Car key position determination method, device, and storage medium

Abstract

A car key location method, device, and storage medium are provided, which include the following steps: after a communication connection between the car and the car key is established, determine the distance between each of a plurality of location anchors in the car and the key based on distance measurement signals between each of the location anchors and the key; determine at least two reference anchors from the plurality of location anchors that indicate that the transmission mode of the distance measurement signals between the key and each of the location anchors is line-of-sight (LOS); determine first coordinates of the key in a local coordinate system corresponding to the determined reference anchors based on the distances between each of the determined reference anchors and the key; perform a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the car; and, if it is determined according to the second coordinates that the key is within a functional area of ​​the car, perform a predetermined operation corresponding to the functional area. This method solves the problem of inaccurate location measurement in key location methods in the prior art.

Description

[Technical Field]

[0001] The present application relates to the field of communication technology, and in particular to a method, device and storage medium for determining the location of a car key. [Background technology]

[0002] Contactless operation technologies such as Passive Entry Passive Start (PEPS) allow users to operate their vehicle without contact before getting into the vehicle, improving the user's car experience.

[0003] The specific process of contactless operation of a user's car is as follows: When the car key carried by the user is within a predetermined distance from the car body, the key establishes communication with the car. The body control module (BCM) in the car measures the location of the key and obtains the key's location information relative to the car. Based on the key's location information relative to the car, the BCM determines whether the key is within a functional area of ​​the car. When the BCM determines that the key is within a specific functional area of ​​the car, it performs a predetermined operation for the functional area where the key is located. In the prior art, the BCM mainly measures the location of a key by using the least squares method to calculate the distance information between the key obtained by the BCM and all location anchors in the car, and then obtains the key's location information relative to the car.

[0004] In the prior art, the key location measurement method has the problem of inaccurate location measurement, which affects the user's car usage experience. Summary of the Invention [Problem to be solved by the invention]

[0005] The present application provides a car key location method, device and storage medium to solve the problem in the prior art that the location measurement is not accurate in the key location method. [Means for solving the problem]

[0006] In a first aspect, the present application provides a method for producing a composition comprising: After a communication connection between the vehicle and the vehicle key is established, determining a distance between each of the plurality of positioning anchors in the vehicle and the key based on distance measurement signals between the respective plurality of positioning anchors in the vehicle and the key; determining at least two reference anchors from among the plurality of positioning anchors based on distances between each of the plurality of positioning anchors and the key, the reference anchors indicating that a transmission mode of a distance measurement signal between the reference anchors and the key is line-of-sight (LOS); determining a first coordinate of the key in a local coordinate system corresponding to the determined reference anchors based on a distance between each of the determined reference anchors and the key; performing a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the vehicle; and if it is determined according to the second coordinates that the key is within a functional area of ​​the car, performing a predetermined operation corresponding to the functional area.

[0007] Optionally, the step of determining a first coordinate of the key in a local coordinate system corresponding to the determined reference anchors based on a distance between each of the determined reference anchors and the key comprises: determining two reference anchors as target reference anchors from among the determined reference anchors; A step of determining a local coordinate system with a line connecting the two target reference anchors as an X-axis and one of the target reference anchors on the X-axis as a coordinate origin; determining a first coordinate of the key in the local coordinate system based on the distance between each of the two target reference anchors and the key and the distance between the two target reference anchors.

[0008] Optionally, the step of determining two reference anchors as target reference anchors from among the determined reference anchors includes: When the number of determined reference anchors exceeds two and the determined reference anchors are collinear, determining two reference anchors having the largest distance between them as target reference anchors; If the number of determined reference anchors exceeds two and the determined reference anchors are not collinear, the method includes a step of determining two reference anchors that are located adjacent to each other and whose connecting line is parallel to the ground as target reference anchors.

[0009] Optionally, the step of performing a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the vehicle includes: The first coordinate (x l ,y l determining a coordinate transformation coefficient θ corresponding to the coordinate origin of the local coordinate system to which the Transformation matrix

number

[0010] Optionally, the location anchor is an external location anchor of the vehicle; In this case, the step of determining at least two reference anchors from among the plurality of position measurement anchors based on distances between each of the plurality of position measurement anchors and the key includes: arranging the distances between each of the plurality of positioning anchors and the key in ascending order to obtain a distance sequence; determining, as reference anchors, position measurement anchors corresponding to the first n distances in the distance sequence; Here, n≧2.

[0011] Optionally, the step of determining at least two reference anchors from among the plurality of position measurement anchors based on distances between each of the plurality of position measurement anchors and the key includes: obtaining a received signal strength indicator (RSSI) corresponding to each of the plurality of positioning anchors from the key, and / or obtaining a status identifier of the corresponding positioning anchor from a positioning device of each of the plurality of positioning anchors; determining, from the distances between each of the plurality of positioning anchors and the key, a distance corresponding to an RSSI greater than a signal strength threshold as a valid distance, and / or determining, from the status identifiers of each of the plurality of positioning anchors obtained, a distance between the positioning anchor corresponding to a valid identifier and the key as a valid distance; determining at least two reference anchors from among the plurality of position measurement anchors based on the determined effective distance; The status identifier is an identifier that indicates whether a distance measurement signal used for measuring the distance between the position measurement anchor and the key is valid or not.

[0012] Optionally, before the step of determining at least two reference anchors from among the plurality of position measurement anchors based on the determined effective distance, the method further comprises: If the number of determined effective distances is less than two, the method further includes a step of reacquiring distance measurement signals between each of a plurality of positioning anchors in the vehicle and the key, and determining the distance between each of the plurality of positioning anchors and the key based on the acquired distance measurement signals until at least two effective distances are determined from the distances between each of the plurality of positioning anchors and the key.

[0013] In a second aspect, the present application provides a control device comprising a collection module, a processing module and an operation module, the collection module is used to determine a distance between each of a plurality of positioning anchors in the vehicle and the key based on a distance measurement signal between the key and each of the plurality of positioning anchors in the vehicle after a communication connection between the vehicle and the key is established; the processing module is used to determine, based on distances between each of the plurality of positioning anchors and the key, at least two reference anchors from among the plurality of positioning anchors, which indicate that a transmission mode of a distance measurement signal between the plurality of positioning anchors and the key is line-of-sight radio transmission (LOS); the processing module is further used to determine, based on a distance between each of the determined reference anchors and the key, a first coordinate of the key in a local coordinate system corresponding to the determined reference anchors; the processing module is further used to perform a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the vehicle; The operation module is used to perform a predetermined operation corresponding to the function area when it is determined according to the second coordinate that the key is within the function area of ​​the vehicle.

[0014] In a third aspect, the present application provides a method for producing a composition comprising: providing a control device comprising a processor and a memory; the memory stores executable instructions executable by the processor; When the processor executes the executable instructions stored in the memory, it causes the processor to perform the methods described above.

[0015] In a fourth aspect, the present application provides a storage medium having stored thereon computer-executable instructions, which when executed by a processor are used to implement the method described above.

[0016] In a fifth aspect, the present application provides a chip comprising a memory and a processor, wherein the memory stores code and data, and the memory is coupled to the processor, and when the processor executes a program in the memory, the chip is used to perform the method described above.

[0017] In a sixth aspect, the present application provides a program product comprising a computer program, which when run on a computer causes the computer to perform the method as defined above.

[0018] In a seventh aspect, the present application provides a computer program, which when executed by a processor is used to perform the method described above. [Effects of the Invention]

[0019] The present invention provides a method, device, and storage medium for determining a car key location. The method, device, and storage medium determine a first coordinate of the key in a local coordinate system corresponding to the reference anchor based on the distance between the key and a reference anchor, which indicates that the transmission mode of the distance measurement signal between the location anchor and the key is LOS transmission. This determines the key's position relative to the reference anchor, ensuring the accuracy of the determined key location. The method then performs a coordinate system transformation process on the first coordinate to obtain a second coordinate of the key in a predetermined car coordinate system. If the key is determined to be within a vehicle functional area according to the second coordinate, a predetermined operation corresponding to the functional area is performed. The present invention avoids the adverse effect on the accuracy of key location measurement due to inaccurate distance information determined by distance measurement signals transmitted via NLOS, thereby improving the accuracy of key location measurement. The present invention solves the problem of inaccurate location measurement in prior art key location methods. [Brief explanation of the drawings]

[0020] The drawings accompanying this application, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. [Figure 1a] FIG. 1 is a diagram illustrating a conventional key location scenario. [Figure 1b] FIG. 1 is a scenario diagram of distance measurement signal transmission between a conventional key and a location anchor in a car. [Figure 2] FIG. 1 is a scenario diagram of car key location provided in an embodiment of the present application. [Figure 3] 1 is a flowchart of a car key location method provided in an embodiment of the present application; [Figure 4] FIG. 1 is a scenario diagram illustrating how a side mirror of a vehicle provided in an embodiment of the present application can be opened by a user's contactless operation. [Figure 5] 1 is a schematic diagram of a local coordinate system provided in an embodiment of the present application. [Figure 6] 1 is a schematic diagram of a predetermined coordinate system of a vehicle provided in an embodiment of the present application; [Figure 7] 1 is a structural diagram of a control device provided in an embodiment of the present application; [Figure 8] 2 is a structural diagram of a control device provided in an embodiment of the present application. Specific embodiments of the present application have been shown in the above drawings, and will be described in more detail below. These drawings and written descriptions are not intended to limit the scope of the present application in any way, but rather to explain the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0021] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions will be described clearly and completely below with reference to the drawings of the embodiments of the present application, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present application without any creative work shall fall within the scope of protection of the present application.

[0022] Contactless operation technologies such as Passive Entry Passive Start (PEPS) allow users to operate their car without a key (or without a touch) before even getting inside the vehicle, greatly improving the user's car experience.

[0023] FIG. 1A illustrates a conventional key location scenario. As shown in FIG. 1A, a car typically deploys location anchors, including UWB anchors such as UWB1, UWB2, UWB3, UWB4, UWB5, UWB6, and UWB7 shown in FIG. 1A. As shown in FIG. 1A, UWB1, UWB2, UWB3, and UWB4 are all located outside the car body, while UWB5, UWB6, and UWB7 are all located inside the car body. A body control module (BCM) 12 is also deployed in the car. The BCM 12 continuously broadcasts a Bluetooth Low Energy (BLE) broadcast signal via a Bluetooth module in the BCM 12. The car key 11 detects the car's BLE broadcast signal in real time.

[0024] The specific process of contactless operation of a user's car is as follows: When the key 11 detects and identifies that the received signal strength indication (RSSI) of the BLE broadcast signal of the related car reaches a predetermined communication threshold, the key 11 sends a communication connection request to the BCM 12 of the related car. The BCM 12 responds to the communication connection request sent from the key 11 to establish a communication connection between the car and the corresponding key 11, and establishes communication with the key 11 after authentication is successful. The BCM 12 uses the BLE RSSI between the BCM 12 and the key 11 as a distance measurement signal to continuously measure the distance of the key 11 and obtain the Bluetooth distance measurement distance of the key 11 to the car. When the Bluetooth® ranging distance is equal to or less than the first distance threshold, the BCM 12 controls the positioning devices at the multiple positioning anchors in the vehicle to activate the ranging function of each positioning device and convert the Bluetooth® ranging mode to an Ultra Wide Band (UWB) Time of Flight (ToF) ranging mode by the positioning device. The positioning device can be a UWB device equipped with a UWB chip or UWB module. The positioning device and the BCM 12 can be connected via a bus.

[0025] The car key 11 may be a physical key or a virtual key on a user terminal.

[0026] After the BCM 12 converts the Bluetooth® RSSI distance measurement mode to the UWB ToF distance measurement mode, the BCM 12 performs location measurement for the key 11 as follows. Based on the distance measurement signals between each position measurement device and the key 11, the BCM 12 determines distance information between the key 11 and the position measurement anchor corresponding to each position measurement device. To achieve location measurement of the key 11, the BCM 12 performs position calculation using the least squares method for the determined distance information to obtain location information of the key 11 relative to the car. The location information of the key 11 relative to the car may be the coordinates of the key 11 in a predetermined coordinate system of the car. Based on the location information of the key 11 relative to the car, the BCM 12 determines whether the key 11 is within the functional area of ​​the car. If it is determined that the key 11 is within the functional area of ​​the car, the BCM 12 performs a predetermined operation corresponding to the functional area in which the key 11 is located. If it is determined that the key 11 is not within the functional area of ​​the car, the predetermined operation corresponding to the functional area is not performed.

[0027] As shown in Figure 1b, the key 11 is located on the outside of the vehicle body. The transmission modes of the distance measurement signal between the key 11 and the positioning anchor outside the vehicle body include line-of-sight (LOS) and non-line-of-sight (NLOS) wireless transmission. The distance measurement signal between the key 11 and the positioning anchor inside the vehicle body has no direct path due to the shielding of the vehicle body, so the transmission mode of the distance measurement signal is NLOS transmission. The distance measurement signal between the key 11 and the positioning anchor is subject to reflection and / or diffraction from reflectors during transmission. Therefore, the transmission of the distance measurement signal has no direct path due to the lack of line-of-sight conditions. Reflectors include metallic and non-metallic vehicle bodies. When the distance measurement signal is reflected and / or diffracted by a reflector, the RSSI of the distance measurement signal is attenuated due to factors such as the surface conductivity, roughness, and reflectivity of the reflector. Because the distance measuring signal is reflected and / or diffracted by reflectors during transmission, the distance between the key 11 and the positioning anchor determined based on the distance measuring signal is often greater than the actual distance between the key 11 and the positioning anchor, which results in inaccurate distance information being included in the distance information between the key 11 and all positioning anchors in the car.

[0028] In this application, NLOS is also referred to as NLOS transmission, and LOS is also referred to as LOS transmission.

[0029] The accuracy of the results calculated using the least squares method is closely related to the amount of data used in the calculation and the accuracy of the data. Therefore, in order to ensure the amount of data used in the least squares calculation, the conventional key position measurement method uses the distance information between the key 11 and all position measurement anchors to calculate the position of the key 11. As a result, there is a large deviation between the obtained position information of the key 11 relative to the car and the actual position of the key 11 relative to the car. As a result, the key position measurement method in the conventional technology has the problem of inaccurate position measurement. Furthermore, there is a discrepancy between the key position obtained by the car's calculation and the actual position of the key, which will trigger the execution of a specified operation in a function area that does not match the actual position, or the key is within the car's function area but the specified operation in the function area where the key is located cannot be performed, which will affect the user's experience of using the car.

[0030] Typically, as shown in Figure 1b, the key 11 is located outside the vehicle body, and the distance measurement signals transmitted between the key 11 and the at least two positioning anchors in the vehicle are not reflected or diffracted by the vehicle body, or the transmission mode of the distance measurement signals between the key 11 and the at least two positioning anchors in the vehicle is line-of-sight (LOS) transmission. Examples of LOS transmission include LOS transmission shown in Scenario 1, Scenario 2, and Scenario 3 in Figure 1b. Using a positioning anchor corresponding to LOS transmission as the reference anchor to measure the location of the key 11 can improve the accuracy of the location measurement of the key 11 and, at the same time, prevent inaccurate distance information determined based on the distance measurement signals in NLOS transmission from adversely affecting the accuracy of the location measurement of the key 11.

[0031] In view of this, the present application proposes a car key location method, which, after a communication connection between a car and the car key is established, determines a distance between each of a plurality of location anchors in the car and the key based on a distance measurement signal between each of the plurality of location anchors and the key; determines at least two reference anchors from among the plurality of location anchors based on the distance between each of the plurality of location anchors and the key; and determines a first coordinate of the key in a local coordinate system corresponding to the determined reference anchor based on the distance between each of the determined reference anchors and the key, where the reference anchor indicates that the transmission mode of the distance measurement signal between the key and the car key is line-of-sight wireless transmission (LOS); performs a coordinate system transformation process on the first coordinate to obtain a second coordinate of the key in a predetermined coordinate system of the car; and if it is determined according to the second coordinate that the key is within a functional area of ​​the car, performs a predetermined operation corresponding to the functional area. The present invention provides a method for determining a first coordinate of the key in a local coordinate system corresponding to the reference anchor based on the distance between the key and a reference anchor, which indicates that the transmission mode of the distance measurement signal between the location anchor and the key is LOS transmission. This determines the key's position relative to the reference anchor, ensuring the accuracy of the determined key position. The method then performs a coordinate system transformation process on the first coordinate to obtain a second coordinate of the key in a predetermined coordinate system of the vehicle. If the key is determined to be within a functional area of ​​the vehicle according to the second coordinate, the method performs a predetermined operation corresponding to the functional area. This method avoids the inaccurate distance information determined by the distance measurement signal in NLOS transmission, which adversely affects the accuracy of key location measurement, thereby improving the accuracy of key location measurement and solving the problem of inaccurate location measurement in the prior art of key location methods.

[0032] The car key location method provided in this application will be described below with reference to several embodiments.

[0033] FIG. 2 is a scenario diagram of a car key location provided in an embodiment of the present application. As shown in FIG. 2, a car is equipped with multiple location anchors, including UWB1, UWB2, UWB3, and UWB4. A location device is disposed in the location anchor, and the location device can determine the distance between the location anchor and the car key 11, or the location anchor is an anchor with a location function. The location device may be a UWB device equipped with a UWB chip or a UWB module. The location device may also be a location device equipped with a BLE module or a BLE chip. A control device 21 equipped with a BLE module is disposed in the car. The car key 11 similarly includes a UWB chip or a UWB module. The car key 11 further includes a BLE module or a BLE chip. The car key 11 may be a physical key or a virtual key in a user terminal. Examples of the user terminal include a mobile phone, a tablet PC, and the like.

[0034] Normally, the control device 21 continuously broadcasts a BLE broadcast signal through the BLE module, and the car key 11 detects the car's BLE broadcast signal in real time.

[0035] When the key 11 detects and identifies that the RSSI of the BLE broadcast signal of the vehicle has reached a predetermined communication threshold, the key 11 sends a communication connection request to the vehicle's control device 21. The control device 21 responds to the communication connection request sent from the key 11 so that a communication connection between the vehicle and the key 11 is established, and establishes communication with the key 11 after authentication is successful. The control device 21 continuously measures the distance of the key 11 based on the BLE ranging signal between the control device 21 and the key 11 to obtain the Bluetooth ranging distance of the key 11 relative to the vehicle. If the Bluetooth ranging distance is equal to or less than a first distance threshold, the control device 21 controls the positioning devices at the multiple positioning anchors in the vehicle to activate the ranging function of each positioning device. If the positioning device is a UWB device, the control device 21 converts the Bluetooth ranging mode of the distance measurement by the control device 21 into the UWB ranging mode of the distance measurement by the positioning device. The distance measurement signal between the position measurement device and the key 11 is, in other words, the distance measurement signal between the key 11 and the position measurement anchor corresponding to the position measurement device.

[0036] After the control device 21 converts the Bluetooth distance measurement mode to the UWB distance measurement mode, the control device 21 performs location measurement of the key 11 as follows: The control device 21 determines the distance between each of the multiple position measurement anchors in the vehicle and the key 11 based on the distance measurement signals between each of the multiple position measurement anchors and the key 11. The control device 21 determines at least two reference anchors from among the multiple position measurement anchors based on the distance between each of the multiple position measurement anchors and the key 11, and then determines first coordinates of the key 11 in a local coordinate system corresponding to the determined reference anchors based on the distances between each of the determined reference anchors and the key 11. The reference anchors indicate that the transmission mode of the distance measurement signals between them and the key 11 is line-of-sight wireless transmission (LOS). The control device 21 performs a coordinate system transformation process on the first coordinates to obtain second coordinates of the key 11 in a predetermined coordinate system of the vehicle. If the control device 21 determines that the key 11 is within the functional area of ​​the vehicle according to the second coordinates, it executes a predetermined operation corresponding to the functional area, but if it determines that the key 11 is not within the functional area of ​​the vehicle, it does not execute the predetermined operation corresponding to the functional area.

[0037] Typically, a car is preset with multiple function areas, and the predetermined operations corresponding to each function area include at least one of the following operations: passive entry, passive start, turning on welcome lights, opening and closing left and right doors, adjusting seats, starting the air conditioner, locking the car, stopping the engine, turning off the lights, closing the doors, and stopping the air conditioner.

[0038] As shown in Figure 2, the positioning anchors UWB1, UWB2, UWB3, and UWB4 are all located outside the vehicle body, with UWB1 and UWB4 located at the two front corners of the vehicle body and UWB2 and UWB3 located at the two rear corners. By having the positioning anchors outside the vehicle body and at the four corners of the front and rear of the vehicle body, the distance measurement signal between the key 11 and the positioning anchors will not be blocked or reflected or diffracted by the vehicle body.

[0039] Optionally, the position measurement device may be a Bluetooth® position measurement device. After the distance measurement function of the Bluetooth® position measurement device is activated, the control device 21 performs position measurement of the key 11 as follows: The control device 21 determines the distance between each of the multiple position measurement anchors and the key 11 based on distance measurement signals (such as Bluetooth® distance measurement signals) between each of the Bluetooth® position measurement devices at each of the multiple position measurement anchors in the vehicle and the key 11. The control device 21 determines at least two reference anchors from among the multiple position measurement anchors based on the distance between each of the multiple position measurement anchors and the key 11, and then determines first coordinates of the key 11 in the local coordinate system corresponding to the determined reference anchors based on the distance between each of the determined reference anchors and the key 11. The control device 21 performs a coordinate system transformation process on the first coordinates to obtain second coordinates of the key 11 in the predetermined coordinate system of the vehicle. If the control device 21 determines that the key 11 is within the functional area of ​​the vehicle according to the second coordinates, it executes a predetermined operation corresponding to the functional area, but if it determines that the key 11 is not within the functional area of ​​the vehicle, it does not execute the predetermined operation corresponding to the functional area.

[0040] Preferably, the position measuring device is a UWB device in UWB ranging mode, since the accuracy of UWB ranging is typically higher than the accuracy of Bluetooth ranging for short distances.

[0041] The present embodiment provides a car key location method for accurately determining the key's position relative to a reference anchor by: determining at least two reference anchors from among a plurality of location anchors; determining first coordinates of the key in a local coordinate system corresponding to the reference anchors based on the distances between each of the determined reference anchors and the key; and performing coordinate system transformation on the first coordinates to obtain second coordinates of the key in a predetermined vehicle coordinate system. If it is determined that the key is within a vehicle functional area according to the second coordinates, a predetermined operation corresponding to the functional area where the key is located is performed; but if it is determined that the key is not within the vehicle functional area, the predetermined operation corresponding to the functional area is not performed. This method avoids the adverse effect on key location accuracy due to inaccurate distance information determined by distance measurement signals in NLOS transmission, improves key location accuracy, and solves the problem of inaccurate location measurement in the prior art key location methods. The method of the present application can avoid the situation where the key position calculated by the car using the conventional key position measurement method is inconsistent with the actual position of the key, which causes the execution of a predetermined operation in a function area that does not match the actual position of the key, or the situation where the key is located within the function area of ​​the car but the predetermined operation in the function area where the key is located cannot be performed. The method provided in the present application improves the user's experience of using the car.

[0042] Hereinafter, the car key location method provided in the present application will be described in detail with reference to Figures 2 and 3. Figure 3 shows the car key location method provided in the embodiment of the present application. method 3. The execution subject of the embodiment shown in Fig. 3 may be the control device 21 in the embodiment shown in Fig. 2. As shown in Fig. 3, the method includes S101 to S105.

[0043] In S101, after a communication connection between the vehicle and the vehicle key is established, the distance between each of the plurality of positioning anchors in the vehicle and the key is determined based on distance measurement signals between each of the plurality of positioning anchors in the vehicle and the key.

[0044] In this embodiment, after a communication connection between the car and the car key 11 is established and the distance measurement operation of the positioning device at the multiple positioning anchors in the car is activated, the control device 21 acquires distance measurement signals between each of the multiple positioning anchors in the car and the key 11. Based on the distance measurement signals between each of the multiple positioning anchors in the car and the key 11, the control device 21 determines the distance between each of the multiple positioning anchors and the key 11.

[0045] Alternatively, the location anchors may be located outside the vehicle body. For example, the location anchors may be located at the four corners of the front and rear of the vehicle body, or may be located at other positions outside the vehicle body. The distance between the location anchors and the key 11 determined by the control device 21 may be a time-of-flight (ToF) distance.

[0046] In S102, based on the distance between each of the plurality of positioning anchors and the key, at least two reference anchors are determined from the plurality of positioning anchors, which indicate that the transmission mode of the distance measurement signal between the key and the anchors is line-of-sight wireless transmission (LOS).

[0047] In this embodiment, the control device 21 can determine, based on the distance between each of the multiple positioning anchors and the key 11, at least two positioning anchors from among the multiple positioning anchors whose transmission mode of the distance measurement signal is LOS as reference anchors.

[0048] For example, the control device 21 can determine at least two reference anchors from among the multiple positioning anchors based on the distance between each of the multiple positioning anchors and the key 11 as follows: The control device 21 arranges the distances between each of the multiple positioning anchors and the key 11 in ascending order to obtain a distance sequence. The control device 21 determines the positioning anchors corresponding to the first n distances in the distance sequence as reference anchors, where n≧2. n may be the number of reference anchors that has been set in advance.

[0049] Alternatively, the control device 21 may determine as reference anchors the location anchors corresponding to the first n distances in the distance sequence that are smaller than a second distance threshold, which may be the maximum distance between the key 11 and the car when the key 11 is within the functional area.

[0050] When the distance measurement signal between the positioning anchor and the key 11 is reflected or diffracted by the vehicle body, the distance between the positioning anchor and the key 11 determined based on the distance measurement signal becomes large. Therefore, by determining a positioning anchor that is a small distance away as the reference anchor from the distance sequence, the accuracy and validity of the determined reference anchor can be ensured, and as a result, the accuracy of the position of the key 11 determined based on the reference anchor can be ensured.

[0051] Alternatively, the control device 21 may determine at least two reference anchors from among the plurality of position measurement anchors based on the distance between each of the plurality of position measurement anchors and the key 11 according to the method shown in steps I-III.

[0052] In step I, the control device 21 acquires a received signal strength indicator (RSSI) corresponding to each of the multiple positioning anchors from the key 11 and / or acquires a status identifier of the corresponding positioning anchor from the positioning device of each of the multiple positioning anchors. The status identifier is an identifier indicating whether a distance measurement signal used to measure the distance between the positioning anchor and the key is valid or not. That is, the status identifier is either a valid identifier indicating that the distance measurement signal used to measure the distance between the positioning anchor and the key is valid, or an invalid identifier indicating that the distance measurement signal used to measure the distance between the positioning anchor and the key is invalid. Examples of valid identifiers include 1 or valid. Examples of invalid identifiers include 0 or invalid.

[0053] In step II, the control device 21 determines, from among the distances between each of the multiple positioning anchors and the key 11, the distance corresponding to an RSSI greater than the signal strength threshold as the effective distance, and / or determines, from among the status identifiers of each of the multiple positioning anchors obtained, the distance between the positioning anchor corresponding to a valid identifier and the key as the effective distance.

[0054] In step III, the control device 21 determines at least two reference anchors from among the plurality of position measurement anchors based on the determined effective distances.

[0055] Furthermore, if the number of effective distances determined by the control device 21 is less than two before determining at least two reference anchors from among the multiple positioning anchors based on the determined effective distances, in order to improve the accuracy of subsequent positioning of the key 11, the control device 21 re-acquires distance measurement signals between each of the multiple positioning anchors in the car and the key 11, and determines the distance between each of the multiple positioning anchors and the key 11 based on the acquired distance measurement signals until at least two effective distances are determined from the distances between each of the multiple positioning anchors and the key 11.

[0056] control device 21 determines an effective distance from among the distances between each of the multiple positioning anchors and the key 11 based on the RSSI and / or the status identifier of the positioning anchor, and then determines a reference anchor based on the effective distance, thereby improving the accuracy of determining the reference anchor and ensuring the validity of the determined reference anchor.

[0057] In S103, a first coordinate of the key in the local coordinate system corresponding to the determined reference anchor is determined based on the distance between each of the determined reference anchors and the key.

[0058] In this embodiment, the control device 21 can determine the first coordinate of the key 11 in the local coordinate system corresponding to the determined reference anchors based on the distance between each of the determined reference anchors and the key, according to the method shown in steps IV-VI.

[0059] In step IV, the control device 21 determines two reference anchors as target reference anchors from among the determined reference anchors.

[0060] For example, if the number of reference anchors determined by the control device 21 exceeds two and the determined reference anchors are collinear, the control device 21 determines the two reference anchors with the greatest distance between them as the target reference anchors.

[0061] If the number of reference anchors determined by the control device 21 exceeds two and the determined reference anchors are not collinear, the control device 21 determines two reference anchors that are located adjacent to each other and have a line connecting them that is parallel to the ground as target reference anchors. Furthermore, if the control device 21 determines that there are multiple groups of two adjacent reference anchors whose connecting line is parallel to the ground, it selects the two adjacent reference anchors whose connecting line is parallel to the ground and that are least affected by the vehicle body as target reference anchors according to a predetermined rule.

[0062] If the number of reference anchors determined by the control device 21 exceeds two and the determined reference anchors are not collinear, the control device 21 determines the two reference anchors that are located adjacent to each other and have the smallest sum of the distances between each of the two reference anchors and the key 11 as the target reference anchors.

[0063] In step V, the control device 21 determines a local coordinate system with the line connecting the two target reference anchors as the X axis and one of the target reference anchors on the X axis as the coordinate origin.

[0064] In step VI, the control device 21 determines a first coordinate of the key 11 in the local coordinate system based on the distance between each of the two target reference anchors and the key 11 and the distance between the two target reference anchors.

[0065] Alternatively, if the key 11 is not collinear with the reference anchor, in the same vehicle, the local coordinate system determined by the control device 21 may be a local coordinate system in which the coordinate value of the Y axis of the key 11 in the local coordinate system is a negative number.

[0066] Alternatively, if the key 11 is not collinear with the reference anchor, in the same vehicle, the local coordinate system determined by the control device 21 may be a local coordinate system in which the coordinate value of the Y axis of the key 11 in the local coordinate system is a positive number.

[0067] The first coordinate of the key 11 indicates the position of the key 11 relative to the determined reference anchor. The control device 21 determines at least two position measurement anchors, from among the multiple position measurement anchors, whose transmission mode of distance measurement signals is LOS, as reference anchors, and accurately determines the position of the key 11 relative to the reference anchors based on the distance between each of the reference anchors and the key 11, ensuring the accuracy of the determined position of the key 11.

[0068] Typically, in a car, when it is determined that the key 11 carried by the user is within a specific function area, a predetermined operation corresponding to that function area is executed, thereby enabling the user to operate the car without contact by setting multiple function areas in advance.

[0069] To easily determine whether the key 11 is within a functional area of ​​the vehicle, the determination is usually made using the coordinates of the key 11 in a predetermined coordinate system of the vehicle. Each functional area of ​​the vehicle is associated with a predetermined coordinate system of the vehicle. Based on the first coordinates of the key 11 in the local coordinate system, the control device 21 can accurately determine the coordinates of the key 11 in the predetermined coordinate system of the vehicle, and can accurately determine whether the key 11 is within a functional area of ​​the vehicle. Therefore, after performing step S103, the control device 21 can accurately determine the coordinates of the key 11 in the predetermined coordinate system of the vehicle by performing step S104.

[0070] In S104, a coordinate system conversion process is performed on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the car.

[0071] In this embodiment, the control device 21 can accurately obtain the second coordinates of the key 11 in the predetermined coordinate system of the vehicle by performing a coordinate system transformation process from the local coordinate system to the predetermined coordinate system for the first coordinates based on the accurately determined first coordinates of the key 11. The second coordinates are used to determine whether the key 11 is within the functional area of ​​the vehicle.

[0072] Illustratively, the control device 21 calculates the first coordinate (x l ,y l ) belongs to the local coordinate system.

[0073] The control device 21 calculates the transformation matrix

number

[0074] The control device 21 corresponds the global coordinates (x0, y0) of the position measurement anchor in the predetermined coordinate system of the vehicle based on the coordinate origin of the local coordinate system, and g =x r +x0 and y g =y r +y0, the second coordinate (x g ,y g ) is determined.

[0075] In step S104, a transformation is performed from the coordinates of the key 11 in the local coordinate system to the coordinates of the key 11 in a predetermined coordinate system, and second coordinates are obtained that can be used to determine whether the key 11 is within the functional area of ​​the vehicle.

[0076] In S105, if it is determined that the key is within the function area of ​​the car according to the second coordinates, a predetermined operation corresponding to the function area is executed.

[0077] In this embodiment, when the control device 21 determines that the key 11 is within the function area of ​​the car according to the second coordinates, it executes a predetermined operation corresponding to the function area where the key 11 is located.

[0078] Correspondingly, if it is determined according to the second coordinates that the key 11 is not within the functional area of ​​the vehicle, the control device 21 does not execute the predetermined operation corresponding to the functional area.

[0079] The method for determining the location of a car key provided in the present application will be described below with reference to a scenario in which a side mirror of a car is opened by a user through a contactless operation as shown in FIG.

[0080] Assume that the side mirrors of car A are closed. The positioning anchors on car A are UWB anchors. The positioning anchors on car A include two UWB anchors UWB1 and UWB4 located at the two corners of the front body of car A and two UWB anchors UWB2 and UWB3 located at the two corners of the rear body of car A in FIG. 4. A UWB device is disposed in the UWB anchor. The UWB device comprises a UWB chip or a UWB module. Key A comprises a UWB chip or a UWB module. Key A further comprises a BLE module. A device similar or equivalent to the control device 21 in the embodiment according to FIG. 2 is disposed in car A.

[0081] As shown in Figure 4, the process of opening a car's side mirror with a non-contact operation by the user is shown in the following steps (1)-(3).

[0082] (1) When user A's key A detects and identifies that the RSSI of car A's BLE broadcast signal reaches a predetermined communication threshold, key A sends a communication connection request to car A's control device 21. The control device 21 responds to the communication connection request sent from key A so that a communication connection between car A and key A is established, and establishes communication with key A after authentication is successful. The control device 21 continuously measures the distance of key A based on the BLE distance measurement signal between the control device 21 and key A, and obtains key A's Bluetooth distance measurement distance to the car. If the Bluetooth distance measurement distance is equal to or less than a first distance threshold, the control device 21 controls UWB devices at multiple location measurement anchors in car A to activate the distance measurement function of each UWB device. The control device 21 converts the Bluetooth distance measurement mode of distance measurement by the control device 21 into a UWB distance measurement mode of distance measurement by the UWB device. The distance measurement signal between the UWB device and key A becomes the distance measurement signal between key A and the location measurement anchor corresponding to the UWB device.

[0083] (2) After the control device 21 converts the Bluetooth distance measurement mode into the UWB distance measurement mode, the control device 21 performs location measurement of the key A according to the method shown in the following steps (2.1)-(2.8).

[0084] (2.1) Based on distance measurement signals between each of the multiple positioning anchors in the vehicle and key A, control device 21 determines the distance between each of UWB1, UWB2, UWB3, UWB4 and key A. Examples of the distances between each of UWB1, UWB2, UWB3, UWB4 and key A include distance d1 between key A and UWB1, distance d2 between key A and UWB2, distance d3 between key A and UWB3, and distance d4 between key A and UWB4.

[0085] (2.2) The control device 21 acquires the RSSI corresponding to each of UWB1, UWB2, UWB3, and UWB4 from key A, and acquires the status identifiers of the corresponding positioning anchors from the UWB devices corresponding to each of UWB1, UWB2, UWB3, and UWB4. The RSSIs corresponding to UWB1, UWB2, UWB3, and UWB4 are RSSI-1, RSSI-2, RSSI-3, and RSSI-4, respectively, and it is assumed that the status identifiers of UWB1, UWB2, UWB3, and UWB4 are all valid identifiers.

[0086] (2.3) Among the distances d1, d2, d3, and d4 between UWB1, UWB2, UWB3, and UWB4 and key A, RSSI-1, RSSI-2, RSSI-3, and RSSI-4 corresponding to d1, d2, d3, and d4 are all greater than the signal strength threshold. Ku , and if the status identifiers of the position measurement anchors corresponding to d1, d2, d3, and d4 are all valid identifiers, the control device 21 determines d1, d2, d3, and d4 as valid distances.

[0087] (2.4) The control device 21 arranges d1, d2, d3, and d4 in ascending order to obtain the distance sequence [d3, d4, d2, d1].

[0088] (2.5) Assume that n = 2. The control device 21 determines the positioning anchors (i.e., UWB3 and UWB4) corresponding to the first two distances (i.e., d3 and d4) of the distance sequence [d3, d4, d2, d1] as the reference anchors.

[0089] (2.6) The control device 21 determines the two reference anchors UWB3 and UWB4 from the determined reference anchors UWB3 and UWB4 as target reference anchors.

[0090] (2.7) The control device 21 determines the local coordinate system shown in FIG. 5, with the line connecting the target reference anchors UWB3 and UWB4 as the X-axis and the position measurement anchor UWB3 as the coordinate origin. This local coordinate system corresponds to the reference anchors UWB3 and UWB4. In this local coordinate system, the coordinate value of the Y-axis of key A is a negative number. The control device 21 determines the distances d3 and d4 between key A and target reference anchors UWB3 and UWB4, respectively, and the distance h between target reference anchors UWB3 and UWB4. 34 Based on this, the first coordinate (x lA ,y lA )of, As shown in FIG. 5, if the vertical distance from key A to the X axis is dy and the vertical distance from key A to the Y axis is dx, the first coordinate (x lA ,y lA )=(dx,-dy). Here, dx and dy are the values ​​that the control device 21 uses in accordance with the cosine law.

number

number

[0091] (2.8) The control device 21 calculates the first coordinate (x lA ,y lA ) to obtain the second coordinate (x gA ,y gA ) to get the

[0092] The predetermined coordinate system of car A is assumed to be as shown in Figure 6. In the predetermined coordinate system of car A, the forward direction of the center line of the car body is the positive direction of the Y axis, and the right direction of the driver is the positive direction of the X axis, and the intersection of the X axis and the Y axis is located at the very front end of the front part of the car body along the center axis. The overall coordinates of the four position measurement anchors UWB1, UWB2, UWB3, and UWB4 in car A in the predetermined coordinate system of car A are respectively (x 01 ,y 01 ), (x 02 ,y 02 ), (x 03 ,y 03 ), (x 04 ,y 04 ) The coordinate transformation coefficients corresponding to the four positioning anchors UWB1, UWB2, UWB3, and UWB4 on car A are θ1, θ2, θ3, and θ4, respectively. Using UWB1, UWB2, UWB3, and UWB4 as the coordinate origins, the local coordinate system is determined in a manner similar to step (4). The values ​​of θ1, θ2, θ3, and θ4 can be determined by calibrating the specific angle deviations when placing the anchors, using 270°, 0°, 90°, and 180° as the references, respectively.

[0093] (2.8.1) The control device 21 calculates the first coordinate (x lA ,y lA The coordinate transformation coefficient corresponding to the coordinate origin of the local coordinate system to which the anchor UWB3 belongs (i.e., the anchor UWB3 for position measurement) is determined to be θ3.

[0094] (2.8.2) The control device 21 calculates the transformation matrix

number

[0095] (2.8.3) The control device 21 calculates the global coordinate (x θ) of the coordinate origin of the local coordinate system (i.e., the positioning anchor UWB3) in the predetermined coordinate system of the car A. 03 ,y 03) based on x gA =x rA +x 03 and y gA =y rA +y 03 In the formula, the second coordinate (x gA ,y gA ) is determined.

[0096] (3) Multiple functional areas of car A i is a functional area determined based on the predetermined coordinate system shown in FIG. 6, and the functional area s i The coordinate point range of the functional area s i The coordinate point (x si ,y si ) is β si1 ≦x si ≦β si2 and β si3 ≦y si ≦β si4 where i=1, 2, 3, ..., k.

[0097] Assume that the predetermined operation of the functional area s5 of the car A is to open the side mirror.

[0098] The control device 21 controls each functional area s i Cycle through the coordinate point range and find the second coordinate (x gA ,y gA ) is determined to be within the coordinate point range of the functional area s5, that is, (x gA ,y gA ) is β s51 ≦x gA ≦β s52 and β s53 ≦y gA ≦β s54 If the above condition is satisfied, the control device 21 determines that the key A is within the function area s5 of the car A, as shown in FIG. 4, and performs the operation of opening the side mirror of the car A. However, the control device 21 does not determine the second coordinate (x gA ,y gA ) is one of the functional areas s of car A. iIf it is determined that the coordinate is not within the coordinate point range of the functional area s i Do not perform the specified operation corresponding to

[0099] The car key location method provided in this embodiment determines an effective distance from among the distances between each of multiple location anchors and the key based on the RSSI and / or status identifier of each acquired location anchor of the vehicle, and determines at least two reference anchors indicating that the transmission mode of the distance measurement signal between the location anchor and the key is LOS transmission based on the effective distance, thereby improving the accuracy of the reference anchor determination and ensuring the validity of the determined reference anchors. Accurately determines a first coordinate of the key in a local coordinate system corresponding to the determined reference anchor based on the distance between each target reference anchor selected from the at least two reference anchors and the key, performs coordinate system transformation on the first coordinate, and accurately determines a second coordinate of the key in a predetermined vehicle coordinate system, thereby accurately determining whether the key is located within the vehicle's functional area. If it is determined that the key is located within the vehicle's functional area, a predetermined operation corresponding to the functional area where the key is located is performed, allowing the user to operate the vehicle without contact. If it is determined that the key is not located within the vehicle's functional area, the predetermined operation corresponding to the functional area is not performed. The method of the present application accurately locates the key based on the distance between the key and a location anchor determined by a distance measurement signal transmitted via LOS. This avoids the detrimental effect on key location accuracy due to inaccurate distance information determined by a distance measurement signal transmitted via NLOS, improves key location accuracy, and solves the problem of inaccurate key location measurement methods in the prior art. The method of the present application avoids triggering the execution of a predetermined operation in a functional area that does not match the actual location of the key due to the key position calculated by a conventional key location method differing from the actual location of the key, or avoids the occurrence of a situation where the key is located within the vehicle's functional area but the predetermined operation in the functional area where the key is located cannot be performed. The method provided herein improves the user's car experience.

[0100] The embodiment of the present application further provides a control device. Figure 7 is a structural diagram 1 of the control device provided in the embodiment of the present application. As shown in Figure 7, the device includes an acquisition module 41, a processing module 42 and an operation module 43. After a communication connection between the car and the car key is established, the collection module 41 is used to determine the distance between each of the multiple location anchors in the car and the key based on the distance measurement signals between each of the multiple location anchors in the car and the key. The processing module 42 is used to determine, based on the distance between each of the plurality of positioning anchors and the key, at least two reference anchors from among the plurality of positioning anchors that indicate that the transmission mode of the distance measurement signal between the key and the anchors is line-of-sight radio transmission (LOS). The processing module 42 is further used to determine a first coordinate of the key in the local coordinate system corresponding to the determined reference anchors based on the distance between each of the determined reference anchors and the key. The processing module 42 is further used to perform a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the car. The operation module 43 is used to perform a predetermined operation corresponding to the function area when it is determined according to the second coordinate that the key is within the function area of ​​the car.

[0101] Optionally, the collection module 41 further includes a Bluetooth (registered trademark) (BLE) module 411. The Bluetooth (registered trademark) module 411 is used to broadcast a BLE broadcast signal and is also used for Bluetooth distance measurement of the key.

[0102] The specific implementation principles and technical effects of the control device provided in the embodiment of the present application are similar to those of the embodiment shown in FIG. 3, so the description of this embodiment will be omitted here.

[0103] The embodiment of the present application further provides a control device. FIG. 8 is a structural diagram 2 of the control device provided in the embodiment of the present application. As shown in FIG. 8, the control device includes a processor 51 and a memory 52. ​​The memory 52 stores instructions executable by the processor 51 so that the processor 51 can be used to implement the technical solutions of the above-mentioned method embodiments. Since their implementation principles and technical effects are similar, their description is omitted in this embodiment. It should be understood that the processor 51 may be a central processing unit (abbreviated as CPU), other general-purpose processors, digital signal processors (abbreviated as DSP), application specific integrated circuits (abbreviated as ASIC), etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc. The steps of the method disclosed in this application may be directly implemented as being executed by a hardware processor or as being executed by a combination of hardware and software modules in a processor. The memory 52 may comprise a high-speed random access memory (RAM) and may further comprise a non-volatile memory (NVM), such as at least one magnetic disk memory, including a USB flash drive, a removable hard drive, a read-only memory, a magnetic disk or a compact disk.

[0104] An embodiment of the present application further provides a storage medium having computer-executable instructions stored thereon, which, when executed by a processor, realizes the above-mentioned method for determining the location of a car key. The storage medium may be implemented by any type of volatile or non-volatile storage device, such as a static random-access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or a compact disk, or a combination thereof. The storage medium may be any available medium accessible by a general-purpose or special-purpose computer.

[0105] The storage medium is illustratively coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium may be an integral part of the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or master device.

[0106] An embodiment of the present application further provides a program product such as a computer program, which, when executed by a processor, implements the car key location method of the present application.

[0107] This embodiment further provides a chip comprising a memory and a processor, wherein the memory stores code and data, and the memory is coupled to the processor, and when the processor executes the program in the memory, the chip is used to perform the car key location method provided in the various embodiments above.

[0108] This embodiment further provides a computer program, which, when executed by a processor, is used to perform the car key location methods provided in the various embodiments above.

[0109] Those skilled in the art will understand that all or part of the steps of implementing the above method embodiments can be performed by hardware associated with program instructions. The program can be stored in a computer-readable storage medium. When the program is executed, the steps comprising the above method embodiments are performed. The storage medium mentioned above includes various media capable of storing program code, such as a ROM, a RAM, a magnetic disk, or a compact disk.

[0110] Finally, it should be noted that the above embodiments are only used to describe the technical solutions of the present invention, and are not intended to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or make equivalent substitutions for some or all of the technical features thereof, and these modifications or substitutions shall not deviate from the essence of the corresponding technical solutions and the scope of the technical solutions of the embodiments of the present invention.

[0111] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to a Chinese patent application bearing application number 202310723293.5 and entitled "Method, device and storage medium for determining the location of a car key," filed with the State Intellectual Property Office of the People's Republic of China on June 16, 2023, the entire contents of which are incorporated herein by reference.

Claims

1. After a communication connection between the vehicle and the vehicle key is established, determining a distance between each of the plurality of positioning anchors in the vehicle and the key based on distance measurement signals between the respective plurality of positioning anchors in the vehicle and the key; determining at least two reference anchors from among the plurality of positioning anchors based on distances between each of the plurality of positioning anchors and the key, the reference anchors indicating that a transmission mode of a distance measurement signal between the reference anchors and the key is line-of-sight (LOS); determining a first coordinate of the key in a local coordinate system corresponding to the determined reference anchors based on a distance between each of the determined reference anchors and the key; performing a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the vehicle; and if it is determined according to the second coordinates that the key is within the functional area of ​​the vehicle, performing a predetermined operation corresponding to the functional area.

2. The step of determining a first coordinate of the key in a local coordinate system corresponding to the determined reference anchors based on a distance between each of the determined reference anchors and the key includes: determining two reference anchors as target reference anchors from among the determined reference anchors; A step of determining a local coordinate system with a line connecting the two target reference anchors as an X-axis and one of the target reference anchors on the X-axis as a coordinate origin; and determining a first coordinate of the key in the local coordinate system based on a distance between each of the two target reference anchors and the key and a distance between the two target reference anchors.

3. The step of determining two reference anchors as target reference anchors from among the determined reference anchors includes: When the number of determined reference anchors exceeds two and the determined reference anchors are collinear, determining two reference anchors having the largest distance between them as target reference anchors; The method according to claim 2, further comprising the step of: if the number of determined reference anchors exceeds two and the determined reference anchors are not collinear, determining two reference anchors that are located adjacent to each other and have a connecting line parallel to the ground as target reference anchors.

4. performing a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the vehicle; The first coordinate (x ｌ , y ｌ determining a coordinate transformation coefficient θ corresponding to the coordinate origin of a local coordinate system to which the Transformation matrix [Equation 1] Using the first coordinate (x ｌ , y ｌ ) into the rotation coordinate (x ｒ , y ｒ ), Based on the coordinate origin of the local coordinate system, the global coordinates (x ０ , y ０ ) and x ｇ = x ｒ +x ０ and y ｇ = y ｒ +y ０ In the formula, the second coordinate (x ｇ , y ｇ 4. The method according to claim 1, further comprising the step of:

5. the positioning anchor is a positioning anchor located outside the body of the vehicle, In this case, the step of determining at least two reference anchors from among the plurality of position measurement anchors based on distances between each of the plurality of position measurement anchors and the key includes: arranging the distances between each of the plurality of positioning anchors and the key in ascending order to obtain a distance sequence; determining, as reference anchors, position measurement anchors corresponding to the first n distances in the distance sequence; 5. The method according to claim 1, wherein n≧2.

6. The step of determining at least two reference anchors from among the plurality of position measurement anchors based on distances between each of the plurality of position measurement anchors and the key includes: obtaining a received signal strength indicator (RSSI) corresponding to each of the plurality of positioning anchors from the key, and / or obtaining a status identifier of the corresponding positioning anchor from a positioning device of each of the plurality of positioning anchors; determining, from the distances between each of the plurality of positioning anchors and the key, a distance corresponding to an RSSI greater than a signal strength threshold as a valid distance, and / or determining, from the acquired status identifiers of each of the plurality of positioning anchors, a distance between the positioning anchor corresponding to a valid identifier and the key as a valid distance; determining at least two reference anchors from among the plurality of position measurement anchors based on the determined effective distance; The method according to any one of claims 1 to 4, characterized in that the status identifier is an identifier indicating whether a distance measurement signal used for measuring the distance between a position measurement anchor and a key is valid or not.

7. Prior to the step of determining at least two reference anchors from among the plurality of position measurement anchors based on the determined effective distance, the method further comprises:

7. The method according to claim 1, further comprising the step of reacquiring distance measuring signals between each of a plurality of positioning anchors in the vehicle and the key if the number of determined effective distances is less than two, and determining the distance between each of the plurality of positioning anchors and the key based on the acquired distance measuring signals until at least two effective distances are determined from the distances between each of the plurality of positioning anchors and the key.

8. A control device comprising: an acquisition module, a processing module, and an operation module, the collection module is used to determine a distance between each of a plurality of positioning anchors in the vehicle and the key based on a distance measurement signal between the key and each of the plurality of positioning anchors in the vehicle after a communication connection between the vehicle and the key is established; the processing module is used to determine, based on distances between each of the plurality of positioning anchors and the key, at least two reference anchors from among the plurality of positioning anchors, which indicate that a transmission mode of a distance measurement signal between the plurality of positioning anchors and the key is line-of-sight (LOS) transmission; the processing module is further used to determine, based on a distance between each of the determined reference anchors and the key, a first coordinate of the key in a local coordinate system corresponding to the determined reference anchors; the processing module is further used to perform a coordinate system transformation process on the first coordinates to obtain second coordinates of the key in a predetermined coordinate system of the vehicle; The control device, characterized in that the operation module is used to execute a predetermined operation corresponding to the functional area when it is determined according to the second coordinates that the key is within the functional area of ​​the vehicle.

9. A control device comprising a processor and a memory, the memory stores executable instructions that are executable by the processor; A control device, characterized in that, when the processor executes executable instructions stored in the memory, the processor performs the method of any one of claims 1 to 7.

10. 8. A storage medium having stored thereon computer-executable instructions, the computer-executable instructions being used to implement a method according to any one of claims 1 to 7 when executed by a processor.

11. A chip comprising a memory and a processor, wherein the memory stores code and data, the memory is coupled to the processor, and when the processor executes a program in the memory, the chip is used to perform the method of any one of claims 1 to 7.

12. A program product including a computer program, wherein when the program product is run on a computer, the computer executes the method according to any one of claims 1 to 7.

13. A computer program, characterized in that when said computer program is executed by a processor, said computer program is used to carry out the method according to any one of claims 1 to 7.

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