Automobile key with positioning function and automobile body

Abstract

The invention discloses an automobile key with a positioning function and an automobile body, and the automobile key is based on a first-class in-field positioning technology used by a positioning network set based on an in-field positioning environment for navigation. The correction of the first type of intra-field positioning technology is realized by using the second type of intra-field positioning technology executed by the automobile body and the automobile key; compared with the first type of in-field positioning technology, the second type of in-field positioning technology executed by the automobile body and the automobile key has higher controllability and stability, so that the second type of in-field positioning technology can be introduced to improve the overall positioning precision even under the conditions that the positioning precision of the first type of in-field positioning technology is low and the like; therefore, the positioning and navigation capability of an integral automobile product formed by the automobile body and the automobile key in complex environments such as underground parking lots is improved, and the automobile owner can park and use the automobile conveniently. The invention is widely applied to the technical field of automobiles.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a car key and a car body with positioning function. Background Technology

[0002] When a car is parked in an underground parking lot or similar location, drivers often find themselves unable to quickly locate their vehicle after leaving the parking area. This is because they are unfamiliar with the parking environment and cannot rely on memory or landmarks to find their car. Furthermore, the underground parking environment can obstruct GPS and BeiDou satellite navigation signals, preventing the car and the driver's mobile phone from using satellite navigation for positioning. Therefore, in these scenarios, drivers typically spend considerable time searching for their vehicles.

[0003] Some underground parking lots use in-park positioning technology to locate cars and their owners. This technology involves installing positioning devices in locations such as parking lots, allowing for the location of cars and their owners even when satellite navigation signals are unavailable. Once the owner knows their and their car's location in the underground parking lot, it is easier to move to the car's location and find it.

[0004] However, even in underground parking lots using in-parking location technology, drivers still face some difficulties in finding their cars. Firstly, the in-parking location technology used in underground parking lots may inherently have lower accuracy, meaning that even under ideal conditions, its accuracy is low. Secondly, underground parking lots typically have complex building structures and irregular parking layouts, which can affect the implementation of in-parking location technology, potentially preventing it from achieving its intended accuracy. This can lead to significant errors in the actual location results, and in the complex environment of an underground parking lot, these errors can cause drivers to deviate significantly from their intended path, further complicating the search. Thirdly, when applying in-parking location technology in underground parking lots, factors such as the performance of the equipment, the standardization of installation and parameter configuration, and the regular maintenance and calibration are beyond the control of the vehicle. These factors may cause the in-parking location technology, which is supposed to have high accuracy, to achieve only a lower accuracy in practice. Summary of the Invention

[0005] In view of at least one of the above-mentioned technical problems, the purpose of the present invention is to provide a car key and a car body with positioning function.

[0006] On one hand, embodiments of the present invention include a car key with positioning function, the car key being used in an in-field positioning environment, the in-field positioning environment being equipped with a positioning network based on a first type of in-field positioning technology, the car key comprising: The first type of positioning module; the first type of positioning module is used to determine the first positioning coordinates corresponding to the car key in real time based on the first type of in-field positioning technology and the positioning network; The first and second type positioning modules are used to determine the measured distance between the car key and the car body in real time based on the second type of in-field positioning technology and the car body with positioning function. The processing module is used to execute navigation on the side of the car key based on the first positioning coordinates and the measured distance.

[0007] Further, the step of executing navigation on the side of the car key based on the first positioning coordinates and the measured distance includes: Receive the second positioning coordinates sent in real time by the vehicle body; The first positioning coordinates are corrected based on the measured distance to obtain the first corrected coordinates; Based on the first corrected coordinates and the second positioning coordinates, a path is planned to determine the third navigation path; Navigation is performed based on the third navigation path.

[0008] Further, the step of correcting the first positioning coordinates based on the measured distance to obtain the first corrected coordinates includes: Determine the reference time point; The path radius is determined based on the sampled value of the measured distance at the reference time point; Using the sampled value of the first positioning coordinates at the reference time point as the starting point and the sampled value of the second positioning coordinates at the reference time point as the center, a second navigation path with a radius that is always equal to the path radius is generated. Navigation will be performed according to the second navigation path; During the navigation process based on the second navigation path, the sampled value of the first positioning coordinate is acquired in real time, and the second distance calculation value is determined based on the sampled value of the first positioning coordinate and the second positioning coordinate. The first positioning coordinates are corrected based on the second distance calculation value to obtain the first corrected coordinates.

[0009] Furthermore, determining the reference time point includes: Based on the first positioning coordinates and the second positioning coordinates, a path is planned to determine the first navigation path; Navigation is performed according to the first navigation path; During the navigation process based on the first navigation path, the sampled value of the first positioning coordinates is acquired in real time, and the first distance calculation value is determined based on the sampled value of the first positioning coordinates and the second positioning coordinates. The deviation between each of the first distance calculation values ​​and the measured distance is obtained in real time to obtain the first deviation value; When the absolute value of the first deviation is greater than the threshold, the time point at that time is determined as the reference time point.

[0010] Further, the step of correcting the first positioning coordinates based on the second distance calculation value to obtain the first corrected coordinates includes: Obtain multiple calculated values ​​of the second distance; The deviations of each of the second distance calculation values ​​from the path radius are obtained, thereby obtaining multiple second deviation values; Solve for the correction amount that satisfies the constraint condition: the sum of the absolute values ​​of all the second deviation values ​​is minimized. The first positioning coordinates are corrected according to the correction amount to obtain the first corrected coordinates.

[0011] Furthermore, the first type of in-field positioning technology is UWB positioning technology or communication base station positioning technology, and the second type of in-field positioning technology is Bluetooth channel detection technology.

[0012] On the other hand, embodiments of the present invention also include a vehicle body with positioning function, the vehicle body being used to operate in an on-site positioning environment, the on-site positioning environment being equipped with a positioning network based on a first type of on-site positioning technology, the vehicle body comprising: The second type of positioning module; the first type of positioning module is used to determine the measured distance between the car key and the car body in real time based on the second type of in-field positioning technology and the car body with positioning function.

[0013] Furthermore, the vehicle body also includes: The second type of positioning module is used to determine the second positioning coordinates corresponding to the vehicle body in real time based on the first type of in-field positioning technology and the positioning network.

[0014] Furthermore, the second type of positioning module is also used to send the second positioning coordinates to the car key.

[0015] Furthermore, the vehicle body also includes: An autonomous driving module; the autonomous driving module is used to receive a first corrected coordinate sent by a car key with positioning function, and to perform autonomous driving based on the first corrected coordinate and the second positioning coordinate.

[0016] The beneficial effects of this invention are as follows: In the embodiments, the car body and car key, based on the first type of in-field positioning technology used in the positioning network set up according to the in-field positioning environment for navigation, use the second type of in-field positioning technology executed by the car body and car key to correct the first type of in-field positioning technology; wherein, compared with the first type of in-field positioning technology, the second type of in-field positioning technology executed by the car body and car key has higher controllability and stability. Therefore, even if the positioning accuracy of the first type of in-field positioning technology itself is low, or the positioning accuracy of the first type of in-field positioning technology is low due to unfavorable environmental factors or non-standard technical implementation and maintenance, the second type of in-field positioning technology can be introduced to improve the overall positioning accuracy, thereby improving the positioning and navigation capabilities of the overall car product composed of the car body and car key in complex environments such as underground parking lots, making it more convenient for car owners to park and use the car. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the working principle of the car body, car key, and positioning network in the embodiment. Figure 2 This is a schematic diagram illustrating the principle of steps S201-S210 in the embodiment; Figure 3 This is a schematic diagram illustrating the working principle of a car body equipped with an autonomous driving module in the embodiment. Figure 4 This is a schematic diagram of the workflow of the autonomous driving module in the embodiment; Figure 5 This is a schematic diagram of the display interface of the vehicle owner's terminal during autonomous driving in the embodiment. Detailed Implementation

[0018] Terminology Explanation: UWB: Ultra Wide Band, is a communication technology that uses narrow pulses of non-sinusoidal waves to transmit data and can be used for indoor positioning; Channel Sounding is a ranging technology implemented in newer versions of Bluetooth. It achieves high-precision distance measurement based on principles such as Phase Scale (PBR) and Round Trip Time (RTT). Base station positioning: A technology that uses communication base stations to establish connections with user terminals such as mobile phones, determines the distance between a single base station and a mobile terminal based on the signal connection, and uses methods such as triangulation to determine the location of the user terminal.

[0019] In this embodiment, the in-field positioning technology used in the in-field positioning environment is uncontrollable. There are problems such as low positioning accuracy of the in-field positioning technology itself, or the in-field positioning technology being affected by objective factors and failing to achieve its expected positioning accuracy effect, or it not being implemented according to the specifications and thus failing to achieve its expected positioning accuracy effect. Therefore, a car body with positioning function and a matching car key are provided.

[0020] In this embodiment, the vehicle body includes components such as the power system, transmission system, and braking system. Specifically, it can be any part of a complete vehicle product manufactured and sold by an automaker, excluding the car key. The car key is an intelligent component with functions such as data acquisition, processing, output, and human-computer interaction. The car owner can use the car key to communicate with the vehicle body and perform operations such as locking and unlocking the vehicle's functions.

[0021] In this embodiment, the vehicle body and the matching car key can achieve their positioning function in the on-site positioning environment. Specifically, the on-site positioning environment is an environment in which a positioning network is installed, such as an underground parking lot (underground garage), an indoor parking lot, or an outdoor parking lot with dense buildings, trees, etc. Such on-site positioning environments are generally difficult to apply satellite navigation technology, or even if satellite navigation technology can be applied, car owners generally choose not to use it. Therefore, a positioning network is set up in such on-site positioning environments to replace satellite navigation technology.

[0022] In this embodiment, the working principles of the vehicle body, car key, and positioning network are as follows: Figure 1 As shown. (Refer to...) Figure 1 The positioning network has multiple positioning anchor points based on the first type of in-field positioning technology. In this embodiment, the first type of in-field positioning technology can specifically be UWB positioning technology or communication base station positioning technology. When UWB positioning technology is used as the first type of in-field positioning technology, Figure 1 In the positioning network, the positioning anchor point is specifically a UWB base station. Correspondingly, the first type of positioning module in the car key and the second type of positioning module in the car body are UWB tags. The UWB base station can transmit UWB signals, which the UWB tag receives and then sends back. The UWB base station can calculate the distance between itself and the UWB tag using methods such as Time-of-Flight (ToF / TOF), Time Difference of Arrival (TDoA / TDOA), or Two-Way Ranging (TWR). Figure 1The positioning network in the system has multiple positioning anchor points. Each positioning anchor point has a fixed position in the positioning environment and can detect the distance between itself and the UWB tag. Therefore, the position coordinates of the UWB tag in the positioning environment can be determined by methods such as triangulation. The position coordinates determined by the first type of positioning module in the car key are the first positioning coordinates p1, and the position coordinates determined by the second type of positioning module in the car body are the second positioning coordinates p2.

[0023] In this embodiment, when communication base station positioning technology is used as the first type of in-field positioning technology... Figure 1 The positioning anchor points in the positioning network are specifically 4G or 5G communication base stations. Correspondingly, the first type of positioning module set in the car key and the second type of positioning module set in the car body are mobile phone communication signal transceivers, and their positioning implementation process and principle are similar to UWB positioning technology. Specifically, communication base station positioning technology is a positioning technology with inherently low positioning accuracy, while UWB positioning technology, although it can achieve high positioning accuracy under ideal conditions, is easily affected by insufficient equipment performance, complex environment, and improper maintenance, resulting in low positioning accuracy. In this embodiment, UWB positioning technology is used as the first type of in-field positioning technology for explanation.

[0024] Reference Figure 1 The car key contains a first-type and second-type positioning module, while the car body contains a second-type positioning module. Both modules, based on second-type in-field positioning technology, determine the measured distance d between them. measure Measured distance d measure This represents the distance between the car key and the car body, detected in real time using the second type of in-field positioning technology. While the second type of in-field positioning technology may have orientation detection capabilities, this embodiment can omit the orientation detection function and only utilize the distance detection function. Therefore, it is easier to obtain more hardware and software resources, thereby achieving a high-precision measured distance d. measure .

[0025] In this embodiment, Bluetooth channel detection technology is used as the second type of in-field positioning technology. In some implementation environments, communication base station positioning technology or Bluetooth channel detection technology can also be used as the first type of in-field positioning technology, while UWB positioning technology can be used as the second type of in-field positioning technology. Regardless of the combination of positioning technologies used, the implementation principle is the same.

[0026] In this embodiment, Figure 1The system shown can be applied in the following scenarios: A car owner parks their car in a parking location within the parking environment, leaves the car to run errands, and upon returning to the parking environment after completing their errands, the car owner wants to obtain a high-precision location of themselves to determine their position within the parking environment. Based on this, navigation can be established with the car's location as the endpoint.

[0027] In the above scenario, it takes a certain amount of time for the car owner to move from the starting position (e.g., the entrance to the in-field positioning environment) to the location of the car. During this time, both Type I and Type II in-field positioning technologies are continuously applied. For example, each positioning anchor point can send and receive UWB signals to the Type I positioning module at certain time intervals (e.g., 1000ms), thereby periodically obtaining the sampled value of the first positioning coordinate p1. That is, the first positioning coordinate p1 can be a time series p 11 p 12 ...p 1t The form, where p 1t This represents the sampled value of the first positioning coordinate p1 at time t, that is, the position coordinates of the first type of positioning module (car key) detected by the first type of in-field positioning technology in the in-field positioning environment at time t. Similarly, the second positioning coordinate p2 can be a time series p 21 p 22 ...p 2t The form, where p 2t This represents the sampled value of the second positioning coordinate p2 at time t, that is, the position coordinates of the second type I positioning module (vehicle body) in the field positioning environment detected by the first type of field positioning technology at time t. Since in general, it is "people looking for cars", that is, the vehicle body is stationary, therefore p 21 p 22 ...p 2t The numerical values ​​are generally equal. Similarly, the measured distance d measure It can be a time series d measure1 d measure2 ...d measure_t The form, where d measure_t d measure_t The sampled value at time t is the distance between the first type of positioning module (car key) and the second type of positioning module (car body) detected by the second type of field positioning technology at time t.

[0028] In this embodiment, refer to Figure 1 The car key also includes a human-machine interface module. Specifically, the human-machine interface module has a display screen or speaker, which, under the control of the processing module, can display relevant information so that the car owner carrying the car key can receive the information output by the processing module.

[0029] In this embodiment, refer to Figure 1 The processing module in the car key uses the first positioning coordinate p1 and the measured distance d... measure The navigation is executed on the side of the car key. Specifically, the processing module in the car key can perform the following steps: S1. Receive the second positioning coordinates sent in real time by the vehicle body; S2. Correct the first positioning coordinates based on the measured distance to obtain the first corrected coordinates; S3. Based on the first corrected coordinates and the second positioning coordinates, perform path planning to determine the third navigation path; S4. Perform navigation based on the third navigation path.

[0030] In step S1, the second positioning coordinates p2 obtained by the second type of positioning module in the car body are sent to the car key, so that the car key receives the second positioning coordinates p2.

[0031] In this embodiment, when the car key performs step S2, which is to correct the first positioning coordinates based on the measured distance and obtain the first corrected coordinates, the following steps can be performed: S201. Perform path planning based on the first positioning coordinates and the second positioning coordinates to determine the first navigation path; S202. Perform navigation according to the first navigation path; S203. During the navigation process according to the first navigation path, the sampled value of the first positioning coordinate is obtained in real time, and the first distance calculation value is determined based on the sampled value of the first positioning coordinate and the second positioning coordinate; S204. Obtain the deviation between the calculated first distance value and the measured distance in real time, thereby obtaining the first deviation value; S205. When the absolute value of the first deviation value is greater than the threshold, the time point at that time is determined as the reference time point; S206. Determine the path radius based on the sampled value of the measured distance at the reference time point; S207. Using the sampled value of the first positioning coordinate at the reference time point as the starting point and the sampled value of the second positioning coordinate at the reference time point as the center, generate a second navigation path with a radius that is always equal to the path radius. S208. Perform navigation according to the second navigation path; S209. During the navigation process according to the second navigation path, the sampled value of the first positioning coordinate is obtained in real time, and the second distance calculation value is determined based on the sampled value of the first positioning coordinate and the second positioning coordinate; S210. Correct the first positioning coordinates based on the second distance calculation value to obtain the first corrected coordinates.

[0032] In this embodiment, the principle of steps S201-S210 is as follows: Figure 2 As shown.

[0033] Reference Figure 2 The processing module can execute step S201 in the initial stage, such as when the car owner enters the location environment with the car key and is located at the entrance of the location environment. At this time, the first positioning coordinate p1 obtained by the first type of positioning module in the car key is specifically p 11 p 12 p 13 Initial values.

[0034] In step S201, the processing module can load an electronic map of the on-site positioning environment (underground parking lot), using the first positioning coordinates p1 obtained in the initial stage (specifically p... 11 p 12 p 13 Starting from the initial value (p1, p2, p1), and ending at the vehicle's position coordinates (p2, p1, p2, p2), path planning is performed to determine the first navigation path. The first navigation path is derived from the initial positioning coordinates p1 (specifically p1, p2, p2, p1, p2, p2, p1, p2, p2, p1, p2, p2, p3, p4, p5, p6, p7, p8, p1, p1, p1, p1, p1, p2 ... 11 p 12 p 13 Starting from the initial value, it eventually leads to the second positioning coordinate p2.

[0035] In step S202, the processing module performs navigation according to the first navigation path. Specifically, the processing module continues to receive the first positioning coordinates p1 (specifically p1) obtained by the first type of positioning module in real time. 14 p 15 p 16 Based on the alignment or deviation of the first positioning coordinate p1 relative to the first navigation path, the processing module generates navigation guidance information (the specific content of which may be "keep straight", "turn left", etc.). The processing module sends the navigation guidance information to the human-machine interaction module, which displays it on the screen or plays it through the speaker, so that the car owner carrying the car key can move along the first navigation path according to the guidance of the navigation guidance information.

[0036] In step S203, during the navigation process based on the first navigation path, the processing module continues to receive the first positioning coordinates p1 (specifically p1) obtained by the first type of positioning module in real time. 17 p 18 p 19 (equal value), and determines the first distance calculation value based on the sampled value of the first positioning coordinate and the second positioning coordinate. For example, the processing module determines the first distance calculation value based on the sampled value p of the first positioning coordinate. 17Calculate the Euclidean distance between the second positioning coordinate p2 and the second positioning coordinate p2, thereby obtaining the corresponding first distance calculation value d. calculate7 The first distance calculation value d calculate7 This represents the real-time distance between the car key and the car body detected by the positioning network of the on-site positioning environment at sampling time t=7; similarly, the processing module calculates the distance based on the sampled value p of the first positioning coordinate. 18 The first distance calculation value d is obtained by calculating the second positioning coordinate p2. calculate8 Based on the sampled value p of the first positioning coordinates 19 The first distance calculation value d is obtained by calculating the second positioning coordinate p2. calculate9 ... In step S204, the processing module synchronously acquires the measured distance d detected by the first and second type positioning modules. measure The sampled value d measure7 d measure8 d measure9 ...and calculate the first distance value d corresponding to the same sampling time. calculate The measured distance d measure The deviation Δd is obtained, thus yielding Δd7 (Δd7 = |d calculate7 -d measure7 |), Δd8 (Δd8=|d calculate8 -d measure8 |), Δd8 (Δd8=|d calculate8 -d measure8 |) etc., the first deviation value.

[0037] In step S205, the processing module sets a threshold d. threshold And compare each first deviation value with the threshold d in real time. threshold A comparison is made, and if a first deviation value greater than the threshold d is detected... threshold Then record this first deviation value and determine the corresponding sampling time as the reference time point.

[0038] For example, in this embodiment, it is assumed that Δd7 < threshold d threshold Δd8 < threshold d threshold And Δd9 > threshold d threshold If the absolute value of the first deviation value Δd9 is detected to be greater than the threshold, then the processing module will determine the sampling time t=9 as the reference time point.

[0039] In step S206, the processing module will process the measured distance d measure The sampled value d at the reference time point t=9 measure9 The path radius is determined to be r, i.e., r = d. measure9 .

[0040] In step S207, refer to Figure 2 The processing module discards the portion of the first navigation path generated after the reference time point t=9, and re-plans the path to generate a second navigation path different from the first navigation path. Specifically, as follows... Figure 2 As shown, the processing module uses the sampled value p1 at the reference time point t=9 based on the first positioning coordinate p1. 19 Starting from the reference time point, the sampled value of the second positioning coordinate at the reference time point, p2, is used as the center to generate a second navigation path in the shape of an arc. Specifically, the arc corresponding to the second navigation path is a part of a circle, the center of which is the second positioning coordinate p2, and the radius is the path radius r.

[0041] In this embodiment, the length of the second navigation path can be set to be greater than the first threshold d. threshold The first deviation value (Δd9 in this example) is positively correlated, that is, the first value greater than the threshold d. threshold The larger the first deviation value Δd9, the longer the second navigation path.

[0042] In step S208, the processing module performs navigation based on the second navigation path. Specifically, its principle is the same as that of step S202, which is equivalent to replacing the first navigation path in step S202 with the second navigation path.

[0043] During navigation based on the second navigation path, the processing module executes S209 to obtain the sampled value of the first positioning coordinates in real time (specifically p). 110 p 111 p 112 The processing module calculates the Euclidean distance between these sampled values ​​and the second positioning coordinate p2, obtaining the corresponding second distance calculation value. For example, the processing module calculates the Euclidean distance between the sampled values ​​of the first positioning coordinate p2 and the second positioning coordinate p2. 110 The second distance value d is calculated by using the second positioning coordinate p2. calculate10 (d) calculate10 =|p 110 |-p2), second distance calculation value d calculate10 This represents the real-time distance between the car key and the car body detected by the positioning network of the on-site positioning environment at sampling time t=10; similarly, the processing module calculates the distance based on the sampled value p of the first positioning coordinate. 111 The second distance value d is calculated by using the second positioning coordinate p2. calculate11 (d) calculate11 =|p 111 |-p2), based on the sampled value p of the first positioning coordinates 112 The second distance value d is calculated by using the second positioning coordinate p2. calculate12 (d) calculate12 =|p112 |-p2)…… The processing module collects all the second distance calculation values ​​(specifically d) as the car owner moves along the entire second navigation path while carrying the car key. calculate10 d calculate11 d calculate12 (equivalent value), execute step S210, and correct the first positioning coordinates collected by the first type II positioning module based on these second distance calculation values ​​to obtain the first corrected coordinates.

[0044] Specifically, the processing module collects all the second distance calculation values ​​d. calculate10 d calculate11 d calculate12 The deviations from the path radius can be calculated separately to obtain Δd. 10 (Δd) 10 =|d calculate10 -r|), Δd 11 (Δd) 11 =|d calculate11 -r|), Δd 12 (Δd) 12 =|d calculate12 -r|) and other second deviation values.

[0045] In step S209, the processing module solves for the correction amount Δp that satisfies the constraint condition. In this embodiment, the constraint condition is specifically "after correcting the sampled values ​​of the first positioning coordinates in step S209 using the correction amount Δp, the sum of the calculated values ​​of the second distances recalculated using the corrected first positioning coordinates is minimized", that is,

[0046] in It is the sampled value of the first positioning coordinate before all corrections in step S209.

[0047] By executing step S209, the specific value of the correction amount Δp that satisfies the constraint conditions can be obtained. During step S210, the sampled value of the newly obtained first positioning coordinate (specifically p) is... 113 p 114 p 115 (equal value), they can be corrected separately using the correction amount Δp to obtain p' 113 p' 114 p' 115 The first corrected coordinates are given. Where p' 113 =p 113 +Δp,p' 114 =p 114 +Δp,p' 115 =p 115+Δp.

[0048] Based on the execution results of steps S201-S210, refer to Figure 2 The processing module can correct all the sampled values ​​of the first positioning coordinates p1 collected by the first type of positioning module after the second navigation path is completed to the first corrected coordinates p'1 using the correction amount Δp, and then execute step S3 to plan the path using the corrected car key coordinates (i.e., the first corrected coordinates p'1) as the starting point and the second positioning coordinates p2 as the ending point to determine the third navigation path. After determining the third navigation path, the processing module executes navigation according to the third navigation path until the user carrying the car key arrives at the location of the car.

[0049] In this embodiment, the principle of executing steps S201-S210 and then steps S3-S4 is as follows: (Referring to...) Figure 2 The processing module in the car key performs path planning in the initial stage based on the second positioning coordinates p2 (representing the position coordinates of the car body detected by the positioning network of the in-field positioning environment) and the uncorrected first positioning coordinates p1 (representing the position coordinates of the car key detected by the positioning network of the in-field positioning environment), thereby determining the first navigation path. That is, the first navigation path is a navigation path obtained entirely based on the detection results of the positioning network of the in-field positioning environment. During navigation according to the first navigation path, the processing module calculates the first deviation value and can incorporate the measured distance d. measure As a reference benchmark, if the calculated value of the first distance determined based on the first positioning coordinates p1 and the second positioning coordinates p2 is different from the measured distance d... measure A large initial deviation indicates a discrepancy between the first type of in-field positioning technology used by the positioning network and at least one of the second type of in-field positioning technologies used by the car key and the car itself. In this case, the processing module generates a second, arc-shaped navigation path to guide the car owner carrying the car key to continue moving while maintaining an equal distance from the car body. At this point, the owner remains in motion, and the equal distance ensures that the second type of in-field positioning technology operates stably, making its detection results more reliable. Therefore, during the second navigation path stage, the processing module, by solving the constraints, can correct the first positioning coordinate p1 (obtained through the first type of in-field positioning technology) to match the measured distance d. measure (Obtained through the second type of in-field positioning technology) a small error correction amount, thereby achieving the measurement distance d. measure Based on the first positioning coordinates, the first corrected coordinates are obtained; finally, the processing module performs new path planning based on the first corrected coordinates to obtain the third navigation path, thus realizing the correction of deviations in the navigation path by introducing the second type of in-field positioning technology.

[0050] Based on the above principles, in this embodiment, the car body and car key, while using the first type of in-field positioning technology for navigation based on the positioning network set up in the in-field positioning environment, use the second type of in-field positioning technology executed by the car body and car key to correct the first type of in-field positioning technology. Among them, compared with the first type of in-field positioning technology, the second type of in-field positioning technology executed by the car body and car key has higher controllability and stability. Therefore, even if the positioning accuracy of the first type of in-field positioning technology itself is low, or if the positioning accuracy of the first type of in-field positioning technology is low due to unfavorable environmental factors or non-standard technical implementation and maintenance, the second type of in-field positioning technology can be introduced to improve the overall positioning accuracy. This improves the positioning and navigation capabilities of the overall car product consisting of the car body and car key in complex environments such as underground parking lots, making it more convenient for car owners to park and use the car.

[0051] In this embodiment, refer to Figure 3 The car body also has an autonomous driving module, and the workflow of the autonomous driving module is as follows: Figure 4 As shown. (Refer to...) Figure 3 and Figure 4 The car key sends the first corrected coordinate p'1 obtained from steps S201-S210 to the car body. The autonomous driving module in the car body runs the indoor map engine and 3D map of the field positioning environment. Starting from its own second positioning coordinate p2 and ending at the first corrected coordinate p'1 of the car key, it generates a dynamic navigation path and generates an autonomous driving command to drive according to the dynamic navigation path. The autonomous driving command is sent to the power system, transmission system, braking system and steering system of the car body, so that the car body starts from the second positioning coordinate p2 along the dynamic navigation path, avoids obstacles throughout the process, and drives autonomously to the first corrected coordinate p'1 where the owner carrying the car key is locked. This realizes the remote summoning of "car finding person", thereby reducing the time and effort required for the owner to find the car body.

[0052] In this embodiment, when the vehicle is performing autonomous driving, it can also send information back to the owner's terminal. The display interface of the owner's terminal is as follows: Figure 5 As shown.

[0053] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," and "right" used in this disclosure are only relative to the relative positional relationships of the components of this disclosure in the accompanying drawings. The singular forms "a" and "the" used in this disclosure are also intended to include the plural forms, unless the context clearly indicates otherwise. Moreover, unless otherwise defined, all technical and scientific terms used in this embodiment have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this embodiment specification is only for describing particular embodiments and is not intended to limit the invention. The term "and / or" as used in this embodiment includes any combination of one or more of the associated listed items.

[0054] It should be understood that although various elements may be described in this disclosure using terms such as "second," "third," etc., these elements should not be limited to these terms. These terms are used only to distinguish elements of the same type from one another. For example, an element may also be referred to as a second element without departing from the scope of this disclosure, and similarly, a second element may also be referred to as an element. The use of any and all instances or exemplary language ("e.g.," "such as," etc.) provided in this embodiment is intended only to better illustrate embodiments of the invention and, unless otherwise required, does not impose a limitation on the scope of the invention.

[0055] It should be recognized that embodiments of the present invention can be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable storage medium. The method can be implemented using standard programming techniques—including a non-transitory computer-readable storage medium configured with a computer program, wherein such a storage medium causes the computer to operate in a specific and predefined manner—according to the methods and drawings described in the specific embodiments. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system. However, if desired, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. Furthermore, for this purpose, the program can run on a programmed application-specific integrated circuit (ASIC).

[0056] Furthermore, the procedures described in this embodiment can be performed in any suitable order unless otherwise indicated by this embodiment or otherwise obviously contradict the context. The procedures (or variations and / or combinations thereof) described in this embodiment can be executed under the control of one or more computer systems configured with executable instructions, and can be implemented by hardware or a combination thereof as code (e.g., executable instructions, one or more computer programs, or one or more applications) that commonly executes on one or more processors. A computer program includes a plurality of instructions executable by one or more processors.

[0057] Furthermore, the method can be implemented in any suitable type of computing platform, including but not limited to personal computers, minicomputers, mainframes, workstations, networked or distributed computing environments, standalone or integrated computer platforms, or in communication with charged particle tools or other imaging devices, etc. Aspects of the invention can be implemented as machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the processes described herein. Furthermore, the machine-readable code, or portions thereof, can be transmitted via wired or wireless networks. The invention of this embodiment includes these and other different types of non-transitory computer-readable storage media when such media comprises instructions or programs that implement the steps above in conjunction with a microprocessor or other data processor. When programmed according to the methods and techniques of the invention, the invention also includes the computer itself.

[0058] A computer program can be applied to input data to perform the functions of this embodiment, thereby transforming the input data to generate output data stored in non-volatile memory. The output information can also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including a specific visual depiction of physical and tangible objects generated on the display.

[0059] The above are merely preferred embodiments of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection of the present invention. Within the scope of protection of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A car key with positioning function, the car key being used in an in-situ positioning environment, the in-situ positioning environment being equipped with a positioning network based on a first type of in-situ positioning technology, characterized in that, The car key includes: The first type of positioning module; the first type of positioning module is used to determine the first positioning coordinates corresponding to the car key in real time based on the first type of in-field positioning technology and the positioning network; The first and second type positioning modules are used to determine the measured distance between the car key and the car body in real time based on the second type of in-field positioning technology and the car body with positioning function. The processing module is used to execute navigation on the side of the car key based on the first positioning coordinates and the measured distance.

2. The car key with positioning function according to claim 1, characterized in that, The step of executing navigation on the side of the car key based on the first positioning coordinates and the measured distance includes: Receive the second positioning coordinates sent in real time by the vehicle body; The first positioning coordinates are corrected based on the measured distance to obtain the first corrected coordinates; Based on the first corrected coordinates and the second positioning coordinates, a path is planned to determine the third navigation path; Navigation is performed based on the third navigation path.

3. The car key with positioning function according to claim 2, characterized in that, The step of correcting the first positioning coordinates based on the measured distance to obtain the first corrected coordinates includes: Determine the reference time point; The path radius is determined based on the sampled value of the measured distance at the reference time point; Using the sampled value of the first positioning coordinates at the reference time point as the starting point and the sampled value of the second positioning coordinates at the reference time point as the center, a second navigation path with a radius that is always equal to the path radius is generated. Navigation will be performed according to the second navigation path; During the navigation process based on the second navigation path, the sampled value of the first positioning coordinate is acquired in real time, and the second distance calculation value is determined based on the sampled value of the first positioning coordinate and the second positioning coordinate. The first positioning coordinates are corrected based on the second distance calculation value to obtain the first corrected coordinates.

4. The car key with positioning function according to claim 3, characterized in that, The determination of the reference time point includes: Based on the first positioning coordinates and the second positioning coordinates, a path is planned to determine the first navigation path; Navigation is performed according to the first navigation path; During the navigation process based on the first navigation path, the sampled value of the first positioning coordinates is acquired in real time, and the first distance calculation value is determined based on the sampled value of the first positioning coordinates and the second positioning coordinates. The deviation between each of the first distance calculation values ​​and the measured distance is obtained in real time to obtain the first deviation value; When the absolute value of the first deviation is greater than the threshold, the time point at that time is determined as the reference time point.

5. The car key with positioning function according to claim 3, characterized in that, The step of correcting the first positioning coordinates based on the second distance calculation value to obtain the first corrected coordinates includes: Obtain multiple calculated values ​​of the second distance; The deviations of each of the second distance calculation values ​​from the path radius are obtained, thereby obtaining multiple second deviation values; Solve for the correction amount that satisfies the constraint condition: the sum of the absolute values ​​of all the second deviation values ​​is minimized. The first positioning coordinates are corrected according to the correction amount to obtain the first corrected coordinates.

6. The car key with positioning function according to any one of claims 1-5, characterized in that, The first type of in-field positioning technology is UWB positioning technology or communication base station positioning technology, and the second type of in-field positioning technology is Bluetooth channel detection technology.

7. A vehicle body with positioning function, the vehicle body being used to operate in an on-site positioning environment, the on-site positioning environment being equipped with a positioning network based on a first type of on-site positioning technology, characterized in that, The vehicle body includes: The second type of positioning module; the first type of positioning module is used to determine the measured distance between the car key and the car body in real time based on the second type of in-field positioning technology and the car body with positioning function.

8. The vehicle body with positioning function according to claim 7, characterized in that, The vehicle body also includes: The second type of positioning module is used to determine the second positioning coordinates corresponding to the vehicle body in real time based on the first type of in-field positioning technology and the positioning network.

9. The vehicle body with positioning function according to claim 8, characterized in that: The second type of positioning module is also used to send the second positioning coordinates to the car key.

10. The vehicle body with positioning function according to any one of claims 7-9, characterized in that, The vehicle body also includes: An autonomous driving module; the autonomous driving module is used to receive a first corrected coordinate sent by a car key with positioning function, and to perform autonomous driving based on the first corrected coordinate and the second positioning coordinate.

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