Intelligent key positioning method and device, vehicle and storage medium

Abstract

The invention provides an intelligent key positioning method and device, a vehicle and a storage medium. The method comprises the following steps: receiving a radio frequency signal collected by each LF antenna module, and determining the comprehensive strength of the radio frequency signal based on the signal strength of each radio frequency signal; when the comprehensive strength of the radio frequency signal is greater than or equal to a preset signal strength threshold value, acquiring a Bluetooth signal collected by each Bluetooth module, and determining corresponding Bluetooth positioning data based on each Bluetooth signal; determining corresponding radio frequency positioning data based on each radio frequency signal; and performing weighted data fusion on the Bluetooth positioning data corresponding to the plurality of positioning anchor points and the radio frequency positioning data, and determining target positioning data of the intelligent key. It can be understood that the intelligent key is accurately positioned by comprehensively utilizing the radio frequency positioning data determined by the radio frequency signal and the Bluetooth positioning data determined by the Bluetooth signal, so that the positioning accuracy of the intelligent key is improved, and the user experience and the system reliability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a positioning method and device of an intelligent key, a vehicle and a storage medium. BACKGROUND

[0002] With the continuous progress of automobile intelligent technology, users have higher requirements for the convenience and intelligent experience of vehicle use. As the core component for realizing touchless operation, the intelligent key gradually replaces the traditional mechanical key and can support users to complete operations such as door unlocking and engine starting without taking out the key. Precise positioning of the intelligent key is a key basis for ensuring the reliability and safety of touchless operation and expanding more intelligent functions (such as welcome lighting).

[0003] In related technologies, the positioning of the intelligent key is mainly realized through radio frequency communication technology. For example, the strength of the key signal is perceived through multiple antennas arranged around the vehicle, and then the positioning detection of the intelligent key is realized.

[0004] However, the positioning of the intelligent key through radio frequency communication technology is difficult to stably distinguish whether the intelligent key is located inside or outside the vehicle or at the edge of a specific area in a complex environment, thereby seriously affecting the user experience and system reliability.

[0005] It should be noted that the information disclosed in the background section of the present application is only intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. SUMMARY

[0006] Therefore, the present application provides a positioning method and device of an intelligent key, a vehicle and a storage medium, so as to solve the problem that the positioning of the intelligent key through radio frequency communication technology in the prior art is difficult to stably distinguish whether the intelligent key is located inside or outside the vehicle or at the edge of a specific area in a complex environment, thereby seriously affecting the user experience and system reliability.

[0007] In a first aspect, an embodiment of the present application provides a positioning method of an intelligent key, applied to a vehicle, the vehicle being configured with multiple positioning anchors at different positions, each positioning anchor comprising a Bluetooth module and an LF antenna module, and the method comprising: receiving radio frequency signals collected by each LF antenna module, and determining a comprehensive radio frequency signal strength based on the signal strength of each radio frequency signal, wherein the radio frequency signal is a radio frequency signal broadcast by the intelligent key within a preset range; determining whether the comprehensive radio frequency signal strength is greater than or equal to a preset signal strength threshold; When the integrated intensity of the radio frequency signals is greater than or equal to a preset signal intensity threshold, the Bluetooth signals collected by each Bluetooth module are acquired, and based on each Bluetooth signal, Bluetooth positioning data corresponding to each Bluetooth signal is determined, wherein each Bluetooth positioning data is used to represent the relative position between the corresponding positioning anchor point and the smart key. Based on each radio frequency signal, radio frequency positioning data corresponding to each radio frequency signal is determined, wherein each radio frequency positioning data is used to represent the relative position between the corresponding positioning anchor point and the smart key. The Bluetooth positioning data corresponding to the plurality of positioning anchor points and the radio frequency positioning data corresponding to the plurality of positioning anchor points are subjected to weighted data fusion to determine the target positioning data of the smart key.

[0008] In the embodiments of the present application, first, the radio frequency signals collected by each LF antenna module are received, and based on the signal intensity of each radio frequency signal, the integrated intensity of the radio frequency signals is determined; then it is judged whether the integrated intensity of the radio frequency signals is greater than or equal to a preset signal intensity threshold, when the integrated intensity of the radio frequency signals is greater than or equal to the preset signal intensity threshold, the Bluetooth signals collected by each Bluetooth module are acquired, and based on each Bluetooth signal, Bluetooth positioning data corresponding to each Bluetooth signal is determined; then based on each radio frequency signal, radio frequency positioning data corresponding to each radio frequency signal is determined; finally, the Bluetooth positioning data corresponding to the plurality of positioning anchor points and the radio frequency positioning data corresponding to the plurality of positioning anchor points are subjected to weighted data fusion to determine the target positioning data of the smart key. It can be understood that the radio frequency positioning data determined by the integrated use of the radio frequency signals and the Bluetooth positioning data determined by the Bluetooth signals are used to accurately position the smart key, thereby improving the positioning accuracy of the smart key, and thereby improving the user experience and system reliability.

[0009] In a possible implementation, the determination of the integrated intensity of the radio frequency signals based on the signal intensity of each radio frequency signal comprises: According to the weight corresponding to each positioning anchor point, the signal intensity of the radio frequency signal corresponding to each positioning anchor point is subjected to weighted fusion operation to determine the integrated intensity of the radio frequency signals.

[0010] In the embodiments of the present application, according to the weight corresponding to each positioning anchor point, the signal intensity of the radio frequency signal corresponding to each positioning anchor point is subjected to weighted fusion operation to determine the integrated intensity of the radio frequency signals. It can be understood that by assigning corresponding weights to positioning anchor points at different positions and performing weighted fusion on the signal intensity, the judgment accuracy of the area perception is effectively improved, and the misjudgment caused by signal shielding, multipath interference or environmental noise is reduced.

[0011] In a possible implementation, based on each Bluetooth signal, the Bluetooth positioning data corresponding to each Bluetooth signal is determined, comprising: Based on each Bluetooth signal, the distance between each Bluetooth module and the smart key is determined using the Bluetooth CS ranging algorithm; The angle between each Bluetooth module and the smart key is determined by the phase difference of the Bluetooth signals collected by the multiple Bluetooth modules. Based on the distance and angle between each Bluetooth module and the smart key, Bluetooth positioning data corresponding to each Bluetooth signal is determined.

[0012] In this embodiment, firstly, based on each Bluetooth signal, the distance between each Bluetooth module and the smart key is determined using the Bluetooth CS ranging algorithm. Then, the angle between each Bluetooth module and the smart key is determined using the phase difference of the Bluetooth signals collected by multiple Bluetooth modules. Finally, based on the distance and angle between each Bluetooth module and the smart key, the Bluetooth positioning data corresponding to each Bluetooth signal is determined. It can be understood that by combining the Bluetooth CS ranging algorithm to obtain precise distance information, and simultaneously using the phase difference of multiple anchor points to calculate the signal angle, the precise coordinate position of the smart key relative to the vehicle can be accurately constructed, thereby significantly improving positioning accuracy. This provides a reliable data foundation for subsequent judgment of user intent and differentiation of functional areas, greatly enhancing the determinism and stability of the contactless operation function.

[0013] In one possible implementation, the step of weighted data fusion of the Bluetooth positioning data corresponding to the plurality of positioning anchor points and the radio frequency positioning data corresponding to the plurality of positioning anchor points to determine the target positioning data of the smart key includes: According to the formula: 目标 = 蓝牙n 蓝牙n + 射频n 射频n Determine the target location data of the smart key; in, 目标 For the target location data of the smart key, W 蓝牙n The Bluetooth positioning weight corresponding to the nth positioning anchor point. 蓝牙n For the Bluetooth positioning data corresponding to the nth positioning anchor point, W 射频n The radio frequency positioning weight corresponding to the nth positioning anchor point, 射频n This is the radio frequency positioning data corresponding to the nth positioning anchor point.

[0014] In this embodiment of the application, according to the formula: 目标 = 蓝牙n 蓝牙n + 射频n 射频n This determines the target location data for the smart key. It can be understood that the above formula flexibly balances the contributions of the two positioning technologies, utilizing the long-range stability of PKE combined with the high-precision characteristics of Bluetooth CS, thereby obtaining superior target location data.

[0015] One possible implementation includes: The Bluetooth positioning weight and the radio frequency positioning weight are determined based on the data features corresponding to the Bluetooth positioning data and the data features corresponding to the radio frequency positioning data. The Bluetooth positioning weight and the radio frequency positioning weight are dynamically adjusted based on the distance between the smart key and the vehicle. The Bluetooth positioning weight is negatively correlated with the distance between the smart key and the vehicle; the radio frequency positioning weight is positively correlated with the distance between the smart key and the vehicle.

[0016] In this embodiment, the data features corresponding to Bluetooth positioning data and the data features corresponding to radio frequency positioning data can accurately determine the Bluetooth positioning weight and radio frequency positioning weight. At the same time, a dynamic weight adjustment mechanism is introduced. At long distances, the more stable radio frequency positioning is used as the main method, which can save power consumption and achieve preliminary positioning. At short distances, the high-precision Bluetooth positioning is used as the main method, which ensures the safety, accuracy and reliability of critical operations.

[0017] One possible implementation includes: According to the formula: W 蓝牙n =1 / (1+e -k（d-d0） ), determine W 蓝牙n According to the formula: W 射频n =1- W 蓝牙n Determine W 射频n ; Where d is the average distance between the smart key and the vehicle; d0 is the threshold distance between the smart key and the vehicle; and k is a preset rate of change parameter.

[0018] In this embodiment of the application, according to the formula: W 蓝牙n =1 / (1+e -k（d-d0） ), determine W 蓝牙n According to the formula: W 射频n =1-W 蓝牙n Determine W 射频nUnderstandably, using the Sigmoid function to achieve a smooth and continuous transition of weights avoids jumps or instability in the localization results caused by sudden changes in weights near the threshold distance d0, making the entire localization process smoother and more natural.

[0019] In one possible implementation, the step of weighted data fusion of the Bluetooth positioning data corresponding to the plurality of positioning anchor points and the radio frequency positioning data corresponding to the plurality of positioning anchor points to determine the target positioning data of the smart key includes: The Bluetooth positioning data corresponding to multiple positioning anchor points and the radio frequency positioning data corresponding to multiple positioning anchor points are weighted and fused. Based on the Kalman filter fusion algorithm, the location data of the smart key determined after weighted data fusion is filtered to determine the target location data of the smart key; The Kalman filter fusion algorithm is used to eliminate multipath effect errors and random noise in the smart key positioning data.

[0020] In this embodiment, Bluetooth positioning data corresponding to multiple positioning anchor points and radio frequency positioning data corresponding to multiple positioning anchor points are weighted and fused. Based on the Kalman filter fusion algorithm, the positioning data of the smart key determined after weighted data fusion is filtered to determine the target positioning data of the smart key. It can be understood that by introducing the Kalman filter algorithm to optimize the fused positioning data, random noise and multipath interference in the measurement data can be effectively filtered out, thereby optimally estimating the true location of the key and greatly improving the stability and reliability of the positioning results.

[0021] Secondly, embodiments of this application provide a smart key positioning device applied to a vehicle, wherein the vehicle is configured with multiple positioning anchor points at different locations, each positioning anchor point including a Bluetooth module and an LF antenna module, and the device includes: The radio frequency signal comprehensive strength determination module is used to receive the radio frequency signals collected by each of the LF antenna modules and determine the comprehensive strength of the radio frequency signals based on the signal strength of each radio frequency signal, wherein the radio frequency signal is the radio frequency signal broadcast by the smart key to a preset range; The judgment module is used to determine whether the overall strength of the radio frequency signal is greater than or equal to a preset signal strength threshold. The Bluetooth positioning data determination module is used to acquire the Bluetooth signal collected by each Bluetooth module when the overall strength of the radio frequency signal is greater than or equal to a preset signal strength threshold, and to determine the Bluetooth positioning data corresponding to each Bluetooth signal based on each Bluetooth signal, wherein each Bluetooth positioning data is used to characterize the relative position of the corresponding positioning anchor point and the smart key. The radio frequency positioning data determination module is used to determine radio frequency positioning data corresponding to each radio frequency signal based on each radio frequency signal, wherein each radio frequency positioning data is used to characterize the relative position of the corresponding positioning anchor point and the smart key; The target positioning data determination module is used to perform weighted data fusion of the Bluetooth positioning data corresponding to multiple positioning anchor points and the radio frequency positioning data corresponding to multiple positioning anchor points to determine the target positioning data of the smart key.

[0022] Thirdly, embodiments of this application provide a vehicle, 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 vehicle to perform the method described in any one of the first aspects.

[0023] 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.

[0024] Understandably, the positioning device for the smart key provided in the second aspect, the vehicle provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are all used to execute some or all of the methods 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

[0025] 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.

[0026] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application.

[0027] Figure 2 This is a flowchart illustrating a smart key positioning method provided in an embodiment of this application.

[0028] Figure 3 A schematic diagram of a vehicle configuration positioning anchor point provided for the implementation of this application.

[0029] Figure 4This is a flowchart illustrating another smart key positioning method provided in an embodiment of this application.

[0030] Figure 5 This is a schematic diagram of the structure of a smart key positioning device provided in an embodiment of this application.

[0031] Figure 6 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] With the continuous advancement of automotive intelligent technology, users are demanding higher levels of convenience and intelligent experience from their vehicles. As a core component enabling seamless operation, smart keys are gradually replacing traditional mechanical keys, allowing users to unlock doors, start the engine, and perform other operations without taking out a physical key. To facilitate understanding, specific application scenarios will be illustrated below.

[0037] See Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 1 As shown, this application scenario includes a vehicle 101 and a smart key 102. It can be understood that the vehicle 101 and the smart key 102 can spontaneously exchange information to perform specific functions such as locking and unlocking the car doors.

[0038] Specifically, vehicle 101 broadcasts communication signals within a preset range. When a user enters the preset range with smart key 102, smart key 102 sends verification information to vehicle 101 based on the communication signal. After receiving the verification information and successful authentication, vehicle 101 unlocks the vehicle automatically. Furthermore, to enable users to perform more intelligent operations such as automatic door unlocking, automatic door locking, and automatic engine ignition without taking out the key, precise positioning of the smart key is required.

[0039] In related technologies, the location of smart keys is mainly achieved through radio frequency communication technology. For example, multiple antennas deployed around the vehicle sense the signal strength of the key, thereby enabling the location detection of the smart key.

[0040] However, using radio frequency communication technology to locate smart keys makes it difficult to reliably distinguish whether the smart key is located inside or outside the vehicle or at the edge of a specific area in complex environments, which seriously affects user experience and system reliability.

[0041] To address the aforementioned issues, in this embodiment, the radio frequency (RF) signals collected by each LF antenna module are first received, and the overall RF signal strength is determined based on the signal strength of each RF signal. Then, it is determined whether the overall RF signal strength is greater than or equal to a preset signal strength threshold. If the overall RF signal strength is greater than or equal to the preset signal strength threshold, the Bluetooth signals collected by each Bluetooth module are acquired, and Bluetooth positioning data corresponding to each Bluetooth signal is determined based on each Bluetooth signal. Next, based on each RF signal, radio frequency (RF) positioning data corresponding to each RF signal is determined. Finally, the Bluetooth positioning data corresponding to multiple positioning anchor points and the RF positioning data corresponding to multiple positioning anchor points are weighted and fused to determine the target positioning data for the smart key. It can be understood that by comprehensively utilizing the RF positioning data determined by the RF signals and the Bluetooth positioning data determined by the Bluetooth signals to accurately locate the smart key, the positioning accuracy of the smart key is improved, thereby enhancing the user experience and system reliability. Specifically, a detailed description is provided below in conjunction with the accompanying drawings and specific embodiments.

[0042] See Figure 2 This is a flowchart illustrating a smart key positioning method provided in an embodiment of this application. The method can be applied to... Figure 1 In the application scenarios shown, such as Figure 2 As shown, it mainly includes the following steps.

[0043] Step S201: Receive the radio frequency signals collected by each LF antenna module, and determine the overall strength of the radio frequency signals based on the signal strength of each radio frequency signal.

[0044] In this embodiment, the vehicle is equipped with multiple positioning anchor points at different locations, each anchor point including a Bluetooth module and an LF antenna module. It is understood that the Bluetooth module is used to establish a Bluetooth connection with the smart key for Bluetooth data communication; the low-frequency (LF) antenna module is used to establish a low-frequency communication connection with the smart key for low-frequency communication.

[0045] Specifically, the LF antenna module is the core component for the vehicle to achieve area perception and key wake-up functions. This module forms a communication area with an effective serpentine range by emitting low-frequency magnetic field signals. When a legitimate smart key enters this area, the LF receiver inside the module senses the magnetic field signal and is awakened to enable information interaction with the vehicle.

[0046] Of course, since the vehicle is equipped with multiple positioning anchor points, there are multiple LF antenna modules on the vehicle. In practical applications, the location of the key can be determined by the time sequence of the smart key being activated by LF antenna modules in different locations (such as the left front door handle, the right front door handle, inside the trunk, and inside the cockpit) and the strength of the activation signal. For example, it may be near the driver's door.

[0047] The Bluetooth module is a functional unit that enables high-precision ranging and positioning. After the Bluetooth module establishes a Bluetooth connection with the smart key, the precise distance between the Bluetooth module and the smart key can be calculated by accurately measuring the time of flight of the wireless signal between the two devices.

[0048] In one possible implementation, the vehicle is equipped with four positioning anchor points at different locations. Specifically, these four positioning anchor points are located on the front left side, the front right side, the rear left side, and the rear right side of the vehicle, respectively.

[0049] For ease of understanding, see Figure 3 This is a structural diagram of a vehicle configuration positioning anchor point provided for the implementation of this application. As shown in the figure, a vehicle 300 is shown, in which positioning anchor points are installed at four positions 301-304 of the vehicle 300.

[0050] By deploying four positioning anchor points at the four corners of the vehicle, a basic positioning coordinate system covering the entire vehicle is constructed. This anchor point distribution effectively avoids positioning blind spots or signal loss caused by signal blockage at a single point. By simultaneously acquiring signals from four spatial dimensions, the system obtains richer and more balanced signal strength and angle information, providing a sufficient and high-quality data source for subsequent data fusion, thereby significantly improving the robustness and overall positioning accuracy of the positioning system in complex real-world environments.

[0051] In this embodiment, radio frequency (RF) signals collected by each LF antenna module are received, and the overall RF signal strength is determined based on the signal strength of each RF signal. The RF signal is the RF signal broadcast by the smart key to a preset range.

[0052] In practice, the signal strength of each radio frequency signal can be averaged, and the determined average radio frequency signal strength can be used as the overall radio frequency signal strength.

[0053] However, in practical applications, the strength of the same radio frequency (RF) signal collected from different locations on the vehicle cannot fully reflect the user's actual needs. For example, a high RF signal strength collected from the driver's side may indicate that the user intends to drive, in which case the vehicle usually needs to be unlocked. Conversely, a high RF signal strength collected from the passenger side may indicate that the user does not intend to drive, in which case unlocking the vehicle is unnecessary. Furthermore, determining the overall RF signal strength by averaging the strength of each signal might result in the vehicle automatically unlocking even when the user does not intend to drive, thus degrading the user experience.

[0054] To address this issue, one possible implementation involves performing a weighted fusion calculation on the signal strength of the radio frequency signal corresponding to each positioning anchor point based on the weight corresponding to each positioning anchor point, thereby determining the overall strength of the radio frequency signal.

[0055] For example, the weight of the corresponding positioning anchor point on the front side of the driver's side of the vehicle is set to 0.4; the weight of the corresponding positioning anchor point on the rear side of the driver's side of the vehicle is set to 0.3; the weight of the corresponding positioning anchor point on the front side of the passenger side of the vehicle is set to 0.2; and the weight of the corresponding positioning anchor point on the rear side of the passenger side of the vehicle is set to 0.1.

[0056] It is understandable that by assigning appropriate weights to positioning anchor points at different locations and performing weighted fusion of signal strength, the accuracy of regional perception judgment is effectively improved, and misjudgments caused by signal obstruction, multipath interference, or environmental noise are reduced.

[0057] Step S202: Determine whether the overall strength of the radio frequency signal is greater than or equal to the preset signal strength threshold.

[0058] In this embodiment of the application, after determining the overall strength of the radio frequency signal, it is determined whether the overall strength of the radio frequency signal is greater than or equal to a preset signal strength threshold.

[0059] When the overall strength of the radio frequency signal is less than the preset signal strength threshold, it usually indicates that the smart key and the user are still relatively far apart. At this time, the vehicle does not take any action, but continues to monitor the overall strength of the radio frequency signal corresponding to the smart key.

[0060] Step S203: When the overall strength of the radio frequency signal is greater than or equal to the preset signal strength threshold, acquire the Bluetooth signal collected by each Bluetooth module, and determine the Bluetooth positioning data corresponding to each Bluetooth signal based on each Bluetooth signal.

[0061] In this embodiment, when the overall strength of the radio frequency signal is greater than or equal to a preset signal strength threshold, the Bluetooth signal collected by each Bluetooth module is acquired, and based on each Bluetooth signal, the Bluetooth positioning data corresponding to each Bluetooth signal is determined. Each Bluetooth positioning data is used to characterize the relative position of the corresponding positioning anchor point and the smart key.

[0062] Understandably, when the vehicle is close to the smart key, Bluetooth positioning data is usually more accurate than radio frequency positioning data. Therefore, by utilizing the low power consumption of the LF antenna module for large-area preliminary reconnaissance and the high precision ranging of the Bluetooth module, a hierarchical positioning system hardware foundation that combines low power consumption and high precision is formed.

[0063] In practice, Bluetooth positioning data can be determined by measuring the Bluetooth RSSI ranging method corresponding to the Received Signal Strength Indication (RSSI). However, the Bluetooth RSSI ranging method is easily affected by factors such as environment, obstruction, and antenna direction, resulting in low accuracy of the determined Bluetooth positioning data.

[0064] To address this issue, in this embodiment, the distance between each Bluetooth module and the smart key is first determined using a Bluetooth CS ranging algorithm based on each Bluetooth signal; then, the angle between each Bluetooth module and the smart key is determined using the phase difference of the Bluetooth signals collected by multiple Bluetooth modules; finally, the Bluetooth positioning data corresponding to each Bluetooth signal is determined based on the distance and angle between each Bluetooth module and the smart key.

[0065] Understandably, by combining the Bluetooth CS ranging algorithm to obtain accurate distance information and using the phase difference of multiple anchor points to calculate the signal angle, the precise coordinate position of the smart key relative to the vehicle can be accurately constructed, thereby significantly improving the positioning accuracy. This provides a reliable data foundation for subsequent judgment of user intent and differentiation of functional areas, greatly enhancing the certainty and stability of the contactless operation function.

[0066] Step S204: Based on each radio frequency signal, determine the radio frequency positioning data corresponding to each radio frequency signal.

[0067] In this embodiment, radio frequency (RF) positioning data is determined based on each RF signal. Each RF signal is used to characterize the relative position of the corresponding positioning anchor point and the smart key.

[0068] Step S205: Perform weighted data fusion on the Bluetooth positioning data corresponding to multiple positioning anchor points and the radio frequency positioning data corresponding to multiple positioning anchor points to determine the target positioning data of the smart key.

[0069] In this embodiment of the application, the Bluetooth positioning data corresponding to multiple positioning anchor points and the radio frequency positioning data corresponding to multiple positioning anchor points are weighted and fused to determine the target positioning data of the smart key.

[0070] Specifically, in one possible implementation, according to the formula: 目标 = 蓝牙n 蓝牙n + 射频n 射频n Determine the target location data of the smart key.

[0071] in, 目标 For the target location data of the smart key, W 蓝牙n The Bluetooth positioning weight corresponding to the nth positioning anchor point. 蓝牙n For the Bluetooth positioning data corresponding to the nth positioning anchor point, W 射频n The radio frequency positioning weight corresponding to the nth positioning anchor point, 射频n This is the radio frequency positioning data corresponding to the nth positioning anchor point.

[0072] It is understandable that by using the above formula, the contributions of the two positioning technologies can be flexibly balanced, taking advantage of the long-range stability of PKE and combining the high-precision characteristics of Bluetooth CS, thereby obtaining better target positioning data.

[0073] In practical applications, W in the above formula 蓝牙n With W 射频n Preset corresponding positioning weights can be used; for example, when n is 4, W 蓝牙1 - W 蓝牙4 Both are 0.2; W 射频1 -W 射频4 All are 0.05, etc.

[0074] Of course, in another possible implementation, the Bluetooth positioning weight and the radio frequency positioning weight are first determined based on the data characteristics corresponding to the Bluetooth positioning data and the radio frequency positioning data; then, the Bluetooth positioning weight and the radio frequency positioning weight are dynamically adjusted based on the distance between the smart key and the vehicle. Specifically, the Bluetooth positioning weight is negatively correlated with the distance between the smart key and the vehicle; the radio frequency positioning weight is positively correlated with the distance between the smart key and the vehicle.

[0075] Specifically, the system first assigns initial Bluetooth positioning weights and radio frequency positioning weights to the Bluetooth positioning data and radio frequency positioning data based on their respective data characteristics. In one possible implementation, the data characteristics are the error variance of each positioning data source, which quantitatively reflects the historical accuracy performance of that data source.

[0076] In the specific implementation, the Bluetooth positioning weight W 蓝牙n =1 / σ 蓝牙 ²; Radio frequency positioning weight W 射频n =1 / σ 射频 ². Of course, in order to comprehensively consider the correlation and influence between Bluetooth positioning and radio frequency positioning, the Bluetooth positioning weight W 蓝牙n =σ 射频 ² / (σ 射频 ²+σ 蓝牙 ²); Radio frequency positioning weight W 射频n =σ 蓝牙 ² / (σ 射频 ²+σ 蓝牙 ²).

[0077] However, the determination of weights is not limited to this; the system can also incorporate richer real-time and historical information. For example, the system evaluates signal quality metrics such as signal-to-noise ratio (SNR), bit error rate (BER), and the strength of multipath effects. Even at its nominal accuracy, a Bluetooth anchor's data reliability will be deemed reduced if its current SNR deteriorates sharply or there are obvious signs of multipath interference. Furthermore, the system also considers historical confidence levels, i.e., the trend of a data source (such as a location anchor at a specific location) maintaining consistency with the final fusion result over a long period. Data sources with consistently stable long-term performance will receive higher trust levels.

[0078] After calculating the basic weights based on the aforementioned data characteristics, the system further incorporates a distance dimension for fine-tuning. Specifically, the Bluetooth positioning weight is negatively correlated with the distance between the smart key and the vehicle, while the radio frequency (RF) positioning weight is positively correlated with this distance. This means that when the key is far from the vehicle, the system relies more on RF positioning technology for large-scale area perception and initial positioning, thus assigning it a higher weight. As the user approaches the vehicle with the key, the requirement for positioning accuracy increases dramatically. At this point, the system gradually reduces the weight of RF positioning and correspondingly significantly increases the weight of high-precision Bluetooth channel detection positioning technology, ensuring that the positioning result is dominated by the most accurate data source during critical operations such as unlocking and starting.

[0079] It should be noted that W 蓝牙n and W 射频n The specific relationship between the smart key and the distance to the vehicle can be determined using a preset relationship table. Specifically, a positioning weight and distance relationship table can be preset. Once the distance between the smart key and the vehicle is determined, the corresponding W can be determined based on this table. 蓝牙n and W 射频n .

[0080] Of course, in another possible implementation, According to the formula: W 蓝牙n =1 / (1+e -k（d-d0） ), determine W 蓝牙n ; According to the formula: W 射频n =1- W 蓝牙n Determine W 射频n .

[0081] Where d is the average distance between the smart key and the vehicle; d0 is the threshold distance between the smart key and the vehicle; and k is a preset rate of change parameter.

[0082] In this embodiment, the Sigmoid function is used to achieve a smooth and continuous transition of weights, avoiding jumps or instability in the positioning results caused by sudden changes in weights near the threshold distance d0, making the entire positioning process smoother and more natural.

[0083] Of course, those skilled in the art can set other formulas or train relevant models to determine the target positioning data of the smart key according to actual needs, and this application does not impose any specific restrictions on this.

[0084] In this application, the radio frequency (RF) signals collected by each LF antenna module are first received, and the overall RF signal strength is determined based on the signal strength of each RF signal. Then, it is determined whether the overall RF signal strength is greater than or equal to a preset signal strength threshold. If the overall RF signal strength is greater than or equal to the preset signal strength threshold, the Bluetooth signals collected by each Bluetooth module are acquired, and the Bluetooth positioning data corresponding to each Bluetooth signal is determined based on each Bluetooth signal. Next, the radio frequency (RF) positioning data corresponding to each RF signal is determined based on each RF signal. Finally, the Bluetooth positioning data corresponding to multiple positioning anchor points and the RF positioning data corresponding to multiple positioning anchor points are weighted and fused to determine the target positioning data of the smart key. It can be understood that by comprehensively utilizing the RF positioning data determined by the RF signals and the Bluetooth positioning data determined by the Bluetooth signals to accurately locate the smart key, the positioning accuracy of the smart key is improved, thereby enhancing the user experience and system reliability.

[0085] In practical applications, positioning accuracy in wireless signal-based smart key positioning systems heavily relies on the reliability of the signal propagation environment. However, real-world vehicle usage scenarios often occur in complex radio frequency environments, leading to two main types of errors in the positioning data: multipath effect errors and random noise. Multipath effect errors arise because wireless signals (such as Bluetooth or low-frequency radio frequency signals) are reflected multiple times by the vehicle's metal surface, surrounding buildings, or other objects during propagation, resulting in the superposition of reflected signals along multiple different paths. The receiving antenna ultimately receives the vector sum of these multipath signals, causing signal phase distortion and intensity fluctuations. This causes the distance and angle calculations based on signal arrival time, phase, or intensity to deviate from the true values, especially in high-reflection environments (such as underground parking lots). On the other hand, random noise mainly includes the thermal noise of the device's own circuitry, interference from other wireless systems in the same frequency band, and the inherent measurement noise of semiconductor devices. This type of error manifests as irregular, zero-mean high-frequency fluctuations, further reducing the reliability and stability of single positioning results. To address the issues of decreased positioning accuracy, data jitter, and false triggering caused by multipath effects and random noise, this application employs a data fusion optimization scheme based on Kalman filtering. Specifically, detailed descriptions of specific embodiments are provided below, taking into account the accompanying drawings.

[0086] See Figure 4 This is a flowchart illustrating another smart key positioning method provided in an embodiment of this application. This method can be applied to... Figure 1 In the application scenarios shown, such as Figure 4 As shown, Figure 2 Step S205 shown specifically includes the following steps.

[0087] S2051: Perform weighted data fusion on the Bluetooth positioning data corresponding to multiple positioning anchor points and the radio frequency positioning data corresponding to multiple positioning anchor points.

[0088] For details, please refer to the method embodiments described above. For the sake of brevity, this application will not elaborate further.

[0089] S2052: Based on the Kalman filter fusion algorithm, the positioning data of the smart key determined after weighted data fusion is filtered to determine the target positioning data of the smart key.

[0090] In this embodiment, after weighted fusion of multi-source positioning data, the system obtains the preliminary positioning coordinates of the smart key at the current moment. However, these coordinates are still inevitably affected by environmental multipath effects and random noise. To improve the stability and accuracy of the positioning results, this application employs a Kalman filter algorithm to further optimize the preliminary positioning data to determine the final target positioning data.

[0091] Specifically, the target coordinates at the current moment are first calculated using the state transition matrix based on the optimal estimated coordinates of the smart key at the previous moment; and the covariance matrix of the prediction error is updated simultaneously. It can be understood that the above steps can make a prior estimate of the key's current target coordinates based on historical movement trends.

[0092] Subsequently, the weighted fusion of the current preliminary positioning coordinates (observations) is compared with the calculated target coordinates (predictions) for the current moment. The Kalman gain is calculated to dynamically balance the weights between the current preliminary positioning coordinates and the calculated target coordinates. It can be understood that when the uncertainty of the current preliminary positioning coordinates is high, the calculated target coordinates for the current moment are given more trust; conversely, when the uncertainty of the calculated target coordinates for the current moment is high, the current preliminary positioning coordinates are given more trust.

[0093] Finally, the system combines the calculated target coordinates at the current moment with the observation residuals based on gain correction to obtain the filtered and optimized target positioning data of the smart key at the current moment. The observation residuals represent the difference between the target coordinates at the current moment and the initial positioning coordinates.

[0094] Specifically, the optimization of the fused positioning data can be achieved using the formula corresponding to the Kalman filter algorithm below.

[0095] k =A k-1 ; P k =AP k-1 A ┬ +Q; K k =P k H ┬ HP k H ┬ +R) -1 ; 最优k = k + K k ( k - H k ); P 更新k =(I-K) k H)P k .

[0096] in, k This represents the predicted target coordinates at time k. k-1 Represents the target positioning data at time k-1; A represents the state transition matrix, used to describe the change of position coordinates over time; P k Let represent the covariance matrix of the prediction error at time k; Q represents the process noise covariance matrix, used to describe the uncertainty of the system dynamic model; K k H represents the Kalman gain, used to average the weights of predictions and observations; H represents the observation matrix; R represents the observation noise covariance matrix, used to describe measurement error. 最优k This represents the optimal target position coordinates at time k. k P represents the observation value at time K, and its coordinates after fusion and positioning; 更新k Let represent the error covariance matrix updated at time k.

[0097] In this embodiment, by introducing the Kalman filter algorithm to optimize the fused positioning data, random noise and multipath interference in the measurement data can be effectively filtered out, thereby optimally estimating the true location of the key and greatly improving the stability and reliability of the positioning results.

[0098] Corresponding to the above embodiments, this application also provides a positioning device for a smart key. Specifically, see... Figure 5This figure shows a schematic diagram of a smart key positioning device according to an embodiment of this application. The smart key positioning device 500 is shown in the figure. Specifically, it includes: a radio frequency signal comprehensive strength determination module 501, a judgment module 502, a Bluetooth positioning data determination module 503, a radio frequency positioning data determination module 504, and a target positioning data determination module 505. Specifically, the radio frequency signal comprehensive strength determination module 501 receives radio frequency signals collected by each LF antenna module and determines the comprehensive strength of the radio frequency signal based on the signal strength of each radio frequency signal; the judgment module 502 determines whether the comprehensive strength of the radio frequency signal is greater than or equal to a preset signal strength threshold; the Bluetooth positioning data determination module 503 acquires Bluetooth signals collected by each Bluetooth module when the comprehensive strength of the radio frequency signal is greater than or equal to the preset signal strength threshold, and determines the Bluetooth positioning data corresponding to each Bluetooth signal based on each Bluetooth signal; the radio frequency positioning data determination module 504 determines the radio frequency positioning data corresponding to each radio frequency signal based on each radio frequency signal; and the target positioning data determination module 505 performs weighted data fusion of the Bluetooth positioning data corresponding to multiple positioning anchor points and the radio frequency positioning data corresponding to multiple positioning anchor points to determine the target positioning data of the smart key.

[0099] For details, please refer to the method implementation section above. For the sake of brevity, this application will not repeat them here.

[0100] Corresponding to the above embodiments, this application also provides a structural schematic diagram of a vehicle. See also... Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle 600 may include a processor 601, a memory 602, and a communication unit 603. These components communicate through 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 the present invention. It may be a bus-shaped structure or a star-shaped structure, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0101] The communication unit 603 is used to establish a communication channel, enabling the electronic device to communicate with other devices. It receives user data from other devices or sends user data to other devices.

[0102] The processor 601 serves as the control center of the vehicle, connecting various parts of the vehicle via various interfaces and lines. It executes software programs, instructions, and / or modules stored in the memory 602, and calls data stored in the memory to perform various functions of the electronic devices 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 601 may consist only of a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0103] The memory 602 is used to store the execution instructions of the processor 601. The memory 602 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.

[0104] When the execution instructions in memory 602 are executed by processor 601, the vehicle 600 is able to perform its functions. Figure 2 Some or all of the steps in the illustrated embodiments.

[0105] In a specific implementation, this application 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 in the various embodiments of the simulation scene generation method provided by this invention. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0106] 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.

[0107] 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.

[0108] Those skilled in the art will 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.

[0109] 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.

[0110] 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 method of locating a smart key, the method comprising: The method is applied to a vehicle configured with a plurality of positioning anchors in different positions, each of the positioning anchors comprising a Bluetooth module and an LF antenna module, and the method comprises: receiving radio frequency signals collected by each of the LF antenna modules, and determining a comprehensive radio frequency signal strength based on a signal strength of each of the radio frequency signals, wherein the radio frequency signals are radio frequency signals broadcast by a smart key within a preset range; determining whether the comprehensive radio frequency signal strength is greater than or equal to a preset signal strength threshold; when the comprehensive radio frequency signal strength is greater than or equal to the preset signal strength threshold, acquiring Bluetooth signals collected by each of the Bluetooth modules, and determining Bluetooth positioning data corresponding to each of the Bluetooth signals based on each of the Bluetooth signals, wherein each of the Bluetooth positioning data is used to represent a relative position between a corresponding positioning anchor and the smart key; determining radio frequency positioning data corresponding to each of the radio frequency signals based on each of the radio frequency signals, wherein each of the radio frequency positioning data is used to represent a relative position between a corresponding positioning anchor and the smart key; performing weighted data fusion on the Bluetooth positioning data corresponding to the plurality of positioning anchors and the radio frequency positioning data corresponding to the plurality of positioning anchors to determine target positioning data of the smart key.

2. The method of claim 1, wherein, The method comprises: performing weighted fusion operation on the signal strength of the radio frequency signal corresponding to each of the positioning anchors according to a weight corresponding to each of the positioning anchors to determine the comprehensive radio frequency signal strength.

3. The method of claim 1, wherein, The method comprises: determining a distance between each of the Bluetooth modules and the smart key based on each of the Bluetooth signals through a Bluetooth CS ranging algorithm; determining an angle between each of the Bluetooth modules and the smart key through a phase difference of the Bluetooth signals collected by the plurality of Bluetooth modules; determining the Bluetooth positioning data corresponding to each of the Bluetooth signals based on the distance and the angle between each of the Bluetooth modules and the smart key.

4. The method of claim 1, wherein, The method comprises: According to the formula: 目标 = 蓝牙n 蓝牙n + 射频n 射频n , the target positioning data of the smart key is determined; wherein, 目标 target positioning data of the smart key, 蓝牙n a Bluetooth positioning weight corresponding to the nth positioning anchor point, 蓝牙n Bluetooth positioning data corresponding to the nth positioning anchor point, 射频n a radio frequency positioning weight corresponding to the nth positioning anchor point, 射频n radio frequency positioning data corresponding to the nth positioning anchor point.

5. The method of claim 4, wherein, The method comprises: determining the Bluetooth positioning weight and the radio frequency positioning weight according to data features corresponding to the Bluetooth positioning data and data features corresponding to the radio frequency positioning data; dynamically adjusting the Bluetooth positioning weight and the radio frequency positioning weight according to a distance between the smart key and the vehicle; wherein the Bluetooth positioning weight is negatively correlated with the distance between the smart key and the vehicle, and the radio frequency positioning weight is positively correlated with the distance between the smart key and the vehicle.

6. The method of claim 4, wherein, The method comprises: According to the formula: W 蓝牙n =1 / (1+e -k（d-d0） ), determine W 蓝牙n ; According to the formula: W 射频n =1- W 蓝牙n , determine W 射频n ; wherein d is an average distance between the smart key and the vehicle, d0 is a threshold distance between the smart key and the vehicle, and k is a preset change rate parameter.

7. The method of claim 1, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The Kalman filter fusion algorithm is used to eliminate the multipath effect error and random noise of the smart key positioning data.

8. A positioning apparatus of a smart key characterized by comprising: The device is applied to a vehicle, and the vehicle is configured with a plurality of positioning anchors at different positions, each of which comprises a Bluetooth module and an LF antenna module. The radio frequency signal comprehensive intensity determination module is configured to receive the radio frequency signals collected by each LF antenna module and determine the radio frequency signal comprehensive intensity based on the signal intensity of each radio frequency signal, wherein the radio frequency signal is a radio frequency signal broadcast by the smart key within a preset range. The judgment module is configured to determine whether the radio frequency signal comprehensive intensity is greater than or equal to a preset signal intensity threshold. The Bluetooth positioning data determination module is configured to acquire the Bluetooth signals collected by each Bluetooth module and determine the Bluetooth positioning data corresponding to each Bluetooth signal based on each Bluetooth signal when the radio frequency signal comprehensive intensity is greater than or equal to the preset signal intensity threshold, wherein each Bluetooth positioning data is used to represent the relative position between the corresponding positioning anchor and the smart key. The radio frequency positioning data determination module is configured to determine the radio frequency positioning data corresponding to each radio frequency signal based on each radio frequency signal, wherein each radio frequency positioning data is used to represent the relative position between the corresponding positioning anchor and the smart key. The target positioning data determination module is configured to perform weighted data fusion on the Bluetooth positioning data corresponding to each positioning anchor and the radio frequency positioning data corresponding to each positioning anchor to determine the target positioning data of the smart key.

9. A vehicle characterized by comprising: The device comprises: A processor; A memory; And a computer program, wherein the computer program is stored in the memory, and the computer program comprises instructions which, when executed by the processor, cause the vehicle to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the device where the computer readable storage medium is located performs the method of any one of claims 1 to 7 when the program runs.

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