User position determination method and device, control module and storage medium

Abstract

The invention provides a user position determination method and device, a control module and a storage medium, the method is applied to the control module of a target vehicle, the target vehicle is further provided with a plurality of vehicle-mounted ultra-wideband modules, and the method comprises the following steps: receiving initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules; screening out distance information with relatively high accuracy from the initial distance information to obtain target distance information; determining initial position information of the target user according to the target distance information; performing angle error detection on the initial position information to obtain an angle error detection result; and processing the initial position information by adopting a preset algorithm matched with the angle error detection result to obtain target position information of the target user. Based on the above method, the initial position information with a large angle error can be found in time, the initial position information with the large angle error is corrected, and the target position information with higher accuracy is obtained.

Description

Technical Field

[0001] This application relates to the field of ultra-wideband positioning technology, and in particular to a method, apparatus, control module, and storage medium for determining a user's location. Background Technology

[0002] Ultra Wideband (UWB) is an emerging carrier-free communication technology with advantages such as high positioning accuracy, high data transmission rate, and strong anti-interference capability, and has been widely used in the field of vehicle positioning. Specifically, an onboard UWB module is deployed on the target vehicle, and a terminal UWB module is deployed on the mobile terminal. When the target user approaches the target vehicle with their mobile terminal, the onboard and terminal UWB modules perform distance measurement. Using the distance measurement results, the target user's position relative to the target vehicle can be determined, and functions such as automatic unlocking and automatic greeting can be implemented based on the position information at different times. Improving the positioning accuracy of UWB positioning is a problem that urgently needs to be solved. Summary of the Invention

[0003] In a first aspect, this application provides a method for determining a user's location, the method being applied to the control module of a target vehicle, the target vehicle also being equipped with multiple on-board ultra-wideband modules, the method comprising:

[0004] Receive initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules;

[0005] From the initial distance information, the distance information with higher accuracy is selected to obtain the target distance information;

[0006] Based on the target distance information, determine the initial location information of the target user;

[0007] Angle error detection is performed on the initial position information to obtain the angle error detection result;

[0008] A preset algorithm matching the angle error detection result is used to process the initial position information to obtain the target user's target position information.

[0009] Secondly, this application provides a user location determination device, which is applied to the control module of a target vehicle, the target vehicle being equipped with multiple on-board ultra-wideband modules, the device comprising:

[0010] A receiving module is used to receive the initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules;

[0011] The filtering module is used to filter out the distance information with higher accuracy from the initial distance information to obtain the target distance information;

[0012] The calculation module is used to determine the initial location information of the target user based on the target distance information;

[0013] The detection module is used to detect the angle error of the initial position information and obtain the angle error detection result;

[0014] The processing module is used to process the initial position information using a preset algorithm that matches the angle error detection result, so as to obtain the target position information of the target user.

[0015] Thirdly, this application provides a control module, which includes a processor and a memory for storing processor-executable instructions, wherein the processor executes the instructions to implement the steps of the above-described method for determining the user's location.

[0016] Fourthly, this application provides a storage medium storing computer instructions thereon, which, when executed by a processor, implement the steps of the above-described method for determining the user's location.

[0017] This application achieves the following beneficial effects: It detects the error level of the initial position information at time t from two dimensions: angle and velocity. When an angle warning signal and / or a velocity warning signal are present, it indicates that the initial position information needs correction; when both an angle and velocity pass signals are present, it indicates that the initial position information does not need correction and can be directly output as the target position information. Therefore, it improves the error detection accuracy of the initial position information, thereby improving the positioning accuracy of the target position information. Furthermore, even if the initial position information at time t has a large error due to signal instability, it can be corrected using position information from historical times. Therefore, the method provided by this application can also effectively address the problems caused by signal loss and signal instability in ultra-wideband modules. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating a method for determining a user's location provided in an embodiment of this application;

[0020] Figure 2 A schematic diagram of the structure of a target vehicle and a control terminal provided for an embodiment of this application;

[0021] Figure 3 A flowchart illustrating a method for determining target distance information provided in an embodiment of this application;

[0022] Figure 4 A schematic diagram illustrating the segmentation of an initial plane as provided in an embodiment of this application;

[0023] Figure 5 A flowchart illustrating a method for determining angle error detection results provided in an embodiment of this application;

[0024] Figure 6 A flowchart illustrating a method for determining speed error detection results provided in an embodiment of this application;

[0025] Figure 7 A schematic diagram illustrating the determination of welcoming start conditions provided for embodiments of this application;

[0026] Figure 8 A schematic diagram of the structure of a system for determining target location information provided in an embodiment of this application;

[0027] Figure 9 A schematic diagram comparing the initial location information provided in the embodiments of this application with the actual walking trajectory;

[0028] Figure 10 A schematic diagram illustrating a method for obtaining sub-plane partitioning, provided for an embodiment of this application;

[0029] Figure 11 A comparative diagram of position information before and after correction provided for embodiments of this application;

[0030] Figure 12 This is a schematic diagram of a user location determination device provided in an embodiment of this application.

[0031] Figure label:

[0032] 1-Target vehicle, 10-First ultra-wideband module, 20-Second ultra-wideband module, 30-Third ultra-wideband module, 40-Fourth ultra-wideband module, 50-Fifth ultra-wideband module, 60-Control module, 70-First Bluetooth module;

[0033] 2-Mobile terminal, 80-Terminal ultra-wideband module, 90-Second Bluetooth module. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "and / or" in this document 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. Furthermore, the character " / " in this document, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0037] In existing technologies, a three-point positioning method is typically used. This method obtains ranging results from three onboard UWB modules deployed at different locations on the target vehicle to the terminal UWB module. Three circles are then drawn using these three ranging results, and the intersection of the three circles represents the target user's location. However, in actual positioning, due to errors in the ranging results, the three circles cannot truly intersect at a single point.

[0038] Furthermore, in existing technologies, the vehicle-mounted ultra-wideband module needs to be continuously powered on to perform distance measurement when the terminal ultra-wideband module is close, resulting in high power consumption for the vehicle-mounted ultra-wideband module.

[0039] This application proposes a method, apparatus, control module, and storage medium for determining user location, so as to improve the user's positioning accuracy and reduce the loss of the vehicle-mounted ultra-wideband module.

[0040] The following description, in conjunction with the accompanying drawings, introduces a method, apparatus, control module, and storage medium for determining user location provided in this application.

[0041] In some embodiments, please refer to Figure 1 This application proposes a method for determining a user's location. This method is applied to the control module of a target vehicle, which is also equipped with multiple onboard ultra-wideband modules. In specific implementations, the method may include the following:

[0042] S101: Receive the initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules.

[0043] In some embodiments, see Figure 2As shown, multiple vehicle-mounted ultra-wideband modules are deployed at different locations on the target vehicle 1. The number of vehicle-mounted ultra-wideband modules is greater than or equal to three. Specifically, the vehicle-mounted ultra-wideband modules include: a first ultra-wideband module 10, a second ultra-wideband module 20, a third ultra-wideband module 30, a fourth ultra-wideband module 40, and a fifth ultra-wideband module 50. The first ultra-wideband module 10 can be deployed in front of the right front wheel of the target vehicle 1, the second ultra-wideband module 20 can be deployed behind the right rear wheel of the target vehicle 1, the third ultra-wideband module 30 can be deployed in front of the left front wheel of the target vehicle 1, the fourth ultra-wideband module 40 can be deployed behind the left rear wheel of the target vehicle 1, and the fifth ultra-wideband module 50 can be deployed at the center of the target vehicle 1. This application does not limit the specific number or location of the vehicle-mounted ultra-wideband modules. A point is selected inside the target vehicle 1 as the origin o, and a y-axis is constructed along the body direction of the target vehicle 1, with the direction pointing towards the front of the target vehicle 1 as the positive direction of the y-axis. The x-axis forms a 90-degree angle with the y-axis. It should be noted that this application does not specifically limit the location of the origin o; the origin o can be inside or outside the target vehicle 1. Understandably, the positions of the multiple onboard ultra-wideband modules relative to the origin o are known, i.e., the coordinates of the multiple onboard ultra-wideband modules are known. A control module 60 is also installed in the target vehicle 1. The control module 60 can be a main control onboard controller (Electronic Control Unit, ECU); for example, a vehicle controller or body controller. The onboard ultra-wideband modules and the control module 60 communicate via a Controller Area Network (CAN) bus. The multiple onboard ultra-wideband modules send their corresponding initial distance information and initial distance information status values ​​to the control module 60. A first Bluetooth module 70 is also installed in the target vehicle 1, capable of Bluetooth pairing and Bluetooth communication. Optionally, an array antenna is also installed in the target vehicle 1, connected to the onboard ultra-wideband ranging module, to enhance the strength of the ranging signal. The target user holds a mobile terminal 2, which can be a smartphone, tablet, smartwatch, smart key, or other device with data receiving, data sending, data processing, and ultra-wideband ranging functions. A magnified view of the mobile terminal 2 reveals that it is equipped with a terminal ultra-wideband module 80 and a second Bluetooth module 90. When the target user holds the mobile terminal 2 and approaches the target vehicle 1, multiple vehicle-mounted ultra-wideband modules and the terminal ultra-wideband module 80 use ultra-wideband ranging technology for distance measurement. Specifically, single-sided two-way ranging or double-sided two-way ranging can be used.When the target user's handheld mobile terminal 2 approaches the target vehicle 1, the first ultra-wideband module 10, the second ultra-wideband module 20, the third ultra-wideband module 30, the fourth ultra-wideband module 40, and the fifth ultra-wideband module 50 respectively measure distances with the terminal ultra-wideband module 80. The vehicle-mounted ultra-wideband module can calculate the distance between itself and the terminal ultra-wideband module 80 as initial distance information; it can also obtain a status value for the initial distance information, indicating whether the initial distance information is reliable. Each vehicle-mounted ultra-wideband module can obtain an initial distance information and its corresponding status value. The vehicle-mounted ultra-wideband module sends the initial distance information and status value to the control module 60.

[0044] In some embodiments, the target vehicle is further equipped with a first Bluetooth module, which is used to pair with a second Bluetooth module. If the pairing is successful, a Bluetooth pairing success prompt message is generated and sent to the control module; the second Bluetooth module is installed on a mobile terminal held by the target user.

[0045] Accordingly, before receiving the initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules, the method further includes:

[0046] Check whether the Bluetooth pairing success notification message has been received;

[0047] Upon receiving the Bluetooth pairing success notification, the system controls the multiple vehicle-mounted ultra-wideband modules to perform distance measurement to obtain initial distance information.

[0048] In some embodiments, the first Bluetooth module is a continuously active low-power Bluetooth module. The first Bluetooth module continuously searches for and attempts to pair with the second Bluetooth module. When the first Bluetooth module successfully pairs with the second Bluetooth module, it indicates that the target user holding the mobile terminal has approached the target vehicle. At this time, the first Bluetooth module generates a "Bluetooth pairing successful notification" and sends it to the control module. Upon receiving the notification, the control module controls multiple in-vehicle ultra-wideband modules to start, emit ranging signals, perform ranging, and obtain initial distance information.

[0049] Based on the above embodiments, the vehicle-mounted ultra-wideband module is only activated for ranging when the target user holding the mobile terminal approaches the target vehicle, thus avoiding the energy loss caused by the vehicle-mounted ultra-wideband module being constantly on and emitting ranging signals. The first Bluetooth module in this application is a low-power Bluetooth module, and its energy loss from prolonged operation is less than that of the vehicle-mounted ultra-wideband module.

[0050] S102: From the initial distance information, select the distance information with higher accuracy to obtain the target distance information.

[0051] In some embodiments, the vehicle-mounted ultra-wideband module is numbered i (i = 1, 2, 3, 4, 5); the current ranging time is t; the initial distance information obtained by the i-th vehicle-mounted ultra-wideband module is denoted as Distances_initial(i); the status value is denoted as Status(i), where a status value of 1 indicates unreliability and a status value of 0 indicates reliability; the target distance information obtained by the i-th vehicle-mounted ultra-wideband module is denoted as Distances(i); and the estimated speed corresponding to Distances_initial(i) at time t is denoted as Velocity1(i).

[0052] In some embodiments, see Figure 3 As shown, the target distance information can be obtained using the following method:

[0053] S1: Get Distances_initial(i) and Status(i) at time t;

[0054] S2: Check if Status(i) is reliable; Status(i) equal to 1 indicates unreliable, Status(i) equal to 0 indicates reliable;

[0055] S3: If Status(i) is unreliable, then discard Distances_initial(i);

[0056] S4: If Status(i) is reliable, then calculate Velocity1(i) using the following formula:

[0057]

[0058] Where Distances_initial_pre(i) represents the initial distance information obtained by the i-th vehicle-mounted ultra-wideband module at time t-1 (the previous ranging time at time t), and T represents the ranging period (i.e. the time interval between two adjacent ranging times).

[0059] S5: Detect whether Velocity1(i) is reliable: when Velocity1(i) is greater than the third threshold, it is determined that Velocity1(i) is unreliable; when Velocity1(i) is less than or equal to the third threshold, it is determined that Velocity1(i) is reliable; the third threshold can be set to 2.5 m / s, and this application does not limit the value of the third threshold;

[0060] S6: If Velocity1(i) is reliable, retain Distances_initial(i) as Distances(i); if Velocity1(i) is unreliable, discard Distances_initial(i).

[0061] S7: Check if i is equal to 5; if i is not equal to 5, let i = i + 1, get Distances_initial(i) and Status(i) at time t again and repeat the above steps until i = 5;

[0062] S8: When i=5, check whether the total number of Distances(i) at time t is greater than or equal to 3;

[0063] S9: If the number of all Distances(i) at time t is greater than or equal to 3, it indicates that the ranging accuracy at time t is high, and the Distances(i) at time t is obtained.

[0064] S10: If the number of all Distances(i) at time t is less than 3, it means that the ranging accuracy at time t is low. Discard all Distances(i) at time t and stop positioning at time t.

[0065] S103: Determine the initial location information of the target user based on the target distance information.

[0066] In some embodiments, determining the initial location information of the target user based on the target distance information specifically includes:

[0067] S1: Determine the initial plane where the target user is located based on the target distance information;

[0068] S2: Divide the initial plane to obtain multiple sub-planes;

[0069] S3: Determine the centroid coordinates corresponding to the plurality of sub-planes;

[0070] S4: Using the centroid coordinates and the target distance information, determine the initial location information of the target user.

[0071] In some embodiments, the coordinates of the vehicle-mounted ultra-wideband module are set to (xi, yi). The initial plane represents the area where the target user may be located (i.e., the area where the terminal ultra-wideband module may be located), and can be determined in the following way:

[0072] S1: Determine the first set A1: A1 = {|xi - Distances(i)|};

[0073] S2: Determine the second set A2: A2 = {|xi + Distances(i)|};

[0074] S3: Select the maximum value from A1 and A2, and denote it as Xmax;

[0075] S4: Determine the third set A3: A3 = {|yi-Distances(i)|};

[0076] S5: Determine the fourth set A4: A4 = {|yi + Distances(i)|};

[0077] S6: Select the maximum value from A3 and A4, and denote it as Ymax;

[0078] S7: Let Xmin = -Xmax, let Ymin = -Ymax;

[0079] S8: Use (Xmin, Ymin)(Xmax, Ymin)(Xmin, Ymax)(Xmax, Ymax) as the coordinates of the four corner points of the rectangle to determine the rectangle and use it as the initial plane.

[0080] In some embodiments, the initial plane is divided into multiple sub-planes, see reference. Figure 4 As shown, the specific steps include the following:

[0081] S1: Divide the initial plane by drawing multiple line segments starting from the original position o, with the included angle between each line segment being 45 degrees, resulting in multiple regions: Region 1, Region 2, Region 3, Region 4, Region 5, Region 6, Region 7, and Region 8.

[0082] S2: Determine the historical region at time t, and use the historical region as the dense segmentation region; also use the two adjacent regions on the left and right sides of the historical region as dense segmentation regions. Figure 4 Regions 2, 3, and 4 in the middle;

[0083] S3: Treat the regions other than the densely segmented regions as sparsely segmented regions. Figure 4 Regions 1, 5, 6, 7, and 8 in the text;

[0084] S4: For the densely segmented region, perform average segmentation along the x-axis and y-axis directions in sequence, segmenting a total of 500 times, dividing the densely segmented region into multiple sub-planes, each of which is approximately considered as a rectangle;

[0085] S5: For the sparse region, perform average division along the x-axis and y-axis directions in sequence, and divide it 200 times in total. Divide the sparse region into multiple sub-planes, and each sub-plane is approximately regarded as a rectangle.

[0086] In some embodiments, the historical region can be determined as follows: obtain the region where the target user is located at multiple historical ranging times, and if the region where the target user is located at two consecutive historical ranging times is the same, then the region is taken as the historical region; for example, when the current ranging time is equal to t, the historical ranging times can be t-1 and t-2.

[0087] In some embodiments, each subplane is approximated as a rectangle, and the intersection of the rectangle's diagonals is used as the centroid coordinates of the corresponding subplane. The subplane represents the potential location of the target user.

[0088] In some embodiments, see Figure 10 As shown, the sub-plane can be obtained by dividing the rectangle as follows: Select the midpoints of (Xmin, Ymax) and (Xmax, Ymax) (meam{Xmin+Xmax}, Ymax), and connect the two midpoints to complete the first division along the x-axis. Then, divide the rectangle obtained in the previous step along the y-axis by midpoints, and then divide the rectangle obtained in the previous step along the x-axis by midpoints. Repeat the above division steps until the required number of divisions is met. The origin inside the rectangle represents the centroid of the rectangle.

[0089] In some embodiments, the initial location information of the target user is determined using the centroid coordinates and the target distance information, specifically including:

[0090] S1: Calculate the first distance information from the centroid coordinates to the plurality of vehicle-mounted ultra-wideband modules;

[0091] S2: Calculate the difference parameter between the first distance information and the target distance information;

[0092] S3: Select the target subplane from the plurality of subplanes based on the difference parameter;

[0093] S4: Determine the centroid coordinates of the target subplane as the initial position information of the target user.

[0094] In some embodiments, the centroid coordinate is assigned the number j. The first distance information between the j-th centroid coordinate and the i-th vehicle-mounted ultra-wideband module is denoted as Distance_cal(i, j). The target distance information corresponding to the i-th vehicle-mounted ultra-wideband module is denoted as Distances(i).

[0095] In some embodiments, the variance corresponding to Distance_cal(i, j) is calculated:

[0096]

[0097] Where δ(i,j) represents the variance corresponding to Distance_cal(i,j).

[0098] The variance of the same centroid coordinates is summed to obtain the dissimilarity parameter:

[0099]

[0100] Wherein, δ(j) represents the difference parameter of the j-th centroid coordinate, which can characterize the difference between the centroid coordinate and the position of the target user.

[0101] In some embodiments, the subplane corresponding to the minimum value of the difference parameter is selected as the target subplane. The sum of the distance errors from the centroid coordinates of the target subplane to each vehicle-mounted ultra-wideband module is the smallest. Therefore, the centroid coordinates of the target subplane are considered to be the most likely location of the target user, and the centroid coordinates of the target subplane are used as the initial location information of the target user.

[0102] Based on the above embodiments, the calculation weight of potential locations can be adjusted according to the historical location of the mobile terminal, thereby improving the reliability of the algorithm output and reducing the CPU load during computation.

[0103] In some embodiments, the method further includes: determining whether the region where the initial location information at time t is located is the same as the region where the initial location information at time t-1 is located; if they are the same, then marking the region where the initial location information at time t is located as a historical region, thereby updating the historical region.

[0104] S104: Perform angle error detection on the initial position information to obtain the angle error detection result.

[0105] In some embodiments, angle error detection is performed on the initial position information to obtain an angle error detection result, specifically including:

[0106] S1: Determine the initial angle information based on the initial position information;

[0107] S2: Determine the angle error detection result based on the initial angle information; wherein the angle error detection result includes one of the following: angle qualified signal, angle warning signal.

[0108] In some embodiments, given the initial position information at time t, the initial position information at time t is connected to the origin o, and the angle between this line and the positive x-axis is the initial angle information, denoted as θ(t). Similarly, the initial angle information at time t-1 can be obtained, denoted as θ(t-1).

[0109] The initial angle information and the region also have the correspondence shown in Table 1.

[0110] Table 1

[0111] area Range of initial angle information 1 [0,45) 2 [45,90) 3 [90,135) 4 [135,180) 5 [180,225) 6 [225,270) 7 [270,315) 8 [315,360)

[0112] Furthermore, the angle difference Δθ is defined as the absolute value of the difference between two consecutive initial angle information, i.e., Δθ = |θ(t) - θ(t-1)|. In particular, when the first and last initial angle information are in region 1 and region 8 respectively, before calculating Δθ, it is necessary to add 360 degrees to the initial angle information in region 1, then subtract it from the initial angle information in region 8, and take the absolute value to obtain Δθ.

[0113] Furthermore, the distance from the initial position information to the origin o is denoted as Distance (unit: cm), and the ranging period is denoted as T (unit: ms). The upper limit of the angle difference Δθmax can be determined using Table 2.

[0114] Table 2

[0115]

[0116] In some embodiments, the angle error detection result includes one of the following: an angle pass signal and an angle warning signal. The angle warning signal includes: a medium-level angle warning signal and a high-level angle warning signal. Specifically, the angle pass signal is denoted as "WalkAngleWarmFlg=0"; the medium-level angle warning signal is denoted as "WalkAngleWarmFlg=1"; and the high-level angle warning signal is denoted as "WalkAngleWarmFlg=2".

[0117] In some embodiments, the walking planning angle at time t is denoted as w(t), which represents the reliable angle at that time. Since the initial angle information contains measurement errors, this application actually uses the walking planning angle to correct the initial position information.

[0118] See Figure 5 As shown, the angle error detection result can be obtained in the following way:

[0119] S1: Input the initial angle information θ(t) at time t;

[0120] S2: Detect whether the current time is the first time, that is, detect whether t equals 1; if t equals 1, θ(t) is the first initial angle information, there is no θ(t-1), it is impossible to determine whether there is an error in θ(t), so generate an angle qualified signal, that is, generate "WalkAngleWarmFlg=0"; and let w(t)=θ(t), that is, determine the walking planning angle w(t) at time t;

[0121] S2: If t is not equal to 1, check if θ(t)-w(t-1)≥45 is satisfied; if satisfied, generate a high-level angle warning signal "WalkAngleWarmFlg=2" and set w(t) at time t to be equal to the walking planning angle w(t-1) at the previous time (time t-1);

[0122] S3: If θ(t)-w(t-1)≥45 is not satisfied, check if θ(t)-w(t-1)≥Δθmax is satisfied; if satisfied, generate a medium-level angle warning signal "WalkAngleWarmFlg=1" and set w(t=w(t-1);

[0123] S4: If θ(t)-w(t-1)≥Δθmax is not satisfied, check if 0<|θ(t)-θ(t-1)|≤(Δθmax / 2) and 0<|θ(t)-θ(t-2)|≤(Δθmax / 2) are satisfied simultaneously; if it is determined that both are satisfied, generate the angle qualified signal "WalkAngleWarmFlg=0"; let w(t=θ(t);

[0124] S5: If the condition is not met at the same time, generate the angle qualified signal "WalkAngleWarmFlg=0"; let w(t)=w(t-1);

[0125] S6: Output the angle error detection result and simultaneously output w(t).

[0126] In some embodiments, after obtaining the angle error detection result at time t, it is also necessary to obtain the cumulative number of angle warning signals at time t, which is the sum of the cumulative number of high-level angle warning signals and the cumulative number of intermediate-level angle warning signals from the first time to time t.

[0127] S105: Using a preset algorithm that matches the angle error detection result, the initial position information is processed to obtain the target user's target position information.

[0128] In some embodiments, a preset algorithm matching the angle error detection result is used to process the initial position information to obtain the target user's target position information, specifically including:

[0129] S1: If the angle error detection result includes an angle warning signal, obtain the target user's historical location information and the cumulative number of angle warning signals;

[0130] S2: Detect whether the cumulative number of angle warning signals is less than or equal to the first threshold;

[0131] S3: If the cumulative number of angle warning signals is less than or equal to the first threshold, the initial position information is corrected using the historical position information to obtain corrected position information;

[0132] S4: Filter the corrected position information to obtain the target position information.

[0133] In some embodiments, if the angle error detection result includes an angle warning signal, it indicates that the initial angle information obtained from the initial position information has an error, i.e., the initial position information has an error and needs to be corrected. A first threshold can be set to 1. If it is determined that the cumulative number of angle warning signals is less than or equal to the first threshold, the initial position information is corrected using the historical position information according to the following formula to obtain the corrected position information:

[0134] ΔX=X [t-1] -X [t-2]

[0135] ΔY=Y [t-1] -Y [t-2]

[0136]

[0137] Where ΔX represents the x-axis direction correction, X [t-1] The x-coordinate in the target position information at time t-1 is represented by X. [t-2] The x-coordinate represents the target position information at time t-2, and ΔY represents the y-axis correction. [t-1] The ordinate (Y) represents the target position information at time t-1. [t-2] The vertical coordinate of the target position information at time t-2 represents the target position information, L represents the intermediate parameter, w(t) represents the walking planning angle at time t, and X represents the vertical coordinate. fixed[t] This represents the x-coordinate, Y, in the corrected position information at time t. fixed[t] This represents the ordinate in the corrected position information at time t.

[0138] In some embodiments, the corrected position information can be filtered using the following formula to obtain the target position information:

[0139]

[0140] X goal[t] =Alpha × X fixed[t] +(1-Alpha)×X [t-1]

[0141] Y goal[t] =Alpha×Y fixed[t] +(1-Alpha)×Y [t-1]

[0142] Where Alpha represents the filter coefficient, T represents the ranging period (unit: ms), Fc represents the filter cutoff frequency, and X... goal[t] Y represents the x-coordinate in the target position information at time t. goal[t] This represents the ordinate of the target's position information at time t.

[0143] In some embodiments, the target location information can also be determined in the following ways:

[0144] S1: If the angle error detection result includes an angle warning signal, obtain the target user's historical location information and the cumulative number of angle warning signals;

[0145] S2: Detect whether the cumulative number of angle warning signals is equal to 1;

[0146] S3: If the cumulative number of angle warning signals is determined to be equal to 1, the initial position information is corrected using the historical position information to obtain corrected position information; the corrected position information is then filtered to obtain the target position information.

[0147] S4: If the cumulative number of angle warning signals is not equal to 1, check if the cumulative number of angle warning signals is equal to 2; if it is equal to 2, check if the angle warning signal is a medium-level angle warning signal; if it is a medium-level angle warning signal, use the historical position information to correct the initial position information to obtain corrected position information; filter the corrected position information to obtain target position information; if it is a high-level angle warning signal, issue a data freeze instruction to freeze the position information at time t, that is, remove the position information at time t and do not display it, and set the data reliability status EstimateStatus to unreliable, that is, EstimateStatus = 1;

[0148] S5: If the cumulative number of angle warning signals is greater than 2, issue a data freeze instruction to freeze the position information at time t, that is, remove the position information at time t and not display it, and set the data reliability status EstimateStatus to unreliable, that is, EstimateStatus=1.

[0149] In some embodiments, a preset algorithm matching the angle error detection result is used to process the initial position information to obtain the target user's target position information, and the method further includes:

[0150] S1: If the angle error detection result includes an angle qualified signal, determine the initial velocity information based on the initial position information;

[0151] S2: Determine the speed error detection result based on the initial speed information; wherein the speed error detection result includes one of the following: speed qualified signal, speed warning signal;

[0152] S3: If the speed error detection result includes a speed qualified signal, the initial position information shall be used as the target position information of the target user.

[0153] In some embodiments, when the angle error detection result includes an angle qualified signal, the data reliability status EstimateStatus can be set to reliable, i.e., EstimateStatus = 0.

[0154] In some embodiments, the speed error detection result includes one of the following: a speed pass signal and a speed warning signal. The speed warning signal includes: a medium speed warning signal and a high speed warning signal. Specifically, the speed pass signal is denoted as "VelocityWarmFlg=0"; the medium speed warning signal is denoted as "VelocityWarmFlg=1"; and the high speed warning signal is denoted as "VelocityWarmFlg=2".

[0155] In some embodiments, the initial velocity information at time t is determined using the following formula:

[0156]

[0157] Among them, Velocity [t] Distance_1 represents the initial velocity information at time t. [t] Distance_2 represents the distance from the initial position information at time t to the origin o. [t-1] This represents the distance from the target position information at time t-1 to the origin o.

[0158] In some embodiments, the speed level corresponding to the initial speed information at time t can be determined according to Table 3.

[0159] Table 3

[0160]

[0161] In some embodiments, the walking planning speed level at time t is denoted as v(t), where v(t) represents the reliable speed level at time t. Possible values ​​for v(t) include: Level1, Level2, Level3, Level4, and Level5.

[0162] In some embodiments, see Figure 6 As shown, the speed error detection result can be determined in the following way:

[0163] S1: Input the velocity level Level(t) at time t;

[0164] S2: Check if Level(t) is equal to the walking planning speed level v(t-1) at time t-1; if Level(t) is equal to v(t-1), let v(t) = v(t-1); and generate the speed qualified signal "VelocityWarmFlg = 0";

[0165] S3: If Level(t) is not equal to v(t-1), check if Level(t) = Level(t-1) = Level(t-2). If not, let v(t) = v(t-1) and generate a speed pass signal “VelocityWarmFlg = 0”.

[0166] S4: Given that Level(t) = Level(t-1) = Level(t-2), let v(t) = Level(t);

[0167] S5: Detect whether Level(t) is not equal to Level5; if it is determined that Level(t) is equal to Level5, generate an advanced speed warning signal "VelocityWarmFlg=2";

[0168] S6: If Level(t) is not equal to Level5, check if |Level(t)-Level(t-1)| is less than or equal to 1; if |Level(t)-Level(t-1)| is less than or equal to 1, generate a speed qualified signal “VelocityWarmFlg=0”.

[0169] S7: If it is determined that |Level(t)-Level(t-1)| is less than or equal to 1, generate a medium-level speed warning signal "VelocityWarmFlg=1";

[0170] S8: Obtain the speed error detection result.

[0171] In some implementations, the method further includes:

[0172] S1: If the speed error detection result includes a speed warning signal, obtain the target user's historical location information and the cumulative number of speed warning signals;

[0173] S2: Detect whether the cumulative number of speed warning signals is less than or equal to the second threshold;

[0174] S3: If the cumulative number of speed warning signals is less than or equal to the second threshold, the initial position information is corrected using the historical position information to obtain corrected position information;

[0175] S4: Filter the corrected position information to obtain the target position information.

[0176] In some embodiments, the second threshold may be 1 time. The cumulative number of speed warning signals includes the sum of the cumulative number of intermediate speed warning signals and the cumulative number of advanced speed warning signals.

[0177] In some embodiments, the target location information can also be determined in the following ways:

[0178] S1: If the speed error detection result includes a speed warning signal, obtain the target user's historical location information and the cumulative number of speed warning signals;

[0179] S2: Check if the cumulative number of speed warning signals is equal to 1;

[0180] S3: If it is determined that the cumulative number of speed warning signals is equal to 1, the initial position information is corrected using the historical position information to obtain corrected position information; the corrected position information is then filtered to obtain the target position information; the correction steps and the filtering steps can be referred to the foregoing embodiments and will not be repeated here.

[0181] S4: If the cumulative number of speed warning signals is not equal to 1, check if the cumulative number of speed warning signals is equal to 2; if it is equal to 2, check if the speed warning signal is a medium-level speed warning signal; if it is a medium-level speed warning signal, use the historical position information to correct the initial position information to obtain corrected position information; filter the corrected position information to obtain target position information; if it is a high-level speed warning signal, issue a data freeze instruction to freeze the position information at time t, that is, remove the position information at time t and do not display it, and set the data reliability status EstimateStatus to unreliable, that is, EstimateStatus = 1;

[0182] S5: If the cumulative number of speed warning signals is greater than 2, issue a data freeze instruction to freeze the position information at time t, that is, remove the position information at time t and not display it, and set the data reliability status EstimateStatus to unreliable, that is, EstimateStatus=1.

[0183] Based on the above embodiments, the error level of the initial position information at time t is detected from two dimensions: angle and velocity. When an angle warning signal and / or a velocity warning signal are present, it indicates that the initial position information needs correction; when both an angle and velocity pass signals are present, it indicates that the initial position information does not need correction and can be directly output as the target position information. Therefore, the error detection accuracy of the initial position information can be improved, thereby improving the positioning accuracy of the target position information. Furthermore, even if the initial position information at time t has a large error due to signal instability, the initial position information at time t can be corrected using position information from historical times. Therefore, the method provided in this application can also effectively address the problems caused by signal loss and signal instability in ultra-wideband modules.

[0184] In some embodiments, see Figure 7 As shown, after obtaining the target location information at time t and time t-1, an inner zone C, a middle zone B, and an outer zone A can be drawn with the target vehicle as the center and the radius increasing sequentially. If the welcoming activation condition is met ("the target location information at time t is in zone C, and the target location information at time t-1 is in zone B"), the welcoming function can be activated, for example, by actively turning on the target vehicle's lights. Alternatively, the target vehicle's locks can be actively unlocked.

[0185] In some embodiments, see Figure 8As shown, this application proposes a system for determining the target location information of a target user. This system specifically includes a UWB ranging system, a communication system, and a vehicle control system. The UWB ranging system uses a ranging algorithm to calculate the initial ranging information between the mobile terminal and the vehicle-mounted UWB module, and sends it to the communication system. The communication system is deployed in the gateway of the target vehicle. The communication system includes a first Bluetooth module for pairing with a second Bluetooth module in the mobile terminal; the communication system also includes a CAN module for data interaction with the vehicle-mounted UWB module and the vehicle control system, specifically for transmitting the initial distance information to the vehicle control system. The vehicle control system is deployed in the control module of the target vehicle, specifically an ECU. The vehicle control system includes a data processing module, a positioning algorithm module, a correction algorithm module, and a welcome module. The data processing module is used to filter out the most accurate distance information from the initial distance information to obtain the target distance information. The positioning algorithm module is used to determine the initial location information of the target user based on the target distance information. The correction algorithm module is used to detect angle errors in the initial position information and obtain the angle error detection result. A preset algorithm matching the angle error detection result is then used to process the initial position information to obtain the target user's target position information. The welcome module is used to detect whether the target position information at two different times meets the welcome activation conditions. If the welcome activation conditions are met, the welcome function is activated, for example, by actively turning on the target vehicle's lights.

[0186] In some embodiments, see Figure 9 As shown, X_Real represents the x-coordinate of the actual target user's walking trajectory, X_Algorithm represents the x-coordinate in the initial location information, Y_Real represents the y-coordinate of the actual target user's walking trajectory, and Y_Algorithm represents the y-coordinate in the initial location information. The x-axis represents time, and the y-axis represents coordinates. It can be seen that the method proposed in this application can accurately locate the coordinates of the mobile terminal in real time, and has high reliability.

[0187] In some embodiments, see Figure 11 As shown, the initial position information of the target user at times 1, 2, 3, 4, 6, 7, and 8 is accurate and does not require correction. The initial position information at time 5 is inaccurate (before correction), showing a significant position jump. After correction and filtering using the method described in this application, the position information at time 5 (after correction) is obtained, which matches the motion characteristics of the target user.

[0188] Based on the above-described method for determining user location, one or more embodiments of this application also provide a device for determining user location. Figure 12This is a schematic diagram of an embodiment of a user location determination device provided in this application. The device is applied to the control module of a target vehicle, which is also equipped with multiple vehicle-mounted ultra-wideband modules, including: a receiving module 1201, a filtering module 1202, a calculation module 1203, a detection module 1204, and a processing module 1205.

[0189] The receiving module 1201 is used to receive the initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules;

[0190] The filtering module 1202 is used to filter out the distance information with higher accuracy from the initial distance information to obtain the target distance information;

[0191] The calculation module 1203 is used to determine the initial location information of the target user based on the target distance information;

[0192] The detection module 1204 is used to perform angle error detection on the initial position information and obtain the angle error detection result;

[0193] The processing module 1205 is used to process the initial position information using a preset algorithm that matches the angle error detection result, so as to obtain the target position information of the target user.

[0194] In some embodiments, the calculation module 1203 is specifically used for: determining the initial plane where the target user is located based on the target distance information; dividing the initial plane to obtain multiple sub-planes; determining the centroid coordinates corresponding to the multiple sub-planes; and using the centroid coordinates and the target distance information to determine the initial position information of the target user.

[0195] In some embodiments, the detection module 1204 is specifically used to: determine initial angle information based on the initial position information; and determine an angle error detection result based on the initial angle information; wherein the angle error detection result includes one of the following: an angle pass signal or an angle warning signal.

[0196] In some embodiments, the processing module 1205 is specifically configured to: when the angle error detection result includes an angle warning signal, acquire the target user's historical location information and the cumulative number of angle warning signals; detect whether the cumulative number of angle warning signals is less than or equal to a first threshold; when it is determined that the cumulative number of angle warning signals is less than or equal to the first threshold, use the historical location information to correct the initial location information to obtain corrected location information; and perform filtering processing on the corrected location information to obtain target location information.

[0197] In some embodiments, the processing module 1205 is specifically configured to: determine initial speed information based on the initial position information when the angle error detection result includes an angle qualified signal; determine speed error detection result based on the initial speed information; wherein the speed error detection result includes one of the following: a speed qualified signal or a speed warning signal; and, when the speed error detection result includes a speed qualified signal, use the initial position information as the target position information of the target user.

[0198] In some embodiments, the processing module 1205 is specifically configured to: when the speed error detection result includes a speed warning signal, acquire the target user's historical location information and the cumulative number of speed warning signals; detect whether the cumulative number of speed warning signals is less than or equal to a second threshold; if it is determined that the cumulative number of speed warning signals is less than or equal to the second threshold, use the historical location information to correct the initial location information to obtain corrected location information; and perform filtering processing on the corrected location information to obtain target location information.

[0199] It should be noted that the above-described apparatus may include other implementation methods according to the description of the method embodiments. For specific implementation methods, please refer to the description of the relevant method embodiments, which will not be elaborated here.

[0200] This application also provides a control module, including at least one processor and a memory for storing processor-executable instructions. When the processor executes the instructions, it can implement any of the above-described method embodiments. For example, when the processor executes the instructions, it implements the following steps: receiving initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules; filtering out distance information with higher accuracy from the initial distance information to obtain target distance information; determining the initial position information of the target user based on the target distance information; performing angle error detection on the initial position information to obtain an angle error detection result; and processing the initial position information using a preset algorithm that matches the angle error detection result to obtain the target position information of the target user.

[0201] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and 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.

[0202] It should be noted that the control module described above, based on the method or apparatus embodiments, may also include other implementation methods. Specific implementation methods can be found in the descriptions of the relevant method embodiments, and will not be elaborated upon here.

[0203] This application also provides a storage medium, which is a computer-readable storage medium storing computer program instructions. When the computer program instructions are executed, the following are implemented: receiving initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules; filtering out distance information with higher accuracy from the initial distance information to obtain target distance information; determining the initial position information of the target user based on the target distance information; performing angle error detection on the initial position information to obtain an angle error detection result; and processing the initial position information using a preset algorithm that matches the angle error detection result to obtain the target position information of the target user.

[0204] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0205] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0206] In summary, although the present application has disclosed the preferred embodiments as described above, the above preferred embodiments are not intended to limit the present application. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be determined by the scope defined in the claims.

Claims

1. A method of determining a user position, characterized by, The method is applied to a control module of a target vehicle, the target vehicle is also provided with a plurality of vehicle-mounted ultra-wideband modules, and the method comprises the following steps: Receiving initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules; From the initial distance information, screening out distance information with higher accuracy to obtain target distance information; According to the target distance information, determining initial position information of a target user; Performing angle error detection on the initial position information to obtain an angle error detection result; Using a preset algorithm matched with the angle error detection result to process the initial position information to obtain target position information of the target user.

2. The method of claim 1, wherein, The target vehicle is also provided with a first Bluetooth module, which is used to match with a second Bluetooth module, and in the case of successful matching, a Bluetooth matching success prompt information is generated and sent to the control module; the second Bluetooth module is arranged on a mobile terminal held by a target user; Correspondingly, before receiving the initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules, the method further comprises the following steps: Detecting whether the Bluetooth matching success prompt information is received; In the case of determining that the Bluetooth matching success prompt information is received, controlling the plurality of vehicle-mounted ultra-wideband modules to perform distance measurement to obtain initial distance information.

3. The method of claim 1, wherein, According to the target distance information, determining initial position information of a target user, comprises the following steps: According to the target distance information, determining an initial plane where the target user is located; Segmenting the initial plane to obtain a plurality of sub-planes; Determining the barycentric coordinates corresponding to the plurality of sub-planes; Using the barycentric coordinates and the target distance information to determine the initial position information of the target user.

4. The method of claim 3, wherein, Using the barycentric coordinates and the target distance information to determine the initial position information of the target user, comprises the following steps: Calculating first distance information from the barycentric coordinates to the plurality of vehicle-mounted ultra-wideband modules; Calculating a difference degree parameter between the first distance information and the target distance information; According to the difference degree parameter, selecting a target sub-plane from the plurality of sub-planes; Determining the barycentric coordinates of the target sub-plane as the initial position information of the target user.

5. The method of claim 1, wherein, Performing angle error detection on the initial position information to obtain an angle error detection result, comprises the following steps: According to the initial position information, determining initial angle information; According to the initial angle information, determining an angle error detection result; wherein the angle error detection result comprises one of the following: an angle qualified signal and an angle warning signal.

6. The method of claim 1, wherein, Using a preset algorithm matched with the angle error detection result to process the initial position information to obtain target position information of the target user, comprises the following steps: In the case that the angle error detection result comprises an angle warning signal, acquiring historical position information of the target user and an angle warning signal cumulative number; Detecting whether the angle warning signal cumulative number is less than or equal to a first threshold value; In the case of determining that the angle warning signal cumulative number is less than or equal to the first threshold value, using the historical position information to correct the initial position information to obtain corrected position information; Filter the corrected position information to obtain target position information.

7. The method of claim 1, wherein, The method further comprises: In a case where the angle error detection result comprises an angle qualified signal, determining initial speed information according to the initial position information; According to the initial speed information, determine a speed error detection result; wherein the speed error detection result comprises one of the following: a speed qualified signal, a speed warning signal; In a case where the speed error detection result comprises a speed qualified signal, the initial position information is taken as the target position information of the target user.

8. The method of claim 7, wherein, The method further comprises: In a case where the speed error detection result comprises a speed warning signal, obtain historical position information of the target user and a speed warning signal cumulative number; Detect whether the speed warning signal cumulative number is less than or equal to a second threshold value; In a case where it is determined that the speed warning signal cumulative number is less than or equal to the second threshold value, correct the initial position information by using the historical position information to obtain corrected position information; Filter the corrected position information to obtain target position information.

9. A user position determination apparatus, characterized by The device is applied to a control module of a target vehicle, and the target vehicle is further provided with a plurality of vehicle-mounted ultra-wideband modules, and the device comprises: A receiving module is configured to receive initial distance information sent by the plurality of vehicle-mounted ultra-wideband modules; A screening module is configured to screen distance information with higher accuracy from the initial distance information to obtain target distance information; A calculation module is configured to determine initial position information of a target user according to the target distance information; A detection module is configured to perform angle error detection on the initial position information to obtain an angle error detection result; A processing module is configured to process the initial position information by using a preset algorithm matched with the angle error detection result to obtain target position information of the target user.

10. A control module, characterized by The processor executes the instructions to implement the steps of the method in any one of claims 1 to 8.

11. A storage medium, characterized by A computer program product is provided, and a computer instruction is stored on the computer program product. The instructions are executed by a processor to implement the steps of the method in any one of claims 1 to 8.

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