Digital key positioning method and device, electronic equipment and storage medium

Abstract

The invention provides a digital key positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a predicted position of a digital key according to a positioning circle corresponding to n anchor points, the positioning circle being a circle taking the anchor point as a circle center and taking the distance between the anchor point and the digital key as a radius; m reference anchor points are determined according to the anchor point blocking degree corresponding to the predicted position and a preset reference anchor point determining condition, and m is an integer and is larger than or equal to 2 and smaller than n; and determining the position of the digital key according to the positioning circles corresponding to the m reference anchor points. Firstly, the approximate position of the digital key is determined according to the positioning circles corresponding to the anchor points, then m reference anchor points are determined according to the position, and the position of the digital key is determined according to the positioning circles corresponding to the reference anchor points. It can be understood that some anchor points which are severely blocked can be ignored by determining the reference anchor point, the position of the digital key is corrected through the positioning circle corresponding to the reference anchor point, and the accuracy of the positioning result can be guaranteed.

Description

Technical Field

[0001] This application relates to the field of key positioning technology, and specifically to a digital key positioning method, device, electronic device, and storage medium. Background Technology

[0002] With the development of the automotive industry, in order to ensure user experience and property security, most cars are equipped with digital keys, making it convenient for users to unlock the car before getting in and lock it after getting out. Whether unlocking or locking the car, the vehicle's system needs to determine the key's location based on the signal emitted by the digital key. This not only prevents unauthorized operation of the vehicle but also allows legitimate users to experience smooth and seamless interaction in different scenarios, while meeting the core requirements of automotive functional design.

[0003] In related technologies, the location of a key is determined by UWB ranging. UWB ranging is a distance measurement technology based on Ultra Wide Band (UWB) technology. It is based on the Time of Flight (TOF) principle and calculates the distance by multiplying the time of flight by the speed of light.

[0004] However, UWB ranging will increase the measurement distance when obstructed. Therefore, in practical applications, the positioning deviation is prone to occur due to the obstruction of the vehicle itself or other interference, which may lead to positioning failure.

[0005] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] In view of this, this application provides a digital key positioning method, device, electronic device and storage medium to solve the problem that in the prior art, the measurement distance of UWB ranging increases when obstructed, so in practical applications, due to the obstruction of the car itself or other interference, the positioning deviation is prone to large and positioning failure.

[0007] In a first aspect, embodiments of this application provide a digital key positioning method applied to a vehicle, the vehicle comprising n anchor points, the method comprising: Based on the positioning circles corresponding to n anchor points, the predicted position of the digital key is obtained. The positioning circle is a circle with the anchor point as the center and the distance between the anchor point and the digital key as the radius. Based on the degree of obstruction of the anchor point corresponding to the predicted position and the preset reference anchor point determination conditions, m reference anchor points are determined, where m is an integer and 2≤m<n; The position of the digital key is determined based on the positioning circles corresponding to the m reference anchor points.

[0008] In this embodiment, the approximate location of the digital key is first determined based on the positioning circles corresponding to multiple anchor points. Then, m reference anchor points are determined based on this location, and the location of the digital key is determined based on the positioning circles corresponding to the reference anchor points. It can be understood that by determining the reference anchor points, some heavily obstructed anchor points can be ignored, and by correcting the location of the digital key using the positioning circles corresponding to the reference anchor points, the accuracy of the positioning result can be guaranteed.

[0009] In one possible implementation, obtaining the predicted position of the digital key based on the positioning circles corresponding to the n anchor points includes: Based on the positioning circle corresponding to every 3 anchor points, multiple initial predicted positions of the digital key are obtained; The predicted location of the digital key is calculated using a weighted average algorithm based on the coordinates of multiple initial predicted locations.

[0010] In this embodiment, among the n anchor points, every three anchor points are grouped together. An initial predicted position is determined based on each group of anchor points, and then a weighted average algorithm is used to obtain the predicted position based on the multiple initial predicted positions. It can be understood that grouping can, to some extent, correct the accuracy of the anchor points, thereby making the final positioning result more accurate.

[0011] In one possible implementation, determining m reference anchor points based on the degree of obstruction of the anchor point corresponding to the predicted location and preset reference anchor point determination conditions includes: The three anchor points with the least obstruction among the n anchor points corresponding to the predicted position are determined as reference anchor points.

[0012] In this embodiment, the reference anchor points are the three anchor points with the least degree of obstruction. By focusing on highly reliable data, error interference is reduced, the accuracy of the conclusions is improved, and the effectiveness of subsequent calculations is optimized.

[0013] In one possible implementation, determining the three anchor points with the least obstruction corresponding to the predicted location as reference anchor points includes: The anchor point with the least obstruction and the shortest distance to the digital key among the n anchor points corresponding to the predicted position is determined as the first reference anchor point; The anchor point with the least degree of obstruction among the n anchor points corresponding to the predicted position, excluding the first reference anchor point, is determined as the second reference anchor point. The anchor point with the least degree of obstruction among the n anchor points corresponding to the predicted position, excluding the first reference anchor point and the second reference anchor point, is determined as the third reference anchor point.

[0014] In this embodiment of the application, by establishing a priority gradient, high-reliability data plays a leading role in subsequent prediction stages, while suboptimal data is used to assist in verification or supplementation, thereby further reducing error risk and improving prediction flexibility and robustness of results.

[0015] In one possible implementation, determining the position of the digital key based on the positioning circles corresponding to the m reference anchor points includes: Determine at least one intersection point based on the positioning circle corresponding to the first reference anchor point and the positioning circle corresponding to the second reference anchor point; The position of the digital key is determined based on the positional relationship between the intersection point and the predicted position, and the positional relationship between the intersection point and the positioning circle corresponding to the third reference anchor point.

[0016] In this embodiment of the application, the intersection point is determined by the positioning circle corresponding to the first and second reference anchor points, which have higher reliability. This can obtain a more accurate intersection point position. Then, other conditions are used to determine a more accurate position within the intersection point, thereby ensuring the accuracy of the prediction.

[0017] In one possible implementation, determining the position of the digital key based on the positional relationship between the intersection point and the predicted position, and the positional relationship between the intersection point and the positioning circle corresponding to the third reference anchor point, includes: If any of the intersection points is located in the same area as the predicted location, then any of the intersection points is determined as a positioning point; If the intersection point and the predicted position are not located in the same area, then the intersection point closest to the positioning circle corresponding to the third anchor point is determined as the positioning point; The location point is used as the location of the digital key.

[0018] In this embodiment of the application, the predicted location area is used as the reference. If the intersection points are not in this area, the positioning circle corresponding to the third reference anchor point is used as the reference, so as to obtain a more accurate positioning point.

[0019] In one possible implementation, using the location point as the location of the digital key includes: If the positioning point is located within the positioning circle corresponding to the third reference anchor point, then the positioning point is taken as the position of the digital key.

[0020] Because the predicted distance is longer than the actual distance when the signal is blocked, the accurate location of the digital key should be within the positioning circle corresponding to the third reference anchor point. It can be understood that the method provided in the embodiments of this application can obtain a more accurate location of the digital key.

[0021] In one possible implementation, the method further includes: If the positioning point is located outside the positioning circle corresponding to the third reference anchor point, then determine whether the current positioning is the initial positioning; If the current location is the first location, the second reference anchor point and the third reference anchor point are swapped, and the location of the digital key is re-determined according to the positioning circle corresponding to the reference anchor point. If the current location is not the initial location, then the location point is taken as the location of the digital key.

[0022] In this embodiment of the application, when the positioning point is located outside the positioning circle corresponding to the third reference anchor point, it is determined whether the current positioning is the first time. If the current positioning is not the first time, the second reference anchor point and the third reference anchor point are exchanged, thereby breaking the fixed thinking of the unique ranking of reliability and improving the practicality of the results, the comprehensiveness of the verification and the controllability of the risks.

[0023] Secondly, embodiments of this application provide a digital key positioning device, comprising: The predicted location acquisition module is used to obtain the predicted location of the digital key based on the positioning circles corresponding to n anchor points. The positioning circles are circles with the anchor points as the center and the distance between the anchor points and the digital key as the radius. The reference anchor point determination module is used to determine m reference anchor points based on the degree of obstruction of the anchor point corresponding to the predicted position and the preset reference anchor point determination conditions, where m is an integer and 2≤m<n. The location determination module is used to determine the location of the digital key based on the positioning circles corresponding to the m reference anchor points.

[0024] Thirdly, embodiments of this application provide an electronic device, including: processor; Memory; And a computer program, wherein the computer program is stored in the memory, the computer program including instructions that, when executed by the processor, cause the electronic device to perform the method described in any one of the first aspects.

[0025] Fourthly, embodiments of this application provide a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method described in any one of the first aspects.

[0026] It is understood that the digital key positioning device provided in the second aspect, the electronic device provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are used to execute the method provided in this application. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application; Figure 2 A flowchart illustrating a digital key positioning method provided in an embodiment of this application; Figure 3 This application provides a schematic diagram of the distribution of vehicle anchor points in an embodiment. Figure 4 A schematic diagram illustrating a method for determining an initial predicted position as provided in an embodiment of this application; Figure 5 A schematic diagram of region division provided for an embodiment of this application; Figure 6 A flowchart illustrating another digital key positioning method provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a digital key positioning device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0030] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0031] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0032] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0033] With the development of the automotive industry, in order to ensure the user experience and the safety of users' property, most cars are equipped with digital keys, which make it convenient for users to unlock the car before getting in and lock the car after getting out.

[0034] For ease of understanding, this application provides an example of an application scenario.

[0035] See Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application. Figure 1 The image shows a vehicle 101 and a digital key 102. When a user needs to unlock or lock the vehicle from a distance, they can perform the relevant operations through the key on the digital key 102.

[0036] Of course, the vehicle 101 and digital key 102 in this application scenario are only an exemplary illustration. In actual applications, the vehicle 101 can be a truck, van, commercial vehicle, or minivan, in addition to a sedan. The digital key 102 can also be in other shapes. This application embodiment does not impose specific limitations on these aspects.

[0037] In addition, whether it is unlocking, locking or other operations, vehicle 101 needs to determine the location of digital key 102 based on the signal emitted by digital key 102, so as to prevent vehicle 101 from being operated illegally, and allow legitimate users to have a smooth and seamless interaction in different scenarios, while meeting the core requirements of automotive function design.

[0038] In related technologies, the location of a key is determined by UWB ranging. UWB ranging is a distance measurement technology based on Ultra Wide Band (UWB) technology. It is based on the Time of Flight (TOF) principle and calculates the distance by multiplying the time of flight by the speed of light.

[0039] However, UWB ranging will increase the measurement distance when obstructed. Therefore, in practical applications, the positioning deviation is prone to occur due to the obstruction of the vehicle itself or other interference, which may lead to positioning failure.

[0040] To address the aforementioned issues, this application provides a digital key positioning method. First, the approximate location of the digital key is determined based on positioning circles corresponding to multiple anchor points. Then, m reference anchor points are determined based on this location, and the position of the digital key is determined based on the positioning circles corresponding to the reference anchor points. It is understood that by determining reference anchor points, some heavily obstructed anchor points can be ignored, and the position of the digital key can be corrected using the positioning circles corresponding to the reference anchor points, ensuring the accuracy of the positioning result. A detailed description is provided below in conjunction with the accompanying drawings and specific embodiments.

[0041] See Figure 2 This is a flowchart illustrating a digital key positioning method provided in an embodiment of this application. This method can be applied to... Figure 1 The application scenarios shown are as follows: Figure 2 As shown, it mainly includes the following steps.

[0042] Step S201: Obtain the predicted position of the digital key based on the positioning circles corresponding to the n anchor points.

[0043] Specifically, the vehicle includes n anchor points, and the positioning circle is a circle with the anchor point as the center and the distance between the anchor point and the digital key as the radius.

[0044] Because anchor points are essential in UWB positioning systems, precise positioning of the digital key can be achieved by setting n anchor points on the vehicle. In one possible implementation, n is 5. Of course, this is just an example. In practical applications, those skilled in the art can set n to any value according to actual needs, and this application does not impose specific limitations on this.

[0045] For ease of understanding, this application provides a schematic diagram of the distribution of vehicle anchor points.

[0046] See Figure 3 This is a schematic diagram illustrating the distribution of vehicle anchor points according to an embodiment of this application. Figure 3 As shown, a coordinate system is established with the vehicle center as the origin. Five anchor points A1, A2, A3, A4 and A5 are placed at the vehicle center and four corners, respectively, and the coordinate parameters of the five anchor points are set according to the actual arrangement.

[0047] Furthermore, before digital key positioning of a vehicle is performed, the anchor points on the vehicle need to be configured in a certain way to ensure that the distance measured by the anchor points is relatively accurate.

[0048] Specifically, under line-of-sight (LoS) conditions, digital keys are placed at preset distances from anchor points, and the distance value measured at each anchor point is obtained. Based on the preset distance and the measured distance value, the parameters of each anchor point are corrected so that the difference between the measured distance value and the preset distance is within a preset range. The corrected anchor points are then installed at their corresponding positions on the vehicle. Here, line-of-sight (LoS) conditions are a core concept in communication, ranging, and positioning technologies, referring to a scenario where there are no physical obstacles (such as walls, metal, trees, or people) obstructing the transmission between the transmitter and receiver, allowing the signal to reach the receiver directly along a "straight-line propagation path."

[0049] For example, under line-of-sight conditions, place the digital key 5 meters away from an anchor point, obtain the distance x measured at the anchor point, adjust the parameters of the anchor point according to the difference between x and 5 meters so that the difference is within an acceptable range, and then install the anchor point at any one of A1, A2, A3, A4 or A5, and so on, until all 5 anchor points are installed.

[0050] In one possible implementation, multiple initial predicted positions of the digital key are obtained based on the positioning circles corresponding to every three anchor points. The predicted position of the digital key is then calculated using a weighted average algorithm based on the coordinates of the multiple initial predicted positions.

[0051] Specifically, attend Figure 4 This is a schematic diagram illustrating a method for determining an initial predicted position provided in an embodiment of this application. Figure 4 As shown, a positioning circle is obtained with the first anchor point A1 as the center and the distance between the first anchor point A1 and the digital key as the radius. Similarly, a positioning circle is obtained with the second anchor point A2 as the center and the distance between the second anchor point A2 and the digital key as the radius. The positioning circle is obtained with the third anchor point A3 as the center and the distance between the third anchor point A3 and the digital key as the radius. These three positioning circles will have an intersection area, and the center point P1 of this intersection area is the initial predicted position corresponding to these three positioning circles. This process continues; any three anchor points can determine an initial predicted position, and every three anchor points determine an initial predicted position. Five anchor points can yield ten initial predicted positions.

[0052] After obtaining the initial predicted position, the predicted position of the digital key is calculated using a weighted average algorithm based on the coordinates of multiple initial predicted positions.

[0053] For example, assume that the coordinates of the first predicted position P1 determined by the three anchor points A1, A2, and A3 are (x1, y1), the distance between the first anchor point A1 and the digital key is r1, the distance between the second anchor point A2 and the digital key is r2, the distance between the third anchor point A3 and the digital key is r3, the coordinates of the second predicted position P2 determined by the three anchor points A1, A2, and A4 are (x2, y2), and the distance between the fourth anchor point A4 and the digital key is r4.

[0054] Then the weight corresponding to P1 is The weight corresponding to P2 is The weights for other predicted locations follow the same principle. The final calculated predicted location of the digital key is... .

[0055] In one possible implementation, after the digital key establishes contact with each anchor point, it obtains the distance values ​​between the digital key and multiple anchor points. The distance values ​​are measured using two-way ranging (TWR). After obtaining the distance value between each anchor point and the digital key, these distance values ​​need to be Kalman filtered, and the filtered data is sent to the controller corresponding to the central anchor point of the vehicle, where the controller performs subsequent calculations.

[0056] Step S202: Determine m reference anchor points based on the degree of obstruction of the anchor point corresponding to the predicted location and the preset reference anchor point determination conditions.

[0057] Specifically, m is an integer and 2 ≤ m < n. By determining reference anchor points, some anchor points with severe obstruction can be ignored, thus ensuring data accuracy. The degree of obstruction of an anchor point refers to the degree of influence of the vehicle itself on the target position of the digital key. For example, assuming the digital key is at the front left of the vehicle, there is no obstruction from the vehicle itself between the anchor point at the front left and the digital key, making it the point with the least obstruction. The anchor point at the rear right of the vehicle is obstructed by the entire vehicle body, making it the point with the greatest obstruction.

[0058] In one possible implementation, the three anchor points with the least obstruction among the n anchor points corresponding to the predicted position are determined as reference anchor points. That is, m is 3 in this embodiment, which reduces error interference, improves the accuracy of the conclusion, and optimizes the effectiveness of subsequent calculations by focusing on highly reliable data.

[0059] However, determining reference anchor points by predicting location coordinates may require calculating the distance between each anchor point and the location individually, which takes a long time. Furthermore, when the exact location of the digital key is uncertain, this method may result in lower accuracy of the final result.

[0060] Therefore, in this embodiment of the application, the vehicle and the area around the vehicle where the digital key can be detected are divided into multiple areas in advance. After obtaining the predicted position, the area where the current digital key is located is determined based on the predicted position, and the reference anchor point is determined through the area where the predicted position is located.

[0061] Specifically, see Figure 5 This is a schematic diagram of a region division provided in an embodiment of this application. Figure 5 As shown, the dashed box in the middle represents the vehicle. The area directly in front of the vehicle is the front area, the corresponding area to the left front is the left front area, the corresponding area to the right front is the right front area, the area to the left center is the left center area, the area to the right center is the right center area, the area directly behind the vehicle is the rear area, the corresponding area to the left rear is the left rear area, and the corresponding area to the right rear is the right rear area.

[0062] For example, assuming the area where the digital key is located is the front area of ​​the vehicle, the three reference anchor points are the second anchor point A2, the fourth anchor point A4, and the first anchor point A1. If the area where the digital key is located is the left front area, the three reference anchor points are the second anchor point A2, the fourth anchor point A4, and the fifth anchor point A5. Because the first anchor point A1 is blocked by the vehicle body, the fifth anchor point A5 is less blocked than the first anchor point A1. If the area where the digital key is located is the left center area, the three reference anchor points are the fourth anchor point A4, the fifth anchor point A5, and the first anchor point A1.

[0063] In one possible implementation, in order to determine the priority among the three reference anchors, the three reference anchors are divided into a first reference anchor, a second reference anchor, and a third reference anchor based on the reliability of each reference anchor.

[0064] Specifically, the anchor point with the least obstruction and the shortest distance to the digital key among the n anchor points corresponding to the predicted position is determined as the first reference anchor point; the anchor point with the least obstruction other than the first reference anchor point among the n anchor points corresponding to the predicted position is determined as the second reference anchor point; and the anchor point with the least obstruction other than the first and second reference anchor points among the n anchor points corresponding to the predicted position is determined as the third reference anchor point.

[0065] As in the example above, assuming the area where the digital key is located is the front area of ​​the vehicle, then the first reference anchor point is the smaller of the distance values ​​of the second anchor point A2 and the fourth anchor point A4, the second reference anchor point is the larger of the distance values ​​of the second anchor point A2 and the fourth anchor point A4, and the third reference anchor point is the first anchor point A1; if the area where the digital key is located is the left front area, then the first reference anchor point is the fourth anchor point A4, the second reference anchor point is the second anchor point A2, and the third reference anchor point is the fifth anchor point A5; if the area where the digital key is located is the left center area, then the first reference anchor point is the smaller of the distance values ​​of the fourth anchor point A4 and the fifth anchor point A5, the second reference anchor point is the larger of the distance values ​​of the fourth anchor point A4 and the fifth anchor point A5, and the third reference anchor point is the first anchor point A1.

[0066] Understandably, by establishing a priority gradient, high-reliability data can play a leading role in subsequent prediction stages, while suboptimal data can be used to assist in verification or supplementation, thereby further reducing error risk and improving prediction flexibility and robustness of results.

[0067] Step S203: Determine the position of the digital key based on the positioning circles corresponding to the m reference anchor points.

[0068] Specifically, at least one intersection point is determined based on the positioning circle corresponding to the first reference anchor point and the positioning circle corresponding to the second reference anchor point; the position of the digital key is determined based on the positional relationship between the intersection point and the predicted position and the positional relationship between the intersection point and the positioning circle corresponding to the third reference anchor point.

[0069] The positioning circle corresponding to the first reference anchor point and the positioning circle corresponding to the second reference anchor point may or may not intersect. When the two positioning circles do not intersect, the radius of the positioning circle corresponding to the second reference anchor point is adjusted so that the two positioning circles are internally tangent, thereby obtaining one intersection point.

[0070] It is understandable that by determining the intersection point through the positioning circles corresponding to the first and second reference anchor points, which have higher reliability, a more accurate intersection point position can be obtained. Then, other conditions can be used to determine a more accurate position within the intersection point, thereby ensuring the accuracy of the prediction.

[0071] The location of the digital key is determined based on the positional relationship between the intersection point and the predicted location, as well as the positional relationship between the intersection point and the positioning circle corresponding to the third reference anchor point. Specifically: if any intersection point and the predicted location are located in the same area, then that intersection point is designated as the positioning point; if neither the intersection point nor the predicted location is located in the same area, then the intersection point closest to the positioning circle corresponding to the third anchor point is designated as the positioning point; this positioning point is then used as the location of the digital key. The predicted location area is within... Figure 5 The embodiments shown are described in detail, and will not be repeated here.

[0072] It is understandable that the predicted location area is used as the primary reference. If the intersection points are not in this area, the positioning circle corresponding to the third reference anchor point is used as the primary reference to obtain a more accurate positioning point.

[0073] In addition, in practical applications, the measured distance value is usually larger than the actual distance because the anchor point is obstructed. Therefore, if the obtained positioning point is outside the positioning circle corresponding to the third reference anchor point, the positioning point is considered to be inaccurate.

[0074] Therefore, in this embodiment of the application, if the positioning point is located within the positioning circle corresponding to the third reference anchor point, then the positioning point is used as the position of the digital key.

[0075] If the location point is outside the location circle corresponding to the third anchor point, it is determined whether the current location is the first location. If the current location is the first location, the second reference anchor point and the third reference anchor point are swapped, and the location of the digital key is determined again according to the location circle corresponding to the reference anchor point. If the current location is not the first location, the location point is used as the location of the digital key.

[0076] Understandably, by exchanging the second and third reference anchors, the rigid mindset of a single reliability ranking can be broken, thereby improving the practicality of the results, the comprehensiveness of the verification, and the controllability of the risks.

[0077] In one possible implementation, when outputting the position of the digital key, the position of the digital key is filtered.

[0078] In addition, this application also provides another digital key positioning method.

[0079] See Figure 6 This is a flowchart illustrating another digital key positioning method provided in an embodiment of this application. Figure 6 As shown, it mainly includes the following steps.

[0080] Step S601: Obtain the distance value between the digital key and the UWB anchor point.

[0081] Step S602: Kalman filtering.

[0082] Step S603: Calculate the predicted location coordinates using weighted calculation.

[0083] Step S604: Determine whether the coordinates are within the judgment area.

[0084] Specifically, if yes, then proceed to step S605; otherwise, proceed to step S616.

[0085] Step S605: Set reference anchor points according to the determined area.

[0086] Step S606: Determine whether the first reference anchor point and the second reference anchor point intersect.

[0087] Specifically, if yes, then proceed to step S607; otherwise, proceed to step S608.

[0088] Step S607: Calculate the intersection point.

[0089] Step S608: Correct the distance value of the second reference anchor point.

[0090] Step S609: Determine whether there is an intersection within the judgment area.

[0091] Specifically, if yes, then proceed to step S610; if no, then proceed to step S611.

[0092] Step S610: Set the intersection point within the judgment area as the positioning point.

[0093] Step S611: The positioning point is the intersection point that is close to the positioning circle of the third reference anchor point.

[0094] Step S612: Determine whether the positioning point is within the positioning circle of the third reference anchor point.

[0095] Specifically, if yes, then proceed to step S613; if no, then proceed to step S614.

[0096] Step S613: The filtered output positioning point is used as the position of the digital key.

[0097] Step S614: Determine if this is the initial positioning.

[0098] Specifically, if yes, then proceed to step S615; otherwise, proceed to step S613.

[0099] Step S615: Swap the second reference anchor point and the third reference anchor point.

[0100] Step S616: End.

[0101] For specific details regarding the embodiments of this application, please refer to the above. Figures 2 to 5 The descriptions in the illustrated embodiments are omitted for brevity.

[0102] Corresponding to the above embodiments, this application also provides a digital key positioning device.

[0103] See Figure 7 This is a schematic diagram of the structure of a digital key positioning device provided in an embodiment of this application. Figure 7 As shown, the digital key positioning device includes: a predicted location acquisition module 701, a reference anchor point determination module 702, and a location determination module 703.

[0104] The predicted location acquisition module 701 is used to obtain the predicted location of the digital key based on the positioning circles corresponding to n anchor points. The positioning circle is a circle with the anchor point as the center and the distance between the anchor point and the digital key as the radius. The reference anchor point determination module 702 is used to determine m reference anchor points based on the degree of obstruction of the anchor point corresponding to the predicted position and the preset reference anchor point determination conditions, where m is an integer and 2≤m<n. The position determination module 703 is used to determine the position of the digital key based on the positioning circles corresponding to the m reference anchor points.

[0105] Corresponding to the above embodiments, this application also provides an electronic device.

[0106] See Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 8 As shown, the electronic device 800 may include a processor 801, a memory 802, and a communication unit 803. These components communicate via one or more buses. Those skilled in the art will understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of this application. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0107] The communication unit 803 is used to establish a communication channel, enabling the electronic device to communicate with other devices. It can receive user data sent by other devices or send user data to other devices.

[0108] The processor 801 serves as the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes software programs, instructions, and / or modules stored in the memory 802, and calls data stored in the memory to perform various functions and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 801 may consist only of a central processing unit (CPU). In this embodiment, the CPU may have a single processing core or include multiple processing cores.

[0109] The memory 802 is used to store the execution instructions of the processor 801. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0110] When the execution instructions in memory 802 are executed by processor 801, the electronic device 800 is able to perform operations. Figure 2 Some or all of the steps in the illustrated embodiments.

[0111] In a specific implementation, this application embodiment also provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, it may include some or all of the steps of the simulation scene generation method provided in various embodiments of this application. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0112] In a specific implementation, this application also provides a computer program product, wherein the computer program product includes executable instructions, which, when executed on a computer, cause the computer to perform some or all of the steps in the various embodiments of the simulation scene generation method provided in this application.

[0113] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0114] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. 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 implementation should not be considered beyond the scope of this application.

[0115] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0116] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, 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 part 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.

[0117] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments and terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A digital key positioning method, characterized in that, Applied to a vehicle, the vehicle comprising n anchor points, the method includes: Based on the positioning circles corresponding to n anchor points, the predicted position of the digital key is obtained. The positioning circle is a circle with the anchor point as the center and the distance between the anchor point and the digital key as the radius. Based on the degree of obstruction of the anchor point corresponding to the predicted position and the preset reference anchor point determination conditions, m reference anchor points are determined, where m is an integer and 2≤m<n; The position of the digital key is determined based on the positioning circles corresponding to the m reference anchor points.

2. The method according to claim 1, characterized in that, The step of obtaining the predicted position of the digital key based on the positioning circles corresponding to n anchor points includes: Based on the positioning circle corresponding to every 3 anchor points, multiple initial predicted positions of the digital key are obtained; The predicted location of the digital key is calculated using a weighted average algorithm based on the coordinates of multiple initial predicted locations.

3. The method according to claim 1, characterized in that, The step of determining m reference anchor points based on the degree of obstruction of the anchor point corresponding to the predicted position and the preset reference anchor point determination conditions includes: The three anchor points with the least obstruction among the n anchor points corresponding to the predicted position are determined as reference anchor points.

4. The method according to claim 3, characterized in that, The step of determining the three anchor points with the least degree of obstruction corresponding to the predicted position as reference anchor points includes: The anchor point with the least obstruction and the shortest distance to the digital key among the n anchor points corresponding to the predicted position is determined as the first reference anchor point; The anchor point with the least degree of obstruction among the n anchor points corresponding to the predicted position, excluding the first reference anchor point, is determined as the second reference anchor point. The anchor point with the least degree of obstruction among the n anchor points corresponding to the predicted position, excluding the first reference anchor point and the second reference anchor point, is determined as the third reference anchor point.

5. The method according to claim 4, characterized in that, Determining the position of the digital key based on the positioning circles corresponding to the m reference anchor points includes: Determine at least one intersection point based on the positioning circle corresponding to the first reference anchor point and the positioning circle corresponding to the second reference anchor point; The position of the digital key is determined based on the positional relationship between the intersection point and the predicted position, and the positional relationship between the intersection point and the positioning circle corresponding to the third reference anchor point.

6. The method according to claim 5, characterized in that, Determining the position of the digital key based on the positional relationship between the intersection point and the predicted position, and the positional relationship between the intersection point and the positioning circle corresponding to the third reference anchor point, includes: If any of the intersection points is located in the same area as the predicted location, then any of the intersection points is determined as a positioning point; If the intersection point and the predicted position are not located in the same area, then the intersection point closest to the positioning circle corresponding to the third reference anchor point is determined as the positioning point; The location point is used as the location of the digital key.

7. The method according to claim 6, characterized in that, Using the location point as the location of the digital key includes: If the positioning point is located within the positioning circle corresponding to the third reference anchor point, then the positioning point is taken as the position of the digital key.

8. The method according to claim 7, characterized in that, The method further includes: If the positioning point is located outside the positioning circle corresponding to the third reference anchor point, then determine whether the current positioning is the initial positioning; If the current location is the first location, the second reference anchor point and the third reference anchor point are swapped, and the location of the digital key is re-determined according to the positioning circle corresponding to the reference anchor point. If the current location is not the initial location, then the location point is taken as the location of the digital key.

9. A digital key positioning device, characterized in that, include: The predicted location acquisition module is used to obtain the predicted location of the digital key based on the positioning circles corresponding to n anchor points. The positioning circles are circles with the anchor points as the center and the distance between the anchor points and the digital key as the radius. The reference anchor point determination module is used to determine m reference anchor points based on the degree of obstruction of the anchor point corresponding to the predicted position and the preset reference anchor point determination conditions, where m is an integer and 2≤m<n. The location determination module is used to determine the location of the digital key based on the positioning circles corresponding to the m reference anchor points.

10. An electronic device, characterized in that, include: processor; Memory; And a computer program, wherein the computer program is stored in the memory, the computer program including instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 8.

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