Vehicle star flash key positioning method, device and equipment
By setting up five star-shaped anchor points on the vehicle and using trigonometric functions to calculate multiple positioning times, the problem of inaccurate star-shaped key positioning was solved, achieving accurate positioning of the star-shaped key and accurate vehicle unlocking and locking control.
Patent Information
- Application Number
- CN202511700853.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-19
- Publication Date
- 2026-02-17
AI Technical Summary
The positioning of the vehicle's star-flash key in the existing technology is inaccurate and cannot effectively achieve accurate positioning.
By setting up five star-shaped anchor points on the vehicle, located at the origin and four quadrants respectively, and using trigonometric functions to calculate multiple positions, the first, second, third, and fourth positions of the star-shaped key were determined. Finally, the target position was determined by averaging the coordinates.
The positioning accuracy of the Star Flash Key has been improved, avoiding frequent unlocking and locking due to inaccurate positioning, and realizing accurate welcome unlocking and departure locking functions.
Smart Images
Figure CN121547726A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of intelligent vehicles, in particular to a positioning method, device and equipment of a vehicle star flash key. BACKGROUND
[0002] Current vehicle key positioning is based on received signal strength indicator (RSSI), such as Bluetooth key positioning based on Bluetooth. With the development of star flash technology, subsequent star flash keys will become more and more popular. Star flash technology is a super wireless connection technology that combines the advantages of traditional Bluetooth and Wi-Fi and achieves overall surpassing in performance, delay, reliability and networking capability. How to accurately position the vehicle star flash key through star flash technology has become a technical problem to be solved. SUMMARY
[0003] The present application provides a positioning method, device and equipment of a vehicle star flash key to solve the defect of inaccurate positioning of the vehicle star flash key in the prior art and achieve accurate positioning of the vehicle star flash key.
[0004] In a first aspect, the present application provides a positioning method of a vehicle star flash key. The vehicle is provided with a first star flash anchor point, a second star flash anchor point, a third star flash anchor point, a fourth star flash anchor point and a fifth star flash anchor point. The first star flash anchor point is located at the origin, the second star flash anchor point is located in the first quadrant, the third star flash anchor point is located in the second quadrant, the fourth star flash anchor point is located in the third quadrant, and the fifth star flash anchor point is located in the fourth quadrant. The horizontal coordinates of the second star flash anchor point and the third star flash anchor point are opposite, and the vertical coordinates are the same. The horizontal coordinates of the third star flash anchor point and the fourth star flash anchor point are the same, and the vertical coordinates are opposite. The horizontal coordinates of the fourth star flash anchor point and the fifth star flash anchor point are opposite, and the vertical coordinates are the same. The horizontal coordinates of the fifth star flash anchor point and the second star flash anchor point are the same, and the vertical coordinates are opposite. The method comprises: determining a first positioning of a star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point; determining a second positioning of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point; determining a third positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point; determining a fourth positioning of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point; determining a target positioning of the star flash key based on the first positioning, the second positioning, the third positioning and the fourth positioning.
[0005] Optionally, the determining the first position of the star flash key based on the first star flash anchor, the second star flash anchor and the fifth star flash anchor comprises: determining a first cosine value based on a distance between the second star flash anchor and the fifth star flash anchor, a distance between the star flash key and the second star flash anchor, and a distance between the star flash key and the fifth star flash anchor; determining a first sine value based on the first cosine value; determining a first candidate position based on the first cosine value and the first sine value; determining a second candidate position based on the first cosine value and the first sine value; determining the first position from the first candidate position and the second candidate position based on a distance between the star flash key and the first star flash anchor, a distance between the first star flash anchor and the first candidate position, and a distance between the first star flash anchor and the second candidate position.
[0006] Optionally, the determining the second position of the star flash key based on the first star flash anchor, the third star flash anchor and the fourth star flash anchor comprises: determining a second cosine value based on a distance between the third star flash anchor and the fourth star flash anchor, a distance between the star flash key and the third star flash anchor, and a distance between the star flash key and the fourth star flash anchor; determining a second sine value based on the second cosine value; determining a third candidate position based on the second cosine value and the second sine value; determining a fourth candidate position based on the second cosine value and the second sine value; determining the second position from the third candidate position and the fourth candidate position based on a distance between the star flash key and the first star flash anchor, a distance between the first star flash anchor and the third candidate position, and a distance between the first star flash anchor and the fourth candidate position.
[0007] Optionally, the determining the third position of the star flash key based on the first star flash anchor, the second star flash anchor and the third star flash anchor comprises: determining a third cosine value based on a distance between the second star flash anchor and the third star flash anchor, a distance between the star flash key and the second star flash anchor, and a distance between the star flash key and the third star flash anchor; determining a third sine value based on the third cosine value; determining a fifth candidate position based on the third cosine value and the third sine value; determine a sixth candidate position based on the third cosine value and the third sine value; determine the third position from the fifth candidate position and the sixth candidate position based on a distance between the star flash key and the first star flash anchor point, a distance between the first star flash anchor point and the fifth candidate position, and a distance between the first star flash anchor point and the sixth candidate position.
[0008] Optionally, the determining the fourth position of the star flash key based on the first star flash anchor point, the fourth star flash anchor point, and the fifth star flash anchor point comprises: determine a fourth cosine value based on a distance between the fourth star flash anchor point and the fifth star flash anchor point, a distance between the star flash key and the fourth star flash anchor point, and a distance between the star flash key and the fifth star flash anchor point; determine a fourth sine value based on the fourth cosine value; determine a seventh candidate position based on the fourth cosine value and the fourth sine value; determine an eighth candidate position based on the fourth cosine value and the fourth sine value; determine the fourth position from the seventh candidate position and the eighth candidate position based on a distance between the star flash key and the first star flash anchor point, a distance between the first star flash anchor point and the seventh candidate position, and a distance between the first star flash anchor point and the eighth candidate position.
[0009] Optionally, the determining the target position of the star flash key based on the first position, the second position, the third position, and the fourth position comprises: take a coordinate average of the first position, the second position, the third position, and the fourth position as the target position.
[0010] Optionally, the positioning method of the vehicle star flash key further comprises: determine a target distance between the star flash key and the vehicle based on the target position; control the vehicle to be unlocked or locked based on a size relationship between the target distance and a preset distance.
[0011] Optionally, the positioning method of the vehicle star flash key further comprises: check the layout positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point, and the fifth star flash anchor point every preset time period; if the layout positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point, and the fifth star flash anchor point do not deviate, perform the unlocking or locking function of the vehicle.
[0012] In a second aspect, the present application also provides a positioning device of a vehicle star flash key, wherein the vehicle is provided with a first star flash anchor point, a second star flash anchor point, a third star flash anchor point, a fourth star flash anchor point and a fifth star flash anchor point; the first star flash anchor point is located at a coordinate origin, the second star flash anchor point is located at a first quadrant, the third star flash anchor point is located at a second quadrant, the fourth star flash anchor point is located at a third quadrant, and the fifth star flash anchor point is located at a fourth quadrant; the horizontal coordinate of the second star flash anchor point is opposite to that of the third star flash anchor point, and the vertical coordinates are the same; the horizontal coordinate of the third star flash anchor point is the same as that of the fourth star flash anchor point, and the vertical coordinates are opposite; the horizontal coordinate of the fourth star flash anchor point is opposite to that of the fifth star flash anchor point, and the vertical coordinates are the same; the horizontal coordinate of the fifth star flash anchor point is the same as that of the second star flash anchor point, and the vertical coordinates are opposite; the device comprises: a first determination module configured to determine a first positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point; a second determination module configured to determine a second positioning of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point; a third determination module configured to determine a third positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point; a fourth determination module configured to determine a fourth positioning of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point; a fifth determination module configured to determine a target positioning of the star flash key based on the first positioning, the second positioning, the third positioning and the fourth positioning.
[0013] In a third aspect, the present application also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of the first aspect.
[0014] In a fourth aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program executable by a processor to implement the method of the first aspect.
[0015] In a fifth aspect, the present application also provides a computer program product comprising a computer program executable by a processor to implement the method of the first aspect.
[0016] The positioning method, device and equipment of the vehicle star flash key are provided in the application, the first positioning, the second positioning, the third positioning and the fourth positioning of the star flash key are calculated through the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point, and then the final target positioning of the star flash key is determined through the first positioning, the second positioning, the third positioning and the fourth positioning of the star flash key. The positioning accuracy of the star flash key can be improved by calculating the positioning of the star flash key multiple times by referring to different star flash anchor points and then determining the target positioning of the star flash key. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.
[0018] Figure 1 It is a flowchart of the positioning method of the vehicle star flash key provided by the embodiments of the application. Figure 2 It is a schematic diagram of the star flash anchor point layout position provided by the embodiments of the application. Figure 3 It is a first positioning calculation process schematic diagram provided by the embodiments of the application. Figure 4 It is a third positioning calculation process schematic diagram provided by the embodiments of the application. Figure 5 It is a flowchart of the vehicle access lock based on the star flash technology provided by the application. Figure 6 It is a structural schematic diagram of the positioning device of the vehicle star flash key provided by the embodiments of the application. Figure 7 It is a structural schematic diagram of the electronic device provided by the embodiments of the application. DETAILED DESCRIPTION
[0019] In order to make the purpose, technical solutions and advantages of the application more clear, the technical solutions in the application will be described clearly and completely below in combination with the drawings in the application. Obviously, the described embodiments are some embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application.
[0020] The embodiment of the present application provides a positioning method of a vehicle star flash key, wherein the vehicle is provided with a first star flash anchor point, a second star flash anchor point, a third star flash anchor point, a fourth star flash anchor point and a fifth star flash anchor point; the first star flash anchor point is located at a coordinate origin, the second star flash anchor point is located at a first quadrant, the third star flash anchor point is located at a second quadrant, the fourth star flash anchor point is located at a third quadrant, and the fifth star flash anchor point is located at a fourth quadrant; the horizontal coordinates of the second star flash anchor point and the third star flash anchor point are opposite, and the vertical coordinates are the same; the horizontal coordinates of the third star flash anchor point and the fourth star flash anchor point are the same, and the vertical coordinates are opposite; the horizontal coordinates of the fourth star flash anchor point and the fifth star flash anchor point are opposite, and the vertical coordinates are the same; and the horizontal coordinates of the fifth star flash anchor point and the second star flash anchor point are the same, and the vertical coordinates are opposite. The execution subject of the positioning method of the vehicle star flash key can be an electronic device, for example, can be a controller, and the execution subject of the method is taken as an example for description. Figure 1 FIG. 1 is a flowchart of a positioning method of a vehicle star flash key provided by the embodiment of the present application. Referring to Figure 1 , the method can include the following steps. Step 110, determining a first positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point; Step 120, determining a second positioning of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point; Step 130, determining a third positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point; Step 140, determining a fourth positioning of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point; Step 150, determining a target positioning of the star flash key based on the first positioning, the second positioning, the third positioning and the fourth positioning.
[0021] Figure 2 FIG. 2 is a schematic diagram of a star flash anchor point arrangement position provided by the embodiment of the present application. As shown in Figure 2 , A point is the first star flash anchor point, B point is the second star flash anchor point, C point is the third star flash anchor point, D point is the fourth star flash anchor point, E point is the fifth star flash anchor point, and P point is the star flash key. The coordinate of A point is the coordinate origin (0, 0), the coordinate of B point is (Xb, Yb), the coordinate of C point is (Xc, Yc), the coordinate of D point is (Xd, Yd), the coordinate of E point is (Xe, Ye), wherein Xb=Xe=-Xc=-Xd, Yb=Yc=-Yd=-Ye. Specifically, the first star flash anchor point can be arranged at the center of the vehicle, the second star flash anchor point and the third star flash anchor point can be symmetrically arranged at the left and right front doors of the vehicle, and the fourth star flash anchor point and the fifth star flash anchor point can be symmetrically arranged at the left and right rear doors of the vehicle.
[0022] When the vehicle is locked, the five star flash anchors on the vehicle will automatically connect with the star flash when the star flash key is close to the vehicle, and the star flash chip will automatically identify the distance between the star flash key and the star flash anchor point. The distance between the star flash key and the A anchor point is Da, the distance between the star flash key and the B anchor point is Db, the distance between the star flash key and the C anchor point is Dc, the distance between the star flash key and the D anchor point is Dd, and the distance between the star flash key and the E anchor point is De. The controller can calculate the first position, the second position, the third position and the fourth position of the star flash key based on the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point. Then, the final target position of the star flash key is determined based on the first position, the second position, the third position and the fourth position of the star flash key.
[0023] The positioning method of the vehicle star flash key provided by the embodiments of the present application calculates the first position, the second position, the third position and the fourth position of the star flash key based on the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point, and then determines the final target position of the star flash key based on the first position, the second position, the third position and the fourth position of the star flash key. By referring to different star flash anchor points to calculate the position of the star flash key multiple times and then determining the target position of the star flash key, the positioning accuracy of the star flash key can be improved.
[0024] In some embodiments, based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point, the first position of the star flash key is determined, including: based on the distance between the second star flash anchor point and the fifth star flash anchor point, the distance between the star flash key and the second star flash anchor point, and the distance between the star flash key and the fifth star flash anchor point, a first cosine value is determined; based on the first cosine value, a first sine value is determined; based on the first cosine value and the first sine value, a first candidate position is determined; based on the first cosine value and the first sine value, a second candidate position is determined; based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the first candidate position, and the distance between the first star flash anchor point and the second candidate position, the first position is determined from the first candidate position and the second candidate position.
[0025] Figure 3 is a first position calculation process diagram provided by the embodiments of the present application. Figure 3 is the calculation of the first position of the star flash key based on the second star flash anchor point and the fifth star flash anchor point. As Figure 3As shown, taking the first positioning of the star flash key as an example, the distance between the second star flash anchor point and the fifth star flash anchor point is BE=Yb-Ye, the distance between the star flash key and the second star flash anchor point is BF'=Db, and the distance between the star flash key and the fifth star flash anchor point is EF'=De. According to the trigonometric function relationship, the first cosine value cos∠BEF'=(EF' 2+BE 2-BF' 2) / (2*BE*EF') can be obtained. Then according to the trigonometric function relationship "1-cos∠BEF' 2=sin∠BEF' 2", the first sine value sin∠BEF' can be obtained from the first cosine value cos∠BEF'.
[0026] Through the first cosine value cos∠BEF' and the first sine value sin∠BEF', the first candidate positioning coordinate F'(Xf'=Xe+BF'*cos∠BEF', Yf'=Ye+BF'*sin∠BEF') and the second candidate positioning coordinate G'(Xg'=Xe-BF'*cos∠BEF', Yg'=Ye+BF'*sin∠BEF') can be obtained.
[0027] The distance between the star flash key and the first star flash anchor point is Da, the distance between the first star flash anchor point and the first candidate positioning is AF'= (Xf' 2+Yf' 2) 1 / 2 , the distance between the first star flash anchor point and the second candidate positioning is AG'= (Xg' 2+Yg' 2) 1 / 2 , the absolute value difference between Da and AF' and the absolute value difference between Da and AG' are compared, if the absolute value difference between Da and AF' is smaller, F' is the first positioning, if the absolute value difference between Da and AG' is smaller, G' is the first positioning.
[0028] The positioning method of the star flash key of the vehicle provided by the embodiment of the application can determine the first candidate positioning and the second candidate positioning through the distance between the second star flash anchor point and the fifth star flash anchor point, the distance between the star flash key and the second star flash anchor point, and the distance between the star flash key and the fifth star flash anchor point, and then determine the first positioning from the first candidate positioning and the second candidate positioning through the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the first candidate positioning, and the distance between the first star flash anchor point and the second candidate positioning, so as to ensure the accuracy of the first positioning and the positioning accuracy of the star flash key.
[0029] In some embodiments, based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point, determining the second position of the star flash key comprises: determining a second cosine value based on the distance between the third star flash anchor point and the fourth star flash anchor point, the distance between the star flash key and the third star flash anchor point, and the distance between the star flash key and the fourth star flash anchor point; determining a second sine value based on the second cosine value; determining a third candidate position based on the second cosine value and the second sine value; determining a fourth candidate position based on the second cosine value and the second sine value; and determining the second position from the third candidate position and the fourth candidate position based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the third candidate position, and the distance between the first star flash anchor point and the fourth candidate position.
[0030] The application can also determine the second position of the star flash key based on the third star flash anchor point C and the fourth star flash anchor point D. Specifically, taking the third candidate position F1' as an example, the distance between the third star flash anchor point and the fourth star flash anchor point is CD=Yc-Yd, the distance between the star flash key and the third star flash anchor point is CF1'=Dc, and the distance between the star flash key and the fourth star flash anchor point is DF1'=Dd. According to the trigonometric function relationship, the second cosine value cos∠CDF1'=(DF1'2+CD2-CF1'2) / (2*CD*DF1') can be obtained, and the second sine value sin∠CDF1' can be obtained according to the trigonometric function relationship "1-cos∠CDF1'2=sin∠CDF'2".
[0031] The third candidate position coordinates F1' (Xf1'=Xe+CF1'*cos∠CDF1', Yf1'=Ye+CF1'*sin∠CDF1') and the fourth candidate position coordinates G1' (Xg1'=Xe-CF1'*cos∠CDF1', Yg1'=Ye+CF1'*sin∠CDF1') can be obtained based on the second cosine value and the second sine value. The distance between the star flash key and the first star flash anchor point is Da, the distance between the first star flash anchor point and the third candidate position is AF1'=(Xf1'2+Yf1'2) 1 / 2 , the distance between the first star flash anchor point and the fourth candidate position is AG1'=(Xg1'2+Yg1'2) 1 / 2 , and the second position is F1' if the absolute value difference between Da and AF1' is smaller, or the second position is G1' if the absolute value difference between Da and AG1' is smaller.
[0032] The positioning method of the vehicle star flash key provided in the embodiments of the present application can determine the third candidate positioning and the fourth candidate positioning through the distance between the third star flash anchor point and the fourth star flash anchor point, the distance between the star flash key and the third star flash anchor point, and the distance between the star flash key and the fourth star flash anchor point, and then determine the second positioning from the third candidate positioning and the fourth candidate positioning through the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the third candidate positioning, and the distance between the first star flash anchor point and the fourth candidate positioning, so as to ensure the accuracy of the second positioning and the positioning accuracy of the star flash key.
[0033] In some embodiments, the third positioning of the star flash key is determined based on the first star flash anchor point, the second star flash anchor point, and the third star flash anchor point, including: determining a third cosine value based on the distance between the second star flash anchor point and the third star flash anchor point, the distance between the star flash key and the second star flash anchor point, and the distance between the star flash key and the third star flash anchor point; determining a third sine value based on the third cosine value; determining a fifth candidate positioning based on the third cosine value and the third sine value; determining a sixth candidate positioning based on the third cosine value and the third sine value; and determining the third positioning from the fifth candidate positioning and the sixth candidate positioning based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the fifth candidate positioning, and the distance between the first star flash anchor point and the sixth candidate positioning.
[0034] Figure 4 FIG. 3 is a schematic diagram of a third positioning calculation process provided in the embodiments of the present application. Figure 4 FIG. 3 is a schematic diagram of a third positioning calculation process provided in the embodiments of the present application. Figure 4 As shown in FIG. 3, taking the fifth candidate positioning F2’ as an example of the third positioning of the star flash key, the distance between the second star flash anchor point and the third star flash anchor point is BC=Yb-Yc, the distance between the star flash key and the second star flash anchor point is BF2’=Db, and the distance between the star flash key and the third star flash anchor point is CF2’=Dc. According to the trigonometric function relationship, the third cosine value cos∠CBF2’=(BC²+BF2’²-CF2’²) / (2*BC*BF2’) can be obtained, and the third sine value sin∠CBF2’ can be obtained according to the trigonometric function relationship “1-cos∠CBF2’²=sin∠CBF2’²”.
[0035] The fifth candidate positioning coordinates F2’ (Xf2’=Xb-BF2’*cos∠CBF2’, Yf2’=Yb+BF2’*sin∠CBF2’) and the sixth candidate positioning coordinates G2’ (Xg2’=Xb-BF2’*cos∠CBF2’, Yg2’=Yb-BF2’*sin∠CBF2’) can be obtained through the third cosine value and the third sine value.
[0036] The distance between the star flash key and the first star flash anchor point is Da, the distance between the first star flash anchor point and the fifth candidate positioning point is AF2'= (Xf2'2+ Yf2'2) 1 / 2 , the distance between the first star flash anchor point and the sixth candidate positioning point is AG2'= (Xg2'2+ Yg2'2) 1 / 2 , the absolute value difference between Da and AF2' is smaller, F2' is the third positioning point, and if the absolute value difference between Da and AG2' is smaller, G2' is the third positioning point.
[0037] The positioning method of the vehicle star flash key provided by the embodiment of the application determines the fifth candidate positioning point and the sixth candidate positioning point through the distance between the second star flash anchor point and the third star flash anchor point, the distance between the star flash key and the second star flash anchor point, and the distance between the star flash key and the third star flash anchor point, and then determines the third positioning point from the fifth candidate positioning point and the sixth candidate positioning point through the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the fifth candidate positioning point, and the distance between the first star flash anchor point and the sixth candidate positioning point, which can ensure the accuracy of the third positioning point determination and thus ensure the positioning accuracy of the star flash key.
[0038] In some embodiments, based on the first star flash anchor point, the fourth star flash anchor point, and the fifth star flash anchor point, a fourth positioning point of the star flash key is determined, including: based on the distance between the fourth star flash anchor point and the fifth star flash anchor point, the distance between the star flash key and the fourth star flash anchor point, and the distance between the star flash key and the fifth star flash anchor point, a fourth cosine value is determined; based on the fourth cosine value, a fourth sine value is determined; based on the fourth cosine value and the fourth sine value, a seventh candidate positioning point is determined; based on the fourth cosine value and the fourth sine value, an eighth candidate positioning point is determined; and based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the seventh candidate positioning point, and the distance between the first star flash anchor point and the eighth candidate positioning point, the fourth positioning point is determined from the seventh candidate positioning point and the eighth candidate positioning point.
[0039] Taking the seventh candidate positioning point F3' as the fourth positioning point of the star flash key as an example, the distance between the fourth star flash anchor point and the fifth star flash anchor point is DE=Xe-Xd, the distance between the star flash key and the fourth star flash anchor point is DF3'=Dd, and the distance between the star flash key and the fifth star flash anchor point is EF3'=De. According to the trigonometric function relationship, the fourth cosine value cos∠DEF3'=(DE²+EF3'²-DF3'²) / (2*DE*EF3') can be obtained, and according to the trigonometric function relationship "1-cos∠DEF3'²=sin∠DEF3'²", the fourth sine value sin∠DEF3' can be obtained from the fourth cosine value cos∠DEF3'.
[0040] The seventh candidate positioning coordinate F3' is obtained by the fourth cosine value and the fourth sine value, and the eighth candidate positioning coordinate G3' is obtained (Xf3'= Xe-EF3'*cos∠DEF3', Yf3'= Ye+EF3'*sin∠DEF3'), and the eighth candidate positioning coordinate G3' is obtained (Xg3'= Xe-EF3'*cos∠DEF3', Yg3'= Ye-EF3'*sin∠DEF3').
[0041] The distance between the star flash key and the first star flash anchor point is Da, the distance between the first star flash anchor point and the seventh candidate positioning is AF3'= (Xf3'2+ Yf3'2) 1 / 2 , the distance between the first star flash anchor point and the eighth candidate positioning is AG3'= (Xg3'2+ Yg3'2) 1 / 2 , the absolute value difference between Da and AF3' is obtained by comparing the sizes of Da, AF3' and AG3', the absolute value difference between Da and AG3' is obtained, if the absolute value difference between Da and AF3' is smaller, F3' is the fourth positioning, and if the absolute value difference between Da and AG3' is smaller, G' is the fourth positioning.
[0042] The positioning method of the vehicle star flash key provided in the embodiments of the present application determines the seventh candidate positioning and the eighth candidate positioning through the distance between the fourth star flash anchor point and the fifth star flash anchor point, the distance between the star flash key and the fourth star flash anchor point, and the distance between the star flash key and the fifth star flash anchor point, and then determines the fourth positioning from the seventh candidate positioning and the eighth candidate positioning through the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the seventh candidate positioning, and the distance between the first star flash anchor point and the eighth candidate positioning, so as to ensure the accuracy of the fourth positioning, thereby ensuring the positioning accuracy of the star flash key.
[0043] In some embodiments, based on the first positioning, the second positioning, the third positioning and the fourth positioning, the target positioning of the star flash key is determined, including: taking the coordinate average of the first positioning, the second positioning, the third positioning and the fourth positioning as the target positioning.
[0044] The positioning method of the vehicle star flash key provided in the embodiments of the present application calculates the first positioning, the second positioning, the third positioning and the fourth positioning of the star flash key through the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point, and then determines the final target positioning of the star flash key through the first positioning, the second positioning, the third positioning and the fourth positioning of the star flash key, so as to improve the positioning accuracy of the star flash key by referring to different star flash anchor points to calculate the positioning of the star flash key multiple times, and then determining the target positioning of the star flash key.
[0045] In some embodiments, the positioning method of the vehicle star flash key further comprises: determining a target distance between the star flash key and the vehicle based on the target positioning; and controlling the vehicle to be unlocked or locked based on a size relationship between the target distance and a preset distance.
[0046] Figure 5 is a flowchart of a process of vehicle unlocking and locking based on the star flash technology provided in the present application. As shown in the figure, Figure 5 When a person approaches the vehicle with the star flash key, the controller can calculate the target positioning of the star flash key according to the above-mentioned embodiments, and then determine the target distance M between the star flash key and the vehicle. The target distance can be defined as the distance between the star flash key and point A, or as the closest distance between the star flash key and the vehicle body. If the target distance M is within 3 m (preset distance), the star flash master node will transmit an unlocking signal to the controller at this time, and the controller will actively unlock. When the person gradually moves away from the vehicle, if it is detected that the target distance M is greater than or equal to 3M, the star flash master node will transmit a locking signal to the controller at this time, and the controller will actively lock.
[0047] The positioning method of the vehicle star flash key provided in the embodiments of the present application determines the final target positioning of the star flash key through the first positioning, the second positioning, the third positioning and the fourth positioning of the star flash key, and then determines the target positioning of the star flash key by referring to different star flash anchor points and calculating the positioning of the star flash key multiple times, which can improve the positioning accuracy of the star flash key, avoid the frequent unlocking and locking caused by inaccurate positioning when the key is close to the vehicle in the traditional distance algorithm, and effectively realize the functions of welcome unlocking and away locking.
[0048] In some embodiments, the positioning method of the vehicle star flash key further comprises: checking the arrangement positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point every preset time period; and performing the unlocking or locking function of the vehicle if the arrangement positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point do not deviate.
[0049] Specifically, the controller can check the arrangement positions of the star flash anchor points every preset time period, for example, every half month, and only when the arrangement positions of the star flash anchor points do not deviate can the unlocking or locking function of the vehicle be performed. If the arrangement positions of at least one star flash anchor point deviate, the vehicle owner can be reminded to check the vehicle or the deviation amount of the star flash anchor point can be automatically compensated when calculating the target positioning of the star flash key.
[0050] The positioning method of the vehicle star flash key provided in the embodiment of the present application can further ensure the positioning accuracy of the star flash key by regularly checking the layout positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point.
[0051] The positioning device of the vehicle star flash key provided in the present application is described below, and the positioning device of the vehicle star flash key described below can be correspondingly referred to the positioning method of the vehicle star flash key described above.
[0052] Figure 6 FIG. 1 is a structural schematic diagram of the positioning device of the vehicle star flash key provided in the embodiment of the present application. The vehicle is provided with a first star flash anchor point, a second star flash anchor point, a third star flash anchor point, a fourth star flash anchor point and a fifth star flash anchor point. The first star flash anchor point is located at the coordinate origin, the second star flash anchor point is located at the first quadrant, the third star flash anchor point is located at the second quadrant, the fourth star flash anchor point is located at the third quadrant, and the fifth star flash anchor point is located at the fourth quadrant. The horizontal coordinates of the second star flash anchor point and the third star flash anchor point are opposite, and the vertical coordinates are the same. The horizontal coordinates of the third star flash anchor point and the fourth star flash anchor point are the same, and the vertical coordinates are opposite. The horizontal coordinates of the fourth star flash anchor point and the fifth star flash anchor point are opposite, and the vertical coordinates are the same. The horizontal coordinates of the fifth star flash anchor point and the second star flash anchor point are the same, and the vertical coordinates are opposite. Figure 6 The positioning device of the vehicle star flash key provided in the embodiment of the present application can include: The first determination module 610 is configured to determine a first positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point. The second determination module 620 is configured to determine a second positioning of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point. The third determination module 630 is configured to determine a third positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point. The fourth determination module 640 is configured to determine a fourth positioning of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point. The fifth determination module 650 is configured to determine a target positioning of the star flash key based on the first positioning, the second positioning, the third positioning and the fourth positioning.
[0053] The positioning device of the vehicle star flash key provided in the embodiment of the application calculates the first positioning, the second positioning, the third positioning and the fourth positioning of the star flash key through the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point, and then determines the final target positioning of the star flash key through the first positioning, the second positioning, the third positioning and the fourth positioning of the star flash key. The positioning accuracy of the star flash key can be improved by calculating the positioning of the star flash key multiple times by referring to different star flash anchor points and then determining the target positioning of the star flash key.
[0054] In some embodiments, the first determining module is configured to: determine a first cosine value based on the distance between the second star flash anchor point and the fifth star flash anchor point, the distance between the star flash key and the second star flash anchor point, and the distance between the star flash key and the fifth star flash anchor point; determine a first sine value based on the first cosine value; determine a first candidate positioning based on the first cosine value and the first sine value; determine a second candidate positioning based on the first cosine value and the first sine value; determine the first positioning from the first candidate positioning and the second candidate positioning based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the first candidate positioning, and the distance between the first star flash anchor point and the second candidate positioning.
[0055] In some embodiments, the second determining module is configured to: determine a second cosine value based on the distance between the third star flash anchor point and the fourth star flash anchor point, the distance between the star flash key and the third star flash anchor point, and the distance between the star flash key and the fourth star flash anchor point; determine a second sine value based on the second cosine value; determine a third candidate positioning based on the second cosine value and the second sine value; determine a fourth candidate positioning based on the second cosine value and the second sine value; determine the second positioning from the third candidate positioning and the fourth candidate positioning based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the third candidate positioning, and the distance between the first star flash anchor point and the fourth candidate positioning.
[0056] In some embodiments, the third determining module is configured to: determine a third cosine value based on the distance between the second star flash anchor point and the third star flash anchor point, the distance between the star flash key and the second star flash anchor point, and the distance between the star flash key and the third star flash anchor point; determine a third cosine value based on the third cosine value and the third sine value; determine a fifth candidate position based on the third cosine value and the third sine value; determine a sixth candidate position based on the third cosine value and the third sine value; determine the third position from the fifth candidate position and the sixth candidate position based on distances between the star flash key and the first star flash anchor point, between the first star flash anchor point and the fifth candidate position, and between the first star flash anchor point and the sixth candidate position.
[0057] In some embodiments, the fourth determining module is configured to: determine a fourth cosine value based on distances between the fourth star flash anchor point and the fifth star flash anchor point, between the star flash key and the fourth star flash anchor point, and between the star flash key and the fifth star flash anchor point; determine a fourth sine value based on the fourth cosine value; determine a seventh candidate position based on the fourth cosine value and the fourth sine value; determine an eighth candidate position based on the fourth cosine value and the fourth sine value; determine the fourth position from the seventh candidate position and the eighth candidate position based on distances between the star flash key and the first star flash anchor point, between the first star flash anchor point and the seventh candidate position, and between the first star flash anchor point and the eighth candidate position.
[0058] In some embodiments, the fifth determining module is configured to: take a coordinate average of the first position, the second position, the third position, and the fourth position as the target position.
[0059] In some embodiments, the fifth determining module is further configured to: determine a target distance between the star flash key and the vehicle based on the target position; control the vehicle to be unlocked or locked based on a size relationship between the target distance and a preset distance.
[0060] In some embodiments, the fifth determining module is further configured to: check the layout positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point, and the fifth star flash anchor point every preset time period; if the layout positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point, and the fifth star flash anchor point are all not offset, perform the unlocking or locking function of the vehicle.
[0061] Specifically, the vehicle star flash key positioning device provided in this application embodiment can realize all the method steps implemented by the method embodiment with the controller as the execution subject, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.
[0062] Figure 7 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communication bus 740, wherein the processor 710, the communications interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute the vehicle key location method, such as including: Based on the first star-flash anchor point, the second star-flash anchor point, and the fifth star-flash anchor point, the first positioning of the star-flash key is determined; Based on the first star-flash anchor point, the third star-flash anchor point, and the fourth star-flash anchor point, the second positioning of the star-flash key is determined; Based on the first star-flash anchor point, the second star-flash anchor point, and the third star-flash anchor point, the third positioning of the star-flash key is determined; Based on the first star-flash anchor point, the fourth star-flash anchor point, and the fifth star-flash anchor point, the fourth positioning of the star-flash key is determined; Based on the first location, the second location, the third location, and the fourth location, the target location of the Star Flash Key is determined.
[0063] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0064] In another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, causes the computer to perform the steps of the positioning method of the vehicle star flash key provided by the above-mentioned methods, for example comprising: determining a first position of the star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point; determining a second position of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point; determining a third position of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point; determining a fourth position of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point; determining a target position of the star flash key based on the first position, the second position, the third position and the fourth position.
[0065] In yet another aspect, the present application also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, and the computer program, when executed by a processor, causing the computer to perform the steps of the positioning method of the vehicle star flash key provided by the above-mentioned methods, for example comprising: determining a first position of the star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point; determining a second position of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point; determining a third position of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point; determining a fourth position of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point; determining a target position of the star flash key based on the first position, the second position, the third position and the fourth position.
[0066] The apparatus embodiments described above are merely illustrative, and the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.
[0067] Those skilled in the art can clearly understand from the description of the foregoing embodiments that each embodiment can be implemented by means of software on a necessary universal hardware platform, and of course can also be implemented by hardware. Based on such understanding, the foregoing technical solutions can be embodied in the form of a software product in essence or in the form of a part of the prior art, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method described in each embodiment or some part of the embodiment.
[0068] In addition, it should be noted that the terms "first", "second", and the like in the embodiments of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are generally a class, not limited to the number of objects, for example, the first object can be one or more.
[0069] In the embodiments of the present application, the term "and / or" describes the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.
[0070] In the embodiments of the present application, "determining B based on A" means that A is considered as a factor when determining B. It is not limited to "determining B based on A only", but also includes "determining B based on A and C", "determining B based on A, C and E", "determining C based on A, and determining B based on C further", and the like. In addition, it can also include A as a condition for determining B, for example, "when A meets the first condition, B is determined using the first method"; for example, "when A meets the second condition, B is determined"; for example, "when A meets the third condition, B is determined based on the first parameter"; and the like. Of course, A can also be a condition for determining B, for example, "when A meets the first condition, C is determined using the first method, and B is further determined based on C", and the like.
[0071] In the embodiments of the present application, the term "a plurality of" means two or more, and other quantifiers are similar.
[0072] In the embodiments of the present application, the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.
[0073] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.
[0074] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.
[0075] In the embodiments of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the embodiments of the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the specification and the features of different embodiments or examples without contradiction.
[0076] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A method of locating a vehicle star flash key, the method comprising: The vehicle is provided with a first star flash anchor point, a second star flash anchor point, a third star flash anchor point, a fourth star flash anchor point and a fifth star flash anchor point; the first star flash anchor point is located at the coordinate origin, the second star flash anchor point is located in the first quadrant, the third star flash anchor point is located in the second quadrant, the fourth star flash anchor point is located in the third quadrant, and the fifth star flash anchor point is located in the fourth quadrant; the horizontal coordinates of the second star flash anchor point and the third star flash anchor point are opposite, and the vertical coordinates are the same; the horizontal coordinates of the third star flash anchor point and the fourth star flash anchor point are the same, and the vertical coordinates are opposite; the horizontal coordinates of the fourth star flash anchor point and the fifth star flash anchor point are opposite, and the vertical coordinates are the same; The horizontal coordinates of the fifth star flash anchor point and the second star flash anchor point are the same, and the vertical coordinates are opposite; the method comprises: determining a first position of a star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point; determining a second position of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point; determining a third position of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point; determining a fourth position of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point; determining a target position of the star flash key based on the first position, the second position, the third position and the fourth position.
2. The method of claim 1, wherein, The method of determining a first position of a star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point comprises: determining a first cosine value based on the distance between the second star flash anchor point and the fifth star flash anchor point, the distance between the star flash key and the second star flash anchor point and the distance between the star flash key and the fifth star flash anchor point; determining a first sine value based on the first cosine value; determining a first candidate position based on the first cosine value and the first sine value; determining a second candidate position based on the first cosine value and the first sine value; determining the first position from the first candidate position and the second candidate position based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the first candidate position and the distance between the first star flash anchor point and the second candidate position.
3. The method of claim 1, wherein, The method of determining a second position of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point comprises: determining a second cosine value based on the distance between the third star flash anchor point and the fourth star flash anchor point, the distance between the star flash key and the third star flash anchor point and the distance between the star flash key and the fourth star flash anchor point; determining a second sine value based on the second cosine value; determining a third candidate position based on the second cosine value and the second sine value; determining a fourth candidate position based on the second cosine value and the second sine value; determine the second position from the third candidate position and the fourth candidate position based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the third candidate position, and the distance between the first star flash anchor point and the fourth candidate position.
4. The method of claim 1, wherein, The determining the third position of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point comprises: determining a third cosine value based on the distance between the second star flash anchor point and the third star flash anchor point, the distance between the star flash key and the second star flash anchor point, and the distance between the star flash key and the third star flash anchor point; determining a third sine value based on the third cosine value; determining a fifth candidate position based on the third cosine value and the third sine value; determining a sixth candidate position based on the third cosine value and the third sine value; determine the third position from the fifth candidate position and the sixth candidate position based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the fifth candidate position, and the distance between the first star flash anchor point and the sixth candidate position.
5. The method of claim 1, wherein, The determining the fourth position of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point comprises: determining a fourth cosine value based on the distance between the fourth star flash anchor point and the fifth star flash anchor point, the distance between the star flash key and the fourth star flash anchor point, and the distance between the star flash key and the fifth star flash anchor point; determining a fourth sine value based on the fourth cosine value; determining a seventh candidate position based on the fourth cosine value and the fourth sine value; determining an eighth candidate position based on the fourth cosine value and the fourth sine value; determine the fourth position from the seventh candidate position and the eighth candidate position based on the distance between the star flash key and the first star flash anchor point, the distance between the first star flash anchor point and the seventh candidate position, and the distance between the first star flash anchor point and the eighth candidate position.
6. The method of claim 1, wherein, The determining the target position of the star flash key based on the first position, the second position, the third position and the fourth position comprises: taking the coordinate average of the first position, the second position, the third position and the fourth position as the target position.
7. The method of claim 1 to 6, wherein, Further comprising: determining a target distance between the star flash key and the vehicle based on the target position; controlling the vehicle to be unlocked or locked based on the size relationship between the target distance and a preset distance.
8. The method of claim 7, wherein, Further comprising: checking the layout positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point every preset time period; if the layout positions of the first star flash anchor point, the second star flash anchor point, the third star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point are not offset, performing the unlocking or locking function of the vehicle.
9. A positioning device for a vehicle's star-flash key, characterized in that, The vehicle is provided with a first star flash anchor point, a second star flash anchor point, a third star flash anchor point, a fourth star flash anchor point and a fifth star flash anchor point; the first star flash anchor point is located at the coordinate origin, the second star flash anchor point is located in the first quadrant, the third star flash anchor point is located in the second quadrant, the fourth star flash anchor point is located in the third quadrant, and the fifth star flash anchor point is located in the fourth quadrant; the horizontal coordinates of the second star flash anchor point and the third star flash anchor point are opposite, and the vertical coordinates are the same; the horizontal coordinates of the third star flash anchor point and the fourth star flash anchor point are the same, and the vertical coordinates are opposite; the horizontal coordinates of the fourth star flash anchor point and the fifth star flash anchor point are opposite, and the vertical coordinates are the same; the horizontal coordinates of the fifth star flash anchor point and the second star flash anchor point are the same, and the vertical coordinates are opposite; the device comprises: A first determination module for determining a first positioning of a star flash key based on the first star flash anchor point, the second star flash anchor point and the fifth star flash anchor point; A second determination module for determining a second positioning of the star flash key based on the first star flash anchor point, the third star flash anchor point and the fourth star flash anchor point; A third determination module for determining a third positioning of the star flash key based on the first star flash anchor point, the second star flash anchor point and the third star flash anchor point; A fourth determination module for determining a fourth positioning of the star flash key based on the first star flash anchor point, the fourth star flash anchor point and the fifth star flash anchor point; A fifth determination module for determining a target positioning of the star flash key based on the first positioning, the second positioning, the third positioning and the fourth positioning. The processor executes the computer program to realize the positioning method of the vehicle star flash key according to any one of claims 1 to 8.
10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that,