distance, then based on the longitudinal measurement distance and the second longitudinal boundary distance, it is determined whether the target digital key meets the preset second longitudinal over-limit condition;

[0149] In the method provided by this invention, a second longitudinal exceedance condition can be set according to actual needs to determine whether the target digital key exceeds the boundary in the longitudinal direction when the anchor nodes are not all set on the central axis. If the lateral measurement distance is less than or equal to the second lateral boundary distance, the target digital key can be judged to meet the second longitudinal exceedance condition based on the longitudinal measurement distance and the second longitudinal boundary distance. For example, it can be determined whether the target digital key is in the longitudinal region between the first anchor node and the second anchor node by checking whether the first included angle and the second included angle (i.e., the two interior angles of the triangle corresponding to the first anchor node and the second anchor node) in the target triangle (i.e., the triangle with the first anchor node, the second anchor node, and the target digital key as vertices respectively) are both acute angles. If both the first included angle and the second included angle are acute angles, then the target digital key is considered to be in the longitudinal region between the first anchor node and the second anchor node, and at this time, the target digital key is considered not to meet the second longitudinal exceedance condition. If neither the first nor the second included angle is acute, further judgment is needed based on the longitudinal measurement distance and the distance to the second longitudinal boundary. Specifically, the longitudinal measurement distance and the distance to the second longitudinal boundary can be compared. If the longitudinal measurement distance does not exceed the distance to the second longitudinal boundary, the target digital key is considered not to meet the second longitudinal exceedance condition; if the longitudinal measurement distance exceeds the distance to the second longitudinal boundary, the target digital key is considered to meet the second longitudinal exceedance condition. For example, in the specific implementation process, the anchor node closer to the target digital key can be used as the second reference anchor node. Figure 9 The anchor node deployment method shown is as follows: assuming M5 is the second reference anchor node, DIST_R is the lateral measurement distance, an auxiliary line parallel to the vehicle's centerline is drawn through M5, and a perpendicular line perpendicular to this auxiliary line is drawn through the target digital key K, with the foot of the perpendicular at point P. Based on the distance from anchor node M5 to K and the lateral measurement distance, the distance from point P to M5 can be calculated; this distance is the longitudinal measurement distance. Figure 9 The distance from the second reference anchor node to the upper boundary of the vehicle (i.e., the distance to the second longitudinal boundary) is L_M5Y. R If the longitudinal measurement distance exceeds the second longitudinal boundary distance, then the target digital key is located outside the vehicle.

[0150] If the target digital key does not meet the second longitudinal over-limit condition, then it is determined that the target digital key is located inside the vehicle.

[0151] In the method provided by the embodiments of the present invention, if the target digital key does not meet the second longitudinal over-limit condition, it is considered that the target digital key is located inside the vehicle; if the target digital key meets the second longitudinal over-limit condition, it is considered that the target digital key is located outside the vehicle.

[0152] and Figure 1 Corresponding to the digital key location determination method shown, this embodiment of the invention also provides a digital key location determination device for determining the location of a digital key. Figure 1 The specific implementation of the method shown is illustrated in the following diagram. Figure 10 As shown, it includes:

[0153] The first determining unit 201 is used to determine a first measuring distance and a second measuring distance when it is necessary to determine the location of the target digital key; the first measuring distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measuring distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle.

[0154] The second determining unit 202 is used to determine the anchor node spacing; the anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane;

[0155] The first judgment unit 203 is used to determine whether the target digital key is located at the position of the target line segment based on the anchor node spacing, the first measurement distance and the second measurement distance; the target line segment is the line connecting the first anchor node and the second anchor node;

[0156] The second judgment unit 204 is used to determine whether the target digital key is located on the line where the target line segment is located if the target digital key is not located on the position of the target line segment.

[0157] The third determining unit 205 is used to determine the reference distance corresponding to the target digital key between the first measuring distance and the second measuring distance if the target digital key is located on the straight line where the target line segment is located.

[0158] The fourth determining unit 206 is used to determine the distance from the target digital key to the line where the target line segment is located if the target digital key is not located on the line where the target line segment is located, and to use the distance as the reference distance corresponding to the target digital key.

[0159] The third judgment unit 207 is used to determine whether the target digital key is located inside the vehicle based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range.

[0160] Based on the device provided in this embodiment of the invention, only two anchor nodes deployed inside the vehicle are needed to measure the distance to the digital key. A reference distance for assessing whether the digital key is within a predetermined range can be determined based on the distance between the two anchor nodes and the distance from the digital key to the two anchor nodes, thereby determining whether the digital key is located inside the vehicle. This process eliminates the need to calculate the precise coordinates of the digital key, eliminates the need to deploy a large number of anchor nodes for distance measurement, reduces the complexity of the vehicle system, improves the stability of the vehicle system, and helps reduce costs.

[0161] exist Figure 10 Based on the device shown, the device provided in this embodiment of the invention can be further extended to include multiple units. The functions of each unit can be found in the descriptions of the various embodiments of the digital key location determination method provided above, and will not be further illustrated here.

[0162] This invention also provides a storage medium that includes stored instructions, wherein when the instructions are executed, the device containing the storage medium is controlled to perform the digital key location determination method described above.

[0163] This invention also provides an electronic device, the structural schematic of which is shown below. Figure 11 As shown, it specifically includes a memory 301 and one or more instructions 302, wherein one or more instructions 302 are stored in the memory 301 and configured to be executed by one or more processors 303 to perform the following operations:

[0164] When it is necessary to determine the location of the target digital key, a first measurement distance and a second measurement distance are determined; the first measurement distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measurement distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle;

[0165] Determine the anchor node spacing; the anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane;

[0166] Based on the anchor node spacing, the first measured distance, and the second measured distance, it is determined whether the target digital key is located at the target line segment; the target line segment is the line connecting the first anchor node and the second anchor node.

[0167] If the target digital key is not located on the target line segment, then determine whether the target digital key is located on the line containing the target line segment;

[0168] If the target digital key is located on the line where the target line segment is located, then the reference distance corresponding to the target digital key is determined from the first measurement distance and the second measurement distance;

[0169] If the target digital key is not located on the line where the target line segment is located, then the distance from the target digital key to the line where the target line segment is located is determined, and this distance is used as the reference distance corresponding to the target digital key;

[0170] Based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range, it is determined whether the target digital key is located inside the vehicle.

[0171] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0172] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0173] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of determining the position of a digital key, characterized by, include: When it is necessary to determine the location of the target digital key, a first measurement distance and a second measurement distance are determined; the first measurement distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measurement distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle; Determine the anchor node spacing; The anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane; Based on the anchor node spacing, the first measurement distance, and the second measurement distance, determine whether the target digital key is located at the position of the target line segment; The target line segment is the line connecting the first anchor node to the second anchor node; If the target digital key is not located on the target line segment, then determine whether the target digital key is located on the line containing the target line segment; If the target digital key is located on the line where the target line segment is located, then the reference distance corresponding to the target digital key is determined from the first measurement distance and the second measurement distance; If the target digital key is not located on the line where the target line segment is located, then the distance from the target digital key to the line where the target line segment is located is determined, and this distance is used as the reference distance corresponding to the target digital key; Based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range, it is determined whether the target digital key is located inside the vehicle; Wherein, both the first anchor node and the second anchor node are deployed on the vehicle's central axis. The step of determining whether the target digital key is located inside the vehicle based on the reference distance corresponding to the target digital key, the first measured distance, the second measured distance, and a preset in-vehicle area range includes: If the target digital key is located on the line where the target line segment is located, then a first reference anchor node is determined between the first anchor node and the second anchor node; Based on the position coordinates of the first reference anchor node and the range of the vehicle interior area, determine the first longitudinal boundary distance corresponding to the first reference anchor node; Compare the reference distance corresponding to the target digital key with the distance of the first longitudinal boundary; If the reference distance corresponding to the target digital key is less than or equal to the first longitudinal boundary distance, then the target digital key is determined to be located inside the vehicle. If the reference distance corresponding to the target digital key is greater than the first longitudinal boundary distance, then the target digital key is determined to be located outside the vehicle. If the target digital key is not located on the straight line of the target line segment, then the first lateral boundary distance corresponding to the vehicle interior area is determined; Compare the reference distance corresponding to the target digital key with the distance of the first lateral boundary; If the reference distance corresponding to the target digital key is less than or equal to the first lateral boundary distance, then based on the reference distance corresponding to the target digital key, the first measurement distance, and the second measurement distance, it is determined whether the target digital key meets the preset first longitudinal over-limit condition. If the target digital key does not meet the first longitudinal over-limit condition, then it is determined that the target digital key is located inside the vehicle.

2. A position determination method of a digital key, characterized by, include: When it is necessary to determine the location of the target digital key, a first measurement distance and a second measurement distance are determined; the first measurement distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measurement distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle; Determine the anchor node spacing; The anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane; Based on the anchor node spacing, the first measurement distance, and the second measurement distance, determine whether the target digital key is located at the position of the target line segment; The target line segment is the line connecting the first anchor node to the second anchor node; If the target digital key is not located on the target line segment, then determine whether the target digital key is located on the line containing the target line segment; If the target digital key is located on the line where the target line segment is located, then the reference distance corresponding to the target digital key is determined from the first measurement distance and the second measurement distance; If the target digital key is not located on the line where the target line segment is located, then the distance from the target digital key to the line where the target line segment is located is determined, and this distance is used as the reference distance corresponding to the target digital key; Based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range, it is determined whether the target digital key is located inside the vehicle; Wherein, the first anchor node and the second anchor node are not both deployed on the vehicle's centerline. The step of determining whether the target digital key is located inside the vehicle based on the reference distance corresponding to the target digital key, the first measured distance, the second measured distance, and a preset in-vehicle area range includes: Among the first anchor node and the second anchor node, a second reference anchor node is determined; Among the first measurement distance and the second measurement distance, determine the target measurement distance corresponding to the second reference anchor node; By projecting the target measurement distance laterally, the lateral measurement distance corresponding to the target digital key is obtained; By longitudinally projecting the target measurement distance, the longitudinal measurement distance corresponding to the target digital key is obtained; Based on the vehicle interior area and the position coordinates of the second reference anchor node, determine the second longitudinal boundary distance and the second lateral boundary distance corresponding to the second reference anchor node; The lateral measurement distance is compared with the distance of the second lateral boundary. If the lateral measurement distance is less than or equal to the second lateral boundary distance, then based on the longitudinal measurement distance and the second longitudinal boundary distance, it is determined whether the target digital key meets the preset second longitudinal over-limit condition; If the target digital key does not meet the second longitudinal over-limit condition, then it is determined that the target digital key is located inside the vehicle.

3. The method of claim 1 or 2, wherein The step of determining whether the target digital key is located at the target line segment based on the anchor node spacing, the first measured distance, and the second measured distance includes: The first measured distance and the second measured distance are summed, and the result is taken as the total measured distance. Compare the sum of the measured distances with the spacing between the anchor nodes; If the sum of the measured distances is equal to the anchor node spacing, then the target digital key is determined to be located at the position of the target line segment; If the sum of the measured distances is greater than the anchor node spacing, then it is determined that the target digital key is not located at the position of the target line segment.

4. The method of claim 3, wherein Also includes: If the sum of the measured distances is less than the anchor node spacing, then the first measured distance and the second measured distance are respectively corrected for errors to obtain the first corrected distance corresponding to the first measured distance and the second corrected distance corresponding to the second measured distance; The first correction distance and the second correction distance are summed, and the result is used as the total measured correction distance. Compare the sum of the measured correction distances with the anchor node spacing; If the sum of the measured correction distances is less than the anchor node spacing, the current position determination process ends.

5. The method of claim 1 or 2, wherein Determining the reference distance corresponding to the target digital key between the first measurement distance and the second measurement distance includes: Compare the first measured distance and the second measured distance; The smaller of the first and second measurement distances is taken as the target measurement distance; The target measurement distance is used as the reference distance corresponding to the target digital key.

6. The method of claim 1 or 2, wherein Determining the distance from the target digital key to the straight line containing the target line segment includes: Construct a target triangle by using the first anchor node, the second anchor node, and the target digital key as vertices; Based on the first measured distance, the second measured distance, and the anchor node spacing, it is determined whether the first included angle and the second included angle in the target triangle are both acute angles; the first included angle is the included angle corresponding to the first anchor node, and the second included angle is the included angle corresponding to the second anchor node; If both the first included angle and the second included angle are acute angles, then the preset first calculation strategy is used as the target calculation strategy; the first calculation strategy is a calculation strategy set based on the law of cosines. If neither the first included angle nor the second included angle is an acute angle, then the preset second calculation strategy is used as the target calculation strategy; the second calculation strategy is a calculation strategy set based on Heron's formula. The target length is determined based on the first measurement distance, the second measurement distance, the anchor node spacing, and the target calculation strategy; the target length is the height of the common side of the first included angle and the second included angle. The target length is taken as the distance from the target digital key to the straight line containing the target line segment.

7. A position determination device of a digital key, characterized by comprising: The method for determining the location of a digital key as described in claim 1 or 2 includes: The first determining unit is used to determine a first measuring distance and a second measuring distance when it is necessary to determine the location of the target digital key; the first measuring distance is the distance between the first anchor node and the target digital key on the horizontal plane; the second measuring distance is the distance between the second anchor node and the target digital key on the horizontal plane; both the first anchor node and the second anchor node are anchor nodes pre-deployed inside the vehicle; The second determining unit is used to determine the anchor node spacing; the anchor node spacing is the distance between the first anchor node and the second anchor node on the horizontal plane; The first judgment unit is used to determine whether the target digital key is located at the position of the target line segment based on the anchor node spacing, the first measurement distance, and the second measurement distance; the target line segment is the line connecting the first anchor node and the second anchor node. The second judgment unit is used to determine whether the target digital key is located on the line where the target line segment is located if the target digital key is not located on the position of the target line segment. The third determining unit is used to determine a reference distance corresponding to the target digital key between the first measured distance and the second measured distance if the target digital key is located on the straight line where the target line segment is located. The fourth determining unit is used to determine the distance from the target digital key to the line where the target line segment is located if the target digital key is not located on the line where the target line segment is located, and to use the distance as the reference distance corresponding to the target digital key. The third judgment unit is used to determine whether the target digital key is located inside the vehicle based on the reference distance corresponding to the target digital key, the first measurement distance, the second measurement distance, and the preset in-vehicle area range.

8. A storage medium, characterized by The storage medium includes stored instructions, wherein when the instructions are executed, the device containing the storage medium is controlled to perform the digital key location determination method as described in any one of claims 1 to 6.

9. An electronic device, comprising: It includes a memory and one or more instructions, wherein one or more instructions are stored in the memory and configured to be executed by one or more processors as described in any one of claims 1 to 6.

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