Positioning method and device for target object in vehicle, equipment, medium and product

Abstract

The invention provides a method, a device, equipment, a medium and a product for positioning a target object in a vehicle, the method is applied to a single-station single transmit-receive antenna, and the method comprises the following steps: sending a preset satellite flash SLP signal, and receiving an echo signal formed by the reflection of the target object to the satellite flash SLP signal through the single-station single transmit-receive antenna; according to the echo signal, obtaining the distance between the target object and the single-station single transceiver antenna; comparing the distance between the target object and the single-station single-transmitting-receiving antenna with a preset distance interval range of each seat in the vehicle relative to the single-station single-transmitting-receiving antenna, and determining an alternative seat where the target object is located; acquiring a target signal-to-noise ratio corresponding to the target object under the condition that a plurality of alternative seats exist; and according to the target signal-to-noise ratio and the gain corresponding to each alternative seat, determining a target seat where the target object is located in the plurality of alternative seats. Therefore, the target position of the target object can be accurately identified.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and more specifically, to a method, apparatus, device, medium, and product for locating a target object inside a vehicle. Background Technology

[0002] It is essential to accurately identify and locate the current position of any living being inside a vehicle. From a safety monitoring perspective, precise in-vehicle location tracking can determine in real time whether occupants or pets are in child safety seats, front seats, rear seats, or the luggage area, enabling rapid identification of potential risks. In the event of a vehicle accident or other unforeseen circumstances, locating the position of any living being left inside the vehicle helps provide rescue personnel with accurate guidance information, leading to safer and more efficient rescues.

[0003] Existing positioning technologies mostly employ multi-site single-transmitter antenna arrays or multi-node collaboration to achieve positioning through parameters such as time difference of arrival and angle of arrival. However, this technology requires at least two receiving single-site single-transmitter antennas, resulting in a complex hardware structure that is unsuitable for the confined space inside a vehicle. Furthermore, single-site single-transmitter antennas cannot acquire angle information, so they can only measure distance and cannot determine the location of people inside the vehicle. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, equipment, medium and product for locating a target object inside a vehicle, so as to solve the problem in the related art that a single base station single transceiver antenna cannot accurately identify the specific location of a target object from multiple alternative seats at the same distance but in different directions.

[0005] This application provides a method for locating a target object inside a vehicle, applied to a single-site single-transmitter antenna, the method comprising: Send a preset star flash SLP signal and receive the echo signal formed by the target object reflecting the star flash SLP signal through a single-station single-transmit / receive antenna; Based on the echo signal, the distance between the target object and the single-station single-transmitter antenna is obtained; The distance between the target object and the single-station single-transmitter antenna is compared with a preset range of distances between each seat in the vehicle and the single-station single-transmitter antenna to determine the candidate seat where the target object is located. When there are multiple candidate seats, obtain the target signal-to-noise ratio corresponding to the target object; Based on the target signal-to-noise ratio and the gain corresponding to each of the candidate seats, the target seat of the target object is determined from the plurality of candidate seats.

[0006] Although a single-site, single-transmitter antenna can only achieve ranging, the gain of each candidate seat is determined based on its radiation pattern and center direction relative to the antenna. Therefore, in the above implementation process, by combining the target signal-to-noise ratio of the target object and the gain of each candidate seat, the target seat can be determined from multiple equidistant candidate seats. This enables the accurate identification of the target location from multiple candidate seats at equal distances but in different orientations using a single-site, single-transmitter antenna.

[0007] Optionally, determining the target seat for the target object from among the plurality of candidate seats based on the target signal-to-noise ratio and the gain corresponding to each of the candidate seats includes: Calculate the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio to obtain the real-time power ratio; The real-time power ratio is used to perform a matching operation on the gain corresponding to each of the candidate seats, and the candidate seat corresponding to the gain corresponding to the real-time power ratio is determined as the target seat.

[0008] In the above implementation, since each candidate seat and the equidistant position are in the same vehicle environment, the noise power between the target signal-to-noise ratio and the preset reference signal-to-noise ratio is exactly the same. Therefore, the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio can correspond to the ratio of the vital sign signal power between the candidate seat and the equidistant position.

[0009] Furthermore, since the equidistant positions are located along the normal of the single-site single-transmitter antenna, and each candidate seat is offset relative to the single-site single-transmitter antenna, its echo power attenuation is entirely determined by the radiation pattern and center direction relative to the single-site single-transmitter antenna. Therefore, the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio essentially reflects the normalized power gain of the single-site single-transmitter antenna relative to the normal direction at the target azimuth. Thus, in the above implementation, by using the real-time power ratio to perform a matching operation on the gain corresponding to each candidate seat, the target seat containing the target object can be accurately determined from multiple candidate seats.

[0010] Optionally, obtaining the target signal-to-noise ratio corresponding to the target object includes: In the echo signal, obtain the distance sampling point corresponding to the target object; The signal-to-noise ratio (SNR) of the echo signal within the distance sampling point is extracted to obtain the original SNR of the distance sampling point. The original signal-to-noise ratio is filtered using a preset reference signal-to-noise ratio to obtain the target signal-to-noise ratio of the target object.

[0011] Optionally, obtaining the distance between the target object and the single-site single-transmitter antenna based on the echo signal includes: In the echo signal, obtain the distance sampling point corresponding to the target object; Obtain the distance between the sampling point corresponding to the target object and the single-station single-transmitter antenna.

[0012] In the above implementation, by filtering the original signal-to-noise ratio of the target object's distance to the sampling point using a preset reference signal-to-noise ratio, a target signal-to-noise ratio other than the reference signal-to-noise ratio can be obtained. This facilitates subsequent determination of the target's location using the target signal-to-noise ratio.

[0013] Optionally, the echo signal is a two-dimensional data matrix, where one dimension is a fast time dimension and the other dimension is a slow time dimension; based on the echo signal, obtaining the distance sampling point corresponding to the target object from the echo signal includes: Perform a Fourier transform along the slow time dimension for each distance sampling point in the echo signal to obtain the Doppler spectrum corresponding to each distance sampling point; For each distance sampling point, if the Doppler spectrum corresponding to the distance sampling point is within the preset target object characterization spectrum segment, and the spectral component of the Doppler spectrum corresponding to the distance sampling point is greater than the preset energy threshold, then the distance sampling point is determined to be the distance sampling point corresponding to the target object.

[0014] In the above implementation process, by performing a Fourier transform on each distance sampling point in the echo signal along the slow time dimension, the echo signal can be converted from the time domain to the Doppler frequency domain. This facilitates the extraction of feature components related to the biological activities of the organism from the echo signal, thereby determining the distance sampling point where the target object exists from multiple distance sampling points. That is, the location of the target object is initially located.

[0015] Optionally, obtaining the distance between the target object's corresponding distance sampling point and the single-site single-transmit / receive antenna includes: The echo delay is calculated based on the index number of the distance sampling point corresponding to the target object in the fast time dimension and the sampling rate. The distance between the distance sampling point and the single-station single-transmitter antenna is obtained by dividing the echo delay by 2 and then multiplying it by the preset transmission speed.

[0016] Since the SLP signal needs to go through a round-trip propagation path of "transmission-human body reflection-reception", in the above implementation process, by dividing the echo delay by 2 and then multiplying it by the preset transmission speed, the distance between the target object's corresponding distance sampling point and the single-station single-transmitter antenna can be obtained.

[0017] Optionally, the echo delay is calculated based on the index number of the distance sampling point corresponding to the target object in the fast time dimension and the sampling rate, including: The echo delay is obtained by dividing the index number by the sampling rate.

[0018] In the above implementation process, the echo delay of the distance sampling point can be effectively obtained by dividing the index number of the distance sampling point corresponding to the target object in the fast time dimension by the sampling rate.

[0019] Secondly, this application provides a positioning device for a target object inside a vehicle, applied to a single-site single-transmitter antenna, the device comprising: The Star Flash SLP signal module is used to transmit a preset Star Flash SLP signal and receive the echo signal formed by the reflection of the Star Flash SLP signal by the target object through a single-station single-transmit / receive antenna. The first acquisition module is used to acquire the distance between the target object and the single-station single-transmitter antenna based on the echo signal. The first determining module is used to compare the distance between the target object and the single-station single-transmitter antenna with a preset range of distances between each seat in the vehicle and the single-station single-transmitter antenna, and to determine the candidate seat where the target object is located. The second acquisition module is used to acquire the target signal-to-noise ratio corresponding to the target object when there are multiple candidate seats; The second determining module is used to determine the target seat of the target object from among the plurality of candidate seats based on the target signal-to-noise ratio and the gain corresponding to each of the candidate seats.

[0020] Thirdly, this application provides an electronic device including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the above-described method for locating a target object inside a vehicle.

[0021] Fourthly, this application provides a storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the aforementioned method for locating a target object inside a vehicle.

[0022] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for locating a target object inside a vehicle. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram of the vehicle interior layout and the placement of a single-site single-transmitter antenna is provided for an embodiment of this application; Figure 2 A flowchart illustrating a method for locating a target object inside a vehicle, provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a positioning device for a target object inside a vehicle, provided in an embodiment of this application. Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0026] This embodiment uses a single-site single-transmitter antenna as the control unit. The single-site single-transmitter antenna is installed inside the vehicle, with its main lobe facing the middle seat in the rear row. This creates a radiation coverage area with the single-site single-transmitter antenna as the origin and its main lobe as the central axis.

[0027] The seats inside the vehicle can be divided as follows: driver's seat A, front passenger seat B, rear seat behind driver's seat C, middle rear seat D, and rear seat behind front passenger seat E.

[0028] For example, in combination Figure 1 The diagram shown illustrates the interior layout and placement of a single-station single-transmitter antenna. The single-station single-transmitter antenna can be installed on the center console on the driver's side. Figure 1 The shaded area of ​​the ellipse is the main lobe. The width of the main lobe can be set to 30°.

[0029] The distances from a single station with a single transmitting and receiving antenna to seats B and C are the same, and the equidistant position of the equidistant human vital sign signal can be position F.

[0030] To meet the signal coverage requirements of the limited space inside the vehicle, the signal difference between different seats can be enhanced by leveraging angle-sensitive characteristics. In this embodiment, a gain directivity function can be set. For example, the gain directivity function can adopt a Gaussian distribution model G(θ), where θ is the angular offset of the seat relative to the normal direction of the single-site single-transmitter antenna.

[0031] For the driver's seat A and the middle rear seat D, the gain coefficients of the driver's seat A and the middle rear seat D can be set to the reference value G0, which can ensure the stability of the signal strength of the direct path.

[0032] For the passenger seat B and the rear seat C, the distances to the single-station single-transmitter antenna are the same, but their offset angles relative to the antenna's normal are different. The offset angle of passenger seat B relative to the antenna's normal is θ. B The offset angle of the rear seat C of the driver's seat relative to the normal of the single-station single-transmitter antenna is θ. C Therefore, their gain coefficients are different; correspondingly, the gain coefficient of the passenger seat B is G. B (θ) B The gain coefficient of the rear seat C (driver's seat) is G. C (θ) C This allows for adaptation to the angular offset of both relative to a single-site, single-transmitter antenna. C (θ) C (greater than G) B (θ) B Because the angular offsets of the two antennas differ from those of a single-station, single-transmitter antenna, the signal-to-noise ratio (SNR) of the received signals differs significantly when each seat is occupied in the same vehicle environment. In this embodiment, since the chip duration (2ns) of the starburst SLP signal is much shorter than the signal period of heartbeat and respiration (0.5-2s), the impact of short-term vital activities on the echo power can be ignored. Therefore, in G... C (θ) C (greater than G) B (θ) B In the case of ), the signal-to-noise ratio Y of the signal received by the rear seat C of the driver's seat can be determined. C The signal-to-noise ratio Y of the signal received at passenger seat B is greater than that of passenger seat B. B .

[0033] The rear passenger seat E is located on the outer edge of the main lobe and is significantly affected by the seat obstruction. Its gain coefficient can be set to G. E (θ) E ).

[0034] In this embodiment, since the distances from seat A to the single-station single-transmitter antenna, the distances from seat D to the single-station single-transmitter antenna, and the distances from seat E to the single-station single-transmitter antenna are all different, each seat can be distinguished by the distances from each seat to the single-station single-transmitter antenna. Correspondingly, no gain coefficient needs to be set for seats A, D, and E.

[0035] Since seats B and C are at the same distance from the single-station single-transmitter antenna, the distances from seats B and C to the single-station single-transmitter antenna cannot distinguish between seats B and C. Therefore, it is necessary to set a gain coefficient for seats B and C so that the gain coefficient can be used to distinguish between seats B and C.

[0036] In other words, in this embodiment of the application, the gain coefficient can be set for multiple seats that are equidistant from a single station and a single transmit / receive antenna.

[0037] In this way, by designing directional gain with angle differentiation, it is possible to achieve full seat coverage and to build quantifiable power ratio differences for multiple seats at the same distance from a single station and a single transceiver antenna. This lays the physical foundation for a two-dimensional positioning mechanism of "coarse distance positioning + fine power ratio differentiation", and can solve the problem that traditional single station and single transceiver antennas cannot distinguish seats at the same distance but in different directions.

[0038] Example 1: To address the issue that traditional single-site, single-transmitter antennas cannot distinguish between seats at the same distance but in different orientations, this application provides a method for locating a target object inside a vehicle. See also... Figure 2 As shown, Figure 2 This is a flowchart illustrating the method for locating a target object inside a vehicle provided in this application embodiment, including: Step S201: Send a preset star flash SLP signal and receive the echo signal formed by the reflection of the star flash SLP signal by the target object through a single-station single-transmit / receive antenna.

[0039] In the embodiments of this application, the target object is a living organism capable of producing life-characteristic activities. The target object can be a human body or an animal, etc.

[0040] In this embodiment, SLP signals can be continuously transmitted according to preset parameters. Echo signals formed by reflections of the starburst SLP signals from various objects and organisms inside the vehicle are received. It is understood that when organisms are present inside the vehicle, echo signals formed by reflections of the starburst SLP signals from organisms can be received using a single-site, single-transmitter antenna; that is, echo signals formed by reflections of the starburst SLP signals from the target object are received. The echo signal is a two-dimensional data matrix, where one dimension is the fast time dimension and the other is the slow time dimension.

[0041] Preset parameters may include, but are not limited to, period, pulse width, and duty cycle.

[0042] Step S202: Based on the echo signal, obtain the distance between the target object and the single-station single-transmitter antenna.

[0043] In this embodiment of the application, a Fourier transform can be performed on each distance sampling point in the echo signal along the slow time dimension to obtain the Doppler spectrum corresponding to each distance sampling point; For each distance sampling point, if the spectral energy of the Doppler spectrum corresponding to that distance sampling point within the preset target object representation spectrum band is greater than a preset energy threshold, then that distance sampling point can be determined as the distance sampling point corresponding to the target object. Correspondingly, obtaining the distance between the target object and a single-site single-transmitter antenna is equivalent to obtaining the distance between the distance sampling point corresponding to the target object and the single-site single-transmitter antenna. The preset energy threshold represents the energy of the corresponding frequency band collected in the same vehicle-mounted environment and an empty environment without living organisms.

[0044] In this embodiment, by performing a Fourier transform on each distance sampling point in the echo signal along the slow time dimension to obtain the Doppler spectrum corresponding to each distance sampling point, the echo signal can be converted from the time domain to the Doppler frequency domain, so as to extract feature components related to the life activities of organisms from the echo signal.

[0045] The characteristic components related to the life activities of an organism can be the periodic micro-movements of the chest cavity caused by respiration, or the vibrational characteristics generated by the heartbeat. For example, if the organism is a human, the periodic micro-movements of the chest cavity caused by human respiration correspond to the 0.2 Hz to 0.5 Hz frequency band. The vibrational characteristics generated by the human heartbeat correspond to the 1 Hz to 2 Hz frequency band. Correspondingly, if the spectral energy of the Doppler spectrum corresponding to the distance sampling point in the 0.2 Hz to 0.5 Hz frequency band and / or the 1 Hz to 2 Hz frequency band is greater than a preset energy threshold, then the distance sampling point can be determined to be the distance sampling point corresponding to a human body.

[0046] In this embodiment, the presence of a human body at a distance sampling point can be determined when the spectral energy of the Doppler spectrum corresponding to the distance sampling point within a preset target object representation spectrum segment is greater than a preset energy threshold, and the difference between the spectral energy of the Doppler spectrum corresponding to the distance sampling point within the preset target object representation spectrum segment and the preset energy threshold is greater than a preset value. The preset value can be 3 dB.

[0047] In one optional implementation of this application, the echo delay can be calculated based on the index number of the distance sampling point corresponding to the target object in the fast time dimension and the sampling rate; by dividing the echo delay by 2 and multiplying it by the preset transmission speed, the distance between the distance sampling point corresponding to the target object and the single-station single-transmitter antenna can be obtained, that is, the distance between the target object and the single-station single-transmitter antenna can be obtained.

[0048] In this embodiment, the echo delay at the distance to the sampling point can be obtained in the following way: Since the waveform of the transmitted signal is a known deterministic pulse signal, the receiver starts sampling synchronously at the time of transmission. During the period before the reflected signal arrives, the signal collected by the receiver is mainly environmental noise, and its amplitude is close to zero. When the echo of the living target arrives, the echo signal will have a peak at the corresponding time delay position.

[0049] Therefore, within the time interval between signal transmission and receiving a complete waveform cycle, the echo delay Δt can be obtained by combining the sampling point index corresponding to the peak value, i.e., the index number of the target object corresponding to the sampling point in the fast time dimension, and the sampling frequency fs.

[0050] In some embodiments, the echo delay is obtained by calculating Δt = N / fs. Here, N represents the index number of the sampling point corresponding to the distance of the target object in the fast time dimension, that is, the index of the sampling point corresponding to the peak value.

[0051] Since the SLP signal needs to go through a round-trip propagation path of "transmission-human body reflection-reception", the distance between the sampling point and the single-station single-transmitter antenna can be obtained by dividing the echo delay by 2 and then multiplying it by the preset transmission speed.

[0052] For example, the distance d between the sampling point and the single-station single-transmitter antenna can be calculated using the formula d = (x×Δt) / 2, which is also the distance between the target object and the single-station single-transmitter antenna. Here, x represents a preset transmission speed, which can be the speed of light.

[0053] In this embodiment of the application, the echo signal can be adaptively filtered. In the output signal after adaptive filtering, the index corresponding to the first maximum peak value in the output signal is determined as the index number of the distance sampling point of the target object in the fast time dimension.

[0054] Since the transmitted signal waveform is a known deterministic pulse signal, the receiver begins sampling synchronously at the transmission time. In the adaptively filtered output signal, fixed clutter inside the vehicle is effectively suppressed, and the remaining signal mainly consists of micro-reflections from the target object. In the initial period before the reflected signal arrives, the amplitude of the output signal remains at a low level. When the echo from the target object arrives, a large peak appears in the output signal at the corresponding time delay position. Therefore, the index corresponding to the first maximum peak in the output signal can be determined as the index number of the target object's distance sampling point in the fast time dimension.

[0055] Step S203: Compare the distance between the target object and the single-station single-transmitter antenna with the preset distance range between each seat in the vehicle and the single-station single-transmitter antenna to determine the candidate seat where the target object is located.

[0056] In this embodiment, the distance range between each seat in the vehicle and the single-station single-transmitter antenna can be determined based on the actual distance between each seat in the vehicle and the single-station single-transmitter antenna, as well as the error value of the positioning method for the target object inside the vehicle provided in this embodiment.

[0057] For example, the error value of the positioning method for in-vehicle target objects provided in the embodiments of this application can be 0.2m.

[0058] If the actual distance between driver's seat A and the single-site single-transmitter antenna is 0.5m, then the corresponding distance range between driver's seat A and the single-site single-transmitter antenna can be 0.3 to 0.7m. If the distance between the sampling point and the single-site single-transmitter antenna is 0.3, 0.5, or 0.7m, then driver's seat A can be determined as a candidate seat.

[0059] Similarly, if the actual distance between the middle seat D in the back row and the single-station single-transmitter antenna is 1.5m, then the corresponding distance range between the middle seat D in the back row and the single-station single-transmitter antenna can be 1.3 to 1.7m. Likewise, if the distance between this sampling point and the single-station single-transmitter antenna is 1.3, 1.5, or 1.7m, then the middle seat D in the back row can be determined as a candidate seat.

[0060] In this embodiment, since the distance from seat B and seat C to the single-station single-transmitter antenna is both 'd', meaning the distances from seat B and seat C to the single-station single-transmitter antenna are the same, if the distance between the distance sampling point and the single-station single-transmitter antenna is within the distance range of seat B relative to the single-station single-transmitter antenna, then the distance between the distance sampling point and the single-station single-transmitter antenna must also be within the distance range of seat C relative to the single-station single-transmitter antenna. In other words, the distance between the target object and the single-station single-transmitter antenna is within the distance range of both seat C and seat B relative to the single-station single-transmitter antenna. Thus, both seat B and seat C can be identified as candidate seats. That is, there are multiple candidate seats.

[0061] Step S204: If there are multiple candidate seats, obtain the target signal-to-noise ratio corresponding to the target object.

[0062] In this embodiment of the application, if there is one alternative seat, then the alternative seat is directly determined as the target seat.

[0063] In one optional implementation of this application, the distance sampling point corresponding to the target object can be obtained from the echo signal. The signal-to-noise ratio (SNR) of the echo signal within the distance sampling point corresponding to the target object is extracted to obtain the original SNR of the distance sampling point corresponding to the target object. The original SNR is then filtered using a preset reference SNR to obtain the target SNR of the target object.

[0064] The reference signal-to-noise ratio (SNR) is the SNR obtained in an empty environment inside the vehicle without any living organisms. That is, the reference SNR includes the reflected energy from static objects such as seats and the vehicle body, as well as environmental noise interference. Therefore, by filtering the original SNR using the reference SNR, the reflected energy from static objects such as seats and the vehicle body, as well as environmental noise interference, can be filtered out, ultimately obtaining the target SNR generated solely by reflections from living organisms.

[0065] In another optional implementation of this application embodiment, spectral components within a preset target object characterizing spectral segment can be extracted from the Doppler spectrum corresponding to the sampling point at the target object, and the target signal-to-noise ratio (SNR) of the target object can be obtained based on these spectral components. For example, the sum of the squares of the amplitudes of these spectral components can be determined as the target SNR of the target object. Alternatively, the amplitude of these spectral components can be directly determined as the target SNR of the target object.

[0066] In this embodiment, the distance sampling point corresponding to the target object can be obtained in the following way: Fourier transform is performed on each distance sampling point in the echo signal along the slow time dimension to obtain the Doppler spectrum corresponding to each distance sampling point; for the Doppler spectrum corresponding to each distance sampling point, if the spectral energy of the Doppler spectrum corresponding to the distance sampling point in the preset target object characterization spectrum segment is greater than the preset energy threshold, then the distance sampling point can be determined as the distance sampling point corresponding to the target object.

[0067] The echo signal within the sampling point corresponding to the target object is a one-dimensional time series signal collected along the slow time dimension within that sampling point.

[0068] For example: If the transmitter of a single-station single-transmitter antenna continuously transmits 64 consecutive pulse signals; A single-station, single-transmitter antenna can receive the echo signal of each pulse signal, sample and down-convert it, and obtain a fast time series containing 128 distance sampling points. Thus, 64 pulse signals constitute a slow-time observation period, forming a two-dimensional data matrix S[r,n] with a dimension of 128 (distance × 64 (slow time)).

[0069] in: r=0, 1, ..., 127, representing the index number of each distance sampling point in the fast time dimension; n=0, 1, ..., 63, representing the slow time dimension, corresponding to the nth pulse signal frame.

[0070] For any distance sampling point r0, the corresponding slow-time echo signal sequence is sr0[n]=S[r0,n], which characterizes the phase and amplitude changes of the reflected signal located at the distance sampling point r0 between consecutive pulse signal frames.

[0071] Step S105: Based on the target signal-to-noise ratio and the gain corresponding to each candidate seat, determine the target seat of the target object from among multiple candidate seats.

[0072] In this embodiment of the application, the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio can be calculated to obtain the real-time power ratio; the real-time power ratio is used to perform a matching operation on the gain corresponding to each candidate seat, and the candidate seat corresponding to the gain corresponding to the real-time power ratio is determined as the target seat.

[0073] In one optional implementation of this application, the preset reference signal-to-noise ratio can be the signal-to-noise ratio at an equidistant location. The equidistant location is the same distance from the candidate seat to the single-station single-transmitter antenna, but located on the normal of the single-station single-transmitter antenna.

[0074] Since all candidate seats and equidistant positions are in the same in-vehicle environment, the noise power between the target signal-to-noise ratio and the preset reference signal-to-noise ratio is exactly the same. Therefore, the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio can correspond to the ratio of the vital sign signal power between the candidate seats and equidistant positions.

[0075] Furthermore, since the equidistant positions are located along the normal of the single-site single-transmitter antenna, and each candidate seat is offset relative to the single-site single-transmitter antenna, its echo power attenuation is entirely determined by the radiation pattern and center direction relative to the single-site single-transmitter antenna. Therefore, the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio essentially reflects the normalized power gain of the single-site single-transmitter antenna relative to the normal direction at the target azimuth. Thus, a matching operation can be performed on the gain corresponding to each candidate seat using the real-time power ratio, thereby determining the target seat from multiple candidate seats.

[0076] In another optional implementation of this application embodiment, the preset reference signal-to-noise ratio can also be obtained in the following way: Spectral components can be extracted from the Doppler spectrum of the target object at the sampling point, excluding the preset target object characterization spectrum, and a reference signal-to-noise ratio (SNR) can be obtained based on these spectral components. For example, the sum of the squares of the amplitudes of these spectral components can be used to determine the reference SNR. Alternatively, the amplitude of these spectral components can be directly used to determine the reference SNR.

[0077] Example 2 This embodiment, based on the first embodiment described above, further illustrates the method for locating in-vehicle target objects provided in this application: Because single-site, single-transmitter antennas cannot acquire angle information, traditional solutions can only measure distance and cannot determine the location of people inside the vehicle. For example, ordinary UWB single-site, single-transmitter antenna equipment using two-way ranging methods can only measure the distance to the target, but cannot distinguish whether the target is in the front or back row, resulting in positioning failure.

[0078] In a single-site, single-transmitter antenna layout within a vehicle, the StarSignal SLP signal can improve the single-person positioning effect by optimizing the single-site position. In typical scenarios, a single-site, single-transmitter antenna can effectively distinguish 2-3 seats in a five-seat vehicle in the event of a human presence. This characteristic stems from the ultra-wideband nature of the StarSignal SLP signal, whose high-precision ranging capability is sufficient to support accurate identification of different seats. However, there are special circumstances in the vehicle environment: when two seats are within the same distance range from the single-site, single-transmitter antenna, "positioning ambiguity" occurs. In this case, ranging alone cannot distinguish between the two seats. To address this issue, this embodiment utilizes the radiation characteristics of the directional single-site, single-transmitter antenna pattern. Specifically, due to differences in angular offset and degree of obstruction, different seats exhibit significant differences in the signal-to-noise ratio of the received signal, resulting in differences in the echo power ratio compared to the reference signal. Based on this power difference, accurate differentiation of these equidistant seats with positioning ambiguity can be achieved.

[0079] This application embodiment achieves single-site single-transmitter antenna positioning by combining the time delay ranging of the star flash SLP signal with the radiation characteristics of the directional single-site single-transmitter antenna. The specific mechanism is as follows: Utilizing the ultra-wideband properties of the Starburst SLP signal (499.2MHz bandwidth, 2ns chip duration), the time delay information of the effective echo is first extracted through vital sign detection, and the distance between the target object and the single-site single-transmitter antenna is calculated to achieve preliminary differentiation of 2-3 seats in a normal scenario. For seats with overlapping distances and "positioning ambiguity", the angle-gain difference of the directional single-site single-transmitter antenna is introduced. Due to the different seat angle offsets, the signal-to-noise ratio (power ratio) of the received signal has a stable difference. Combined with the reference signal-to-noise ratio of the equidistant position F inside the vehicle, accurate differentiation is achieved by comparing the real-time power ratio (target signal-to-noise ratio / reference signal-to-noise ratio).

[0080] In this embodiment, a single-site single-transmitter antenna can be installed at a high position on the left front side of the driver's seat in the vehicle, such as the corner of the center console on the driver's side, and the main lobe of the single-site single-transmitter antenna can be precisely oriented towards the middle seat in the rear row, forming a radiation coverage area with the single-site single-transmitter antenna as the origin and the main lobe as the central axis.

[0081] The positions inside the vehicle can be divided into: driver's seat A, passenger seat B, rear seat C behind the driver's seat, middle rear seat D, and rear seat E behind the passenger's seat. The distance from the single-station single-transmitter antenna to seats B and C is the same. The equidistant position of the equidistant human vital signs signal is region F. For the specific layout, please refer to Figure 1.

[0082] The radiation characteristics of a single-site single-transmitter antenna are based on the prior spatial distribution of seats inside the vehicle. The radiation characteristics of the directional single-site single-transmitter antenna are specifically calibrated, and the differentiated gain design provides a physical basis for the "distance + power ratio" positioning logic. The specific parameters are as follows: The main lobe width can be set to 30°, and the gain directivity function adopts a Gaussian distribution model. ,in The angle offset of each position relative to the normal direction of a single station single transmit and receive antenna is set. In order to adapt to the signal coverage requirements of the limited space inside the vehicle, the signal difference between different seats can be enhanced by the angle sensitivity characteristics. For the driver's seat A and the middle rear seat D (both located in the core region of the main lobe, with the normal direction facing seat D), the gain coefficients of seats A and D are set as the baseline values. To ensure stable signal strength along the direct path; The front passenger seat B and the rear passenger seat C (both located in the edge region of the main lobe) are at the same distance from the single-site single-transmit / receive antenna, but have different offset angles θ. The offset angle of the front passenger seat B is θ. B The offset angle of the rear seat C behind the driver is θ. C Therefore, their gain coefficients are also different, and their gain coefficients are respectively and This adapts to the angular offset of both and a single-site single-transmit / receive antenna, thus enabling the system to adapt to the angular offset of both. Figure 1 It is obvious that G C >G B Under the same in-vehicle environment, when either seat is occupied alone, the signal-to-noise ratio (SNR) of the received signal differs significantly (the SNR of the rear seat C is significantly higher than that of the driver's seat C). C The signal-to-noise ratio Y received by passenger seat B is greater than that of passenger seat B. B Since the chip duration of the starburst SLP signal (2ns) is much shorter than the signal period of heartbeat and respiration (0.5-2s), the impact of vital activities on echo power in a short period of time can be ignored.

[0083] The rear passenger seat E (located on the outer edge of the main lobe, significantly affected by seat obstruction) has a low gain coefficient and is set as follows: To match the actual propagation loss characteristics.

[0084] By using directional gain angle differentiation design, full seat coverage is achieved, and a quantifiable power difference is built between seats B and C at the same distance. This lays the physical foundation for a two-dimensional positioning mechanism of "coarse distance positioning + fine power ratio differentiation" and solves the problem that traditional single-site single-transmitter antennas cannot distinguish seats at the same distance but in different directions.

[0085] Signal parameter initialization: Enable the star flash SLP signal module, set the pulse width to 2ns, repetition period to 1MHz, and center frequency to 8GHz. Use Kaiser waveforms to enhance multipath resistance. Simultaneously record the angle-gain mapping table of the radiation pattern of a single-site single-transmit / receive antenna (default is θ). Gain attenuation curves within the range of [-15°, 15°], covering a mapping table for all seats in the vehicle.

[0086] Air environment baseline data acquisition In an unmanned state, a starburst SLP signal is emitted and the ambient echo of the empty vehicle is received, continuously collecting 500 frames of data to establish a benchmark database. The benchmark data includes: background noise energy values ​​in each seating area, amplitude and time delay distribution of reflected signals from the metal body and seats.

[0087] An empty environment energy threshold matrix can be generated using a sliding window averaging algorithm, which can then be used to eliminate interference signals reflected by non-human bodies.

[0088] On an arc equidistant from the front passenger seat B and the rear passenger seat C, a standard human model or real person is placed at position F in front of the middle rear seat D. Multiple sets of echo signals are repeatedly collected, filtered using an ambient energy threshold matrix, and then the average signal-to-noise ratio at position F is calculated using time-domain averaging. (Signal power / noise power) serves as the power ratio benchmark for distinguishing seat B from seat C. This yields the preset benchmark signal-to-noise ratio.

[0089] Personnel detection and signal reception The transmitter of a single-site single-transmitter antenna continuously transmits a star flash SLP signal according to preset parameters. After the signal is reflected by the human body, the echo signal carrying vital signs is received by the single-site single-transmitter antenna.

[0090] To accurately extract vital signs information, a fast Fourier transform can be performed on the echo signal along the slow time direction to convert the echo signal from the time domain to the Doppler frequency domain. Then, the characteristic components related to human life activities can be separated through frequency domain analysis: among them, the 0.2-0.5Hz frequency band corresponds to the periodic micro-movements of the chest cavity caused by breathing, and the 1-2Hz frequency band corresponds to the vibration characteristics generated by the heartbeat.

[0091] By comparing the extracted vital sign signal energy with baseline data of the air environment, the presence of a person inside the vehicle can be clearly determined when the signal energy exceeds the baseline value by more than 3 dB. This process utilizes dual verification of Doppler frequency domain filtering and energy thresholding, effectively filtering out interference from static environmental reflections while ensuring the accuracy of target detection through the specific frequency bands of vital signs.

[0092] Based on the detected vital signs signals and prior information about the spatial distribution of seats inside the vehicle, the energy peak distribution of the vital signs signals in the fast and slow time matrices can be analyzed to initially locate the area where the human body is located, and then the corresponding fast time series k value can be indexed. This is based on the fast time sampling rate. The mapping relationship with the k value allows for the accurate calculation of the signal propagation delay Δt between the target seat and the single-station transceiver antenna.

[0093] Since the SLP signal needs to travel through a round-trip propagation path of "transmission-human reflection-reception", the distance between the target seat and the single-station transceiver antenna can be calculated using the formula d = (c × Δt) / 2 (where c is the speed of light).

[0094] Based on a pre-built database of prior seat distances (e.g., the distance from the driver's seat to a single-station single-transmit / receive antenna is 0.5±0.2m, and the distance to the middle rear seat is 1.5±0.2m), when the calculated distance d falls within the distance range of a certain seat, the seat position is directly output. For example: if d=0.6m and matches the distance range of driver's seat A, then the person is determined to be in the driver's seat; if d=1.6m and matches the distance range of the middle rear seat, then the person is determined to be in the middle rear seat D.

[0095] Similarly, the distinction between seats D and E can be directly achieved through distance: the distance difference between the two is approximately 0.3m, which is outside the system's ranging error range (≤0.2m), therefore there is no 'positioning ambiguity'. When the distance d calculated from the vital signs signal falls within the distance range of seat E, it can be directly determined that a human body exists in seat E; otherwise, it corresponds to seat D.

[0096] Traditional single-site, single-transmitter antenna architectures can only acquire distance information through ranging and cannot calculate azimuth. Therefore, when the ranging result of human vital signs falls within the overlapping distance range between the front passenger seat B and the rear driver's seat C, distance information alone is insufficient to distinguish between the two seats. To address this scenario, a determination mechanism based on echo power ratio needs to be introduced.

[0097] The determination mechanism based on echo power ratio is as follows: For the echo signal within this range cell, extract the original signal-to-noise ratio. Then, background filtering is performed using the ambient baseline data—that is, the reflected energy from static objects such as seats and vehicle bodies, as well as environmental noise interference, is deducted to obtain the net signal-to-noise ratio generated only by human body reflection. This step ensures that the power analysis only targets valid signals related to the vital characteristics of the target, avoiding misjudgments caused by non-human factors.

[0098] Power ratio calculation By utilizing the reference signal-to-noise ratio at equidistant positions F Calculate the real-time power ratio: .

[0099] Since the target seat and the equidistant position F are in the same in-vehicle environment, and Since the noise power is completely consistent, the power ratio R can be simplified to the ratio of the power of the vital signs signal at the target seat to that at an equidistant location (noise terms cancel each other out). This ratio directly corresponds to the normalized amplitude gain of the directional monolithic single-station transceiver antenna at the target azimuth. ( (This refers to the angular offset of the seat relative to the normal direction of the monostation single-transmitter antenna). Since the gain characteristics of a directional monostation single-transmitter antenna are only related to the angle, the difference in signal power at the same distance is entirely determined by the angular offset. Therefore, seats B and C, which exhibit "positioning ambiguity," show significant differences in their normalized amplitude gains due to their different angles relative to the monostation single-transmitter antenna.

[0100] Using a pre-calibrated angle-gain mapping table (e.g., the bearing corresponding to passenger B) Normalized gain is The direction corresponding to rear seat C Normalized gain is ,and This allows the power ratio R to be matched with the normalized gain values ​​of seats B and C. If R is matched... The corresponding ratio range determines the target's location. (Passenger seat B); Similarly, it can be determined whether it is seat C, thus identifying which seat in the vehicle contains the human vital signs information.

[0101] Based on the results of coarse distance positioning and power ratio determination, the final position coordinates are output in the in-vehicle coordinate system.

[0102] Finally, the confirmed vital signs and location information of the people remaining in the vehicle can be output to relevant application systems, such as in-vehicle safety monitoring systems and intelligent cockpit control systems, so that these systems can make corresponding decisions and take corresponding actions based on the people's location information.

[0103] This application breaks through the limitation of traditional single-site single-transmitter antennas, which can only measure distance, by using a dual-dimensional positioning logic of "distance + power ratio". It eliminates the need for multiple single-site single-transmitter antenna arrays, simplifies the hardware architecture, and meets the seat-level positioning requirements in the confined space of a vehicle.

[0104] Example 3: Based on the same inventive concept, this application also provides a positioning device 300 for a target object inside a vehicle in its embodiments. Please refer to... Figure 3 As shown, Figure 3 It shows the use of Figure 2 The method shown describes a positioning device for a target object inside a vehicle. It should be understood that the specific functions of device 30 are described above; to avoid repetition, detailed descriptions are omitted here. Device 300 includes at least one software function module that can be stored in memory or embedded in the operating system of device 300 in the form of software or firmware. Specifically: See Figure 3 As shown, the device 300 may include: a starburst SLP signal module 301, a first acquisition module 302, a first determination module 303, a second acquisition module 304, and a second determination module 305. Wherein: The Star Flash SLP signal module 301 is used to transmit a preset Star Flash SLP signal and receive the echo signal formed by the reflection of the Star Flash SLP signal by the target object through a single-station single-transmit / receive antenna.

[0105] The first acquisition module 302 is used to acquire the distance between the target object and the single-station single-transmitter antenna based on the echo signal.

[0106] The first determining module 303 is used to compare the distance between the target object and the single-station single-transmitter antenna with the preset distance range between each seat in the vehicle and the single-station single-transmitter antenna to determine the candidate seat where the target object is located.

[0107] The second acquisition module 304 is used to acquire the target signal-to-noise ratio corresponding to the target object when there are multiple alternative seats.

[0108] The second determining module 305 is used to determine the target seat of the target object from multiple candidate seats based on the target signal-to-noise ratio and the gain corresponding to each candidate seat.

[0109] In this embodiment of the application, the second determining module 305 is specifically used to calculate the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio to obtain the real-time power ratio; and to perform a matching operation on the gain corresponding to each candidate seat using the real-time power ratio to determine the candidate seat corresponding to the gain corresponding to the real-time power ratio as the target seat.

[0110] In this embodiment of the application, the second acquisition module 304 is specifically used to acquire the distance sampling point corresponding to the target object in the echo signal; extract the signal-to-noise ratio of the echo signal within the distance sampling point to obtain the original signal-to-noise ratio of the distance sampling point; and filter the original signal-to-noise ratio using a preset reference signal-to-noise ratio to obtain the target signal-to-noise ratio of the target object.

[0111] In this embodiment of the application, the first acquisition module 302 is specifically used to acquire the distance sampling point corresponding to the target object in the echo signal; and to acquire the distance between the distance sampling point corresponding to the target object and the single-station single-transmitter antenna.

[0112] In one embodiment of this application, the echo signal is a two-dimensional data matrix, where one dimension is a fast time dimension and the other dimension is a slow time dimension. Obtaining the distance sampling point corresponding to the target object from the echo signal includes: performing a Fourier transform along the slow time dimension on each distance sampling point in the echo signal to obtain the Doppler spectrum corresponding to each distance sampling point; for each distance sampling point's Doppler spectrum, if the spectral energy of the Doppler spectrum corresponding to that distance sampling point within a preset target object characterization spectrum segment is greater than a preset energy threshold, then it is determined that a target object exists at that distance sampling point.

[0113] In one feasible embodiment of this application, obtaining the distance between the target object's corresponding distance sampling point and a single-site single-transmitter antenna includes: calculating the echo delay based on the index number of the target object's corresponding distance sampling point in the fast time dimension and the sampling rate; and obtaining the distance between the target object's corresponding distance sampling point and a single-site single-transmitter antenna by dividing the echo delay by 2 and then multiplying it by a preset transmission speed.

[0114] In one feasible implementation of this application, the echo delay is calculated based on the index number of the distance sampling point corresponding to the target object in the fast time dimension and the sampling rate, including: dividing the index number by the sampling rate to obtain the echo delay.

[0115] It should be understood that, for the sake of brevity, some of the content described in Embodiment 1 will not be repeated in this embodiment.

[0116] Example 4: Based on the same inventive concept, this embodiment provides an electronic device, see [link to relevant documentation]. Figure 4 As shown, it includes a processor 401 and a memory 402. Wherein: The processor 401 is used to execute one or more programs stored in the memory 402 to implement the above-mentioned method for locating the target object inside the vehicle.

[0117] It is understandable that processor 401 can be a processor core or processor chip, or other circuitry capable of program configuration and execution. Memory 402 can be RAM (Random Access Memory), ROM (Read-Only Memory), flash memory, etc., but this is not a limitation.

[0118] It's understandable. Figure 4 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 4 The more or fewer components shown, or having the same Figure 4 Different configurations are shown. For example, it may also have an internal communication bus for communication between the processor 401 and the memory 402; or it may have an external communication interface, such as a USB (Universal Serial Bus) interface, a CAN (Controller Area Network) bus interface, etc.; or it may have an information display component such as a display screen, but this is not a limitation.

[0119] Based on the same inventive concept, this embodiment also provides a computer-readable storage medium, such as a floppy disk, optical disk, hard disk, flash memory, USB flash drive, SD (Secure Digital Memory Card), MMC (Multimedia Card), etc., in which one or more programs implementing the above steps are stored. These one or more programs can be executed by one or more processors to implement the above-described method for locating target objects inside the vehicle. Further details will not be elaborated here.

[0120] Based on the same inventive concept, this embodiment also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for locating a target object inside a vehicle.

[0121] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0122] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0124] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0125] In this article, "multiple" refers to two or more.

[0126] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for locating a target object inside a vehicle, characterized in that, Applied to a single-site, single-transmitter antenna, the method includes: Send a preset star flash SLP signal and receive the echo signal formed by the target object reflecting the star flash SLP signal through the single-station single-transmitter antenna; Based on the echo signal, the distance between the target object and the single-station single-transmitter antenna is obtained; The distance between the target object and the single-station single-transmitter antenna is compared with a preset range of distances between each seat in the vehicle and the single-station single-transmitter antenna to determine the candidate seat where the target object is located. When there are multiple candidate seats, obtain the target signal-to-noise ratio corresponding to the target object; Based on the target signal-to-noise ratio and the gain corresponding to each of the candidate seats, the target seat of the target object is determined from among the multiple candidate seats.

2. The method according to claim 1, characterized in that, Based on the target signal-to-noise ratio and the gain corresponding to each of the candidate seats, determining the target seat for the target object from among the plurality of candidate seats includes: Calculate the ratio between the target signal-to-noise ratio and the preset reference signal-to-noise ratio to obtain the real-time power ratio; The real-time power ratio is used to perform a matching operation on the gain corresponding to each of the candidate seats, and the candidate seat corresponding to the gain corresponding to the real-time power ratio is determined as the target seat.

3. The method according to claim 1, characterized in that, Obtaining the target signal-to-noise ratio corresponding to the target object includes: In the echo signal, obtain the distance sampling point corresponding to the target object; The signal-to-noise ratio (SNR) of the echo signal within the distance sampling point is extracted to obtain the original SNR of the distance sampling point. The original signal-to-noise ratio is filtered using a preset reference signal-to-noise ratio to obtain the target signal-to-noise ratio of the target object.

4. The method according to claim 1, characterized in that, Based on the echo signal, the distance between the target object and the single-site single-transmitter antenna is obtained, including: In the echo signal, obtain the distance sampling point corresponding to the target object; Obtain the distance between the sampling point corresponding to the target object and the single-station single-transmitter antenna.

5. The method according to claim 3 or 4, characterized in that, The echo signal is a two-dimensional data matrix, where one dimension is a fast time dimension and the other dimension is a slow time dimension; Obtaining the distance sampling point corresponding to the target object from the echo signal includes: Perform a Fourier transform along the slow time dimension for each distance sampling point in the echo signal to obtain the Doppler spectrum corresponding to each distance sampling point; For each distance sampling point, if the spectral energy of the Doppler spectrum corresponding to the distance sampling point is greater than a preset energy threshold within the preset target object characterization spectrum segment, then the distance sampling point is determined to be the distance sampling point corresponding to the target object.

6. The method according to claim 5, characterized in that, Obtaining the distance between the target object's corresponding distance sampling point and the single-site single-transmitter antenna includes: The echo delay is calculated based on the index number of the distance sampling point corresponding to the target object in the fast time dimension and the sampling rate. The distance between the target object's corresponding distance sampling point and the single-station single-transmitter antenna is obtained by dividing the echo delay by 2 and then multiplying it by the preset transmission speed.

7. The method according to claim 6, characterized in that, The echo delay is calculated based on the index number of the distance sampling point corresponding to the target object in the fast time dimension and the sampling rate, including: The echo delay is obtained by dividing the index number by the sampling rate.

8. A positioning device for a target object inside a vehicle, characterized in that, The device, applicable to a single-site single-transmitter antenna, includes: The Star Flash SLP signal module is used to transmit a preset Star Flash SLP signal and receive the echo signal formed by the reflection of the Star Flash SLP signal by the target object through a single-station single-transmit / receive antenna. The first acquisition module is used to acquire the distance between the target object and the single-station single-transmitter antenna based on the echo signal. The first determining module is used to compare the distance between the target object and the single-station single-transmitter antenna with a preset range of distances between each seat in the vehicle and the single-station single-transmitter antenna, and to determine the candidate seat where the target object is located. The second acquisition module is used to acquire the target signal-to-noise ratio corresponding to the target object when there are multiple candidate seats; The second determining module is used to determine the target seat of the target object from among the multiple candidate seats based on the target signal-to-noise ratio and the gain corresponding to each of the candidate seats.

9. An electronic device, characterized in that, The device includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the in-vehicle target object positioning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the in-vehicle target object positioning method according to any one of claims 1 to 7.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method for locating a target object inside a vehicle as described in any one of claims 1 to 7.

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