Method for positioning car key, device, car and storage media

Abstract

FIELD: signal transmission.SUBSTANCE: group of inventions relates to a device and method for positioning a car key, a car and a storage media. The method includes: obtaining Bluetooth signal intensity values, determining reference information about the positioning of the car key at the current time, performing a stabilization procedure, performing a procedure for preventing and / or suppressing sharp jumps between positioning zones, determining the result of positioning the car key. The Bluetooth signal is received by several receiving devices located at different points in the vehicle. The reference information is determined based on the signal intensity values. The procedure for preventing and / or suppressing sudden jumps in the reference positioning information is performed by obtaining Bluetooth positioning information at the current point in time. The result of positioning of the car key is determined on the basis of a set of information about Bluetooth positioning at different points in time.EFFECT: error in positioning the car key is reduced.14 cl, 14 dwg

Description

[0001] This application claims priority to Chinese Patent Application No. 202510538385.5, filed with the National Intellectual Property Administration of the People's Republic of China on April 27, 2025, and entitled "Automobile Key Positioning Method, Its Device, Vehicle, and Storage Medium," which is incorporated herein by reference in its entirety.

[0002] FIELD OF TECHNOLOGY

[0003] The disclosed embodiment relates to the field of Bluetooth positioning technology, but is not limited thereto, for example, it relates to a method for positioning a car key, its device, a car and a storage medium.

[0004] STATE OF THE ART

[0005] With the rapid development of Bluetooth technology, controlling a vehicle with a Bluetooth key has become much more convenient, and Bluetooth car keys have become widely used.

[0006] Bluetooth signals are transmitted via electromagnetic waves. As they propagate through various media, signals can be subject to scattering, reflection, refraction, and diffraction. Depending on the specific environment inside or around a vehicle, the nature of the interference affecting the Bluetooth signal can vary significantly. Furthermore, shielding the Bluetooth key from the human body can also reduce the accuracy of Bluetooth positioning.

[0007] CONTENTS OF THE INVENTION

[0008] Below is an overview of the topics covered in this article. This overview is not intended to limit the scope of copyright protection.

[0009] The disclosed embodiment provides a method for positioning a car key, its device, a car and a storage medium.

[0010] The disclosed embodiment provides a method for positioning a car key, which includes:

[0011] Obtains the Bluetooth signal strength values ​​received by multiple Bluetooth receiving devices, while the Bluetooth signal is transmitted by the car key to the specified receiving devices located at different points in the car;

[0012] Determining reference information about the positioning of the car key at the current time based on a plurality of signal intensity values;

[0013] performing the procedure of stabilizing the reference positioning information to obtain the updated Bluetooth positioning information at the current time; and,

[0014] Determine the positioning result of the car key based on the totality of Bluetooth positioning information at different times.

[0015] Additionally, the method also includes the following:

[0016] Determine whether the reference positioning information is the first one received within a specified period of time;

[0017] If the reference positioning information is the first one within the specified time period, it is directly adopted as the Bluetooth positioning information at the current time; if the reference positioning information is not the first positioning result within the specified time period, a procedure for stabilizing the reference positioning information is performed, which results in the formation of the Bluetooth positioning information at the current time.

[0018] In addition, the procedure for stabilizing the reference information to obtain the current positioning data may include:

[0019] Execute the procedure of preventing sudden jumps between positioning areas while obtaining Bluetooth positioning information at the current time and / or perform the procedure of suppressing jumps in reference positioning information while obtaining Bluetooth positioning information at the current time.

[0020] In addition, the processing procedure for preventing sudden jumps between positioning areas in the positioning reference information may include the following steps:

[0021] Obtain reference positioning information and Bluetooth positioning information in the previous time interval; and

[0022] Input the reference positioning information and the Bluetooth positioning information in the previous time interval into the hop limiting state machine, which corrects the reference positioning information that does not comply with the inter-area hopping rules to obtain the updated Bluetooth positioning information at the current time.

[0023] In addition, the procedure for inputting the reference positioning information and the Bluetooth positioning information in the previous time slot into the hop limiting state machine may include the following actions:

[0024] The hop constraint state machine determines whether the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules; if the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules, the hop constraint state machine does not adjust the reference positioning information; if the reference positioning information and the Bluetooth positioning information in the previous time slot do not comply with the inter-area hopping rules, the hop constraint state machine adjusts the reference positioning information to a neighboring positioning area adjacent to the previous location, thereby obtaining the Bluetooth positioning information at the current time.

[0025] In addition, the procedure for suppressing jumps in reference positioning information and obtaining updated Bluetooth positioning information at the current time may include:

[0026] Receive Bluetooth positioning information at the positioning time that is within the historical time interval preceding the current time;

[0027] determining the number of consecutive occurrences of the current reference positioning information based on the specified historical Bluetooth positioning information; and

[0028] Determine the current Bluetooth positioning information according to the number of consecutive occurrences.

[0029] Additionally, determining the Bluetooth positioning information at the current time based on the number of consecutive occurrences of the reference information may include:

[0030] If the number of consecutive occurrences of reference information is less than the specified threshold value, the Bluetooth positioning information of the previous time interval is obtained;

[0031] The reference positioning information at the current time is adjusted to the value of the positioning information at the previous time interval.

[0032] Additionally, determining the Bluetooth positioning information at the current time based on the number of consecutive occurrences of the reference information may include:

[0033] If the number of consecutive occurrences of the reference information is greater than or equal to the preset threshold, the specified reference information is taken as the Bluetooth positioning information at the current time.

[0034] In addition, the procedure for determining the positioning result of the car key based on the totality of Bluetooth positioning information at different times may include:

[0035] Determine the historical positioning trajectory of the car key based on the Bluetooth positioning information at the positioning time within the historical time interval;

[0036] In the context of tracking the pedestrians near the vehicle, the historical trajectory of the corresponding pedestrian is extracted within a specified historical interval, and the trajectory is obtained by smoothing the original tracking information; and

[0037] Based on the historical key positioning trajectory and the historical tracking trajectory, the reference information on the current location is adjusted, resulting in a refined positioning result for the car key.

[0038] Additionally, the procedure of adjusting the reference location information at the current time based on the historical key positioning trajectory and the historical tracking trajectory to obtain a refined positioning result of the car key may include:

[0039] Combine the historical positioning trajectory and the historical tracking trajectory to obtain an integrated positioning trajectory;

[0040] compare the historical trajectory and the integrated positioning trajectory to determine the degree of similarity of the trajectory; and

[0041] Using the tracking information of the pedestrian whose trajectory has the highest degree of similarity to adjust the reference positioning information at the current time, thereby obtaining a refined positioning result for the car key.

[0042] In addition, before determining the positioning result of the car key based on the Bluetooth positioning information at different times, the method may also include:

[0043] Track the location of pedestrians near the vehicle and obtain the corresponding tracking information;

[0044] If the pedestrian tracking information disappears at the current time, the presence of new pedestrians near the vehicle is determined;

[0045] If ​​a new pedestrian appears near the vehicle at the current time, a check is performed to see if the new pedestrian and the previously disappeared pedestrian meet the binding conditions;

[0046] If the new pedestrian meets the binding conditions of the previously disappeared pedestrian, the tracking information of the new pedestrian is taken as the tracking information of the disappeared pedestrian at the current time; and

[0047] By arranging all the tracking information related to a given time interval according to the time sequence, a tracking trajectory of the corresponding pedestrian is formed.

[0048] Additionally, checking the match between the new pedestrian and the previously disappeared pedestrian to see if the binding conditions are met may include the following steps:

[0049] Get the approximate location of the pedestrian whose tracking information has disappeared;

[0050] If the distance between the tracking information of the new pedestrian and the approximate location of the missing pedestrian is less than the set threshold, the new pedestrian is considered to satisfy the binding conditions with the missing pedestrian.

[0051] The disclosed embodiment provides a device for positioning a car key, which includes:

[0052] a first receiving station configured to receive Bluetooth signal strength values ​​received by multiple Bluetooth receiving devices, wherein the Bluetooth signal is transmitted by the vehicle key to said receiving devices located at different points in the vehicle;

[0053] a first determining station configured to determine reference information about the positioning of the automobile key at the current time based on a plurality of signal intensity values;

[0054] a first processing station configured to perform a reference positioning information stabilization procedure to obtain updated Bluetooth positioning information at the current time;

[0055] a second determining station configured to determine a positioning result of the vehicle key based on a plurality of Bluetooth positioning information at different times.

[0056] Additionally, the device also includes:

[0057] a third determining station, configured to determine whether the reference positioning information is the first one received within a predetermined period of time;

[0058] The fourth determining station is configured so that if the reference positioning information is the first one within a specified period of time, it is directly received as the Bluetooth positioning information at the current time; if the reference positioning information is not the first positioning result within a specified period of time, a reference information stabilization procedure is performed, which results in the Bluetooth positioning information at the current time.

[0059] Additionally, the first processing station includes:

[0060] a first processing unit configured to perform a procedure for preventing sudden jumps between positioning zones, with the receipt of Bluetooth positioning information at the current time, and / or a second processing unit configured to perform suppression of sudden changes in reference positioning information, with the receipt of Bluetooth positioning information at the current time.

[0061] Additionally, the first processing unit includes:

[0062] a first receiving subunit configured to receive reference positioning information and Bluetooth positioning information in a previous time slot; and

[0063] a first correction subunit configured to input reference positioning information and Bluetooth positioning information in a previous time interval into a hop limiting state machine, which corrects the reference positioning information that does not comply with the inter-area hopping rules to obtain updated Bluetooth positioning information at the current time.

[0064] In addition, the first correction sub-block is also configured as follows:

[0065] The hop constraint state machine determines whether the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules; if the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules, the hop constraint state machine does not adjust the reference positioning information; if the reference positioning information and the Bluetooth positioning information in the previous time slot do not comply with the inter-area hopping rules, the hop constraint state machine adjusts the reference positioning information to a neighboring positioning area adjacent to the previous location, thereby obtaining the Bluetooth positioning information at the current time.

[0066] Additionally, the second processing unit includes:

[0067] a second receiving subunit, configured to receive Bluetooth positioning information at a positioning time that is within a historical time interval preceding the current time;

[0068] a third receiving subunit configured to determine the number of consecutive occurrences of the current reference positioning information based on the specified historical Bluetooth positioning information; and

[0069] The first determining sub-unit, configured to determine the Bluetooth positioning information at the current time according to the number of consecutive occurrences.

[0070] In addition, the first defining sub-block is also configured as follows:

[0071] If the number of consecutive occurrences of reference information is less than the specified threshold value, the Bluetooth positioning information of the previous time interval is obtained;

[0072] The reference positioning information at the current time is adjusted to the value of the positioning information at the previous time interval.

[0073] In addition, the first defining sub-block is also configured as follows:

[0074] If the number of consecutive occurrences of the reference information is greater than or equal to the preset threshold, the specified reference information is taken as the Bluetooth positioning information at the current time.

[0075] Additionally, the second defining station includes:

[0076] a first determining unit configured to determine a historical positioning trajectory of the vehicle key based on the Bluetooth positioning information at a positioning time that is within the historical time interval;

[0077] a first receiving unit configured to, in the context of tracking pedestrians located near a vehicle, extract a historical trajectory of a corresponding pedestrian over a specified historical interval, wherein the trajectory is obtained by smoothing the original tracking information; and

[0078] the first correction unit, configured to correct the reference positioning information at the current time based on the historical positioning trajectory and the historical tracking trajectory to obtain a refined positioning result of the car key.

[0079] Additionally, the first correction block includes:

[0080] a combining subunit configured to combine the historical positioning trajectory and the historical tracking trajectory to obtain an integrated positioning trajectory;

[0081] a matching unit configured to match the historical trajectory and the integrated positioning trajectory to determine the degree of similarity of the trajectory; and

[0082] a second correction subunit, configured to use the tracking information of the pedestrian whose trajectory has the highest degree of similarity to correct the reference positioning information at the current time, thereby obtaining a refined positioning result of the car key.

[0083] Additionally, the device also includes:

[0084] a location tracking station configured to track the location of pedestrians near the vehicle and obtain corresponding tracking information;

[0085] pedestrian detection station, configured to detect whether there are new pedestrians near the vehicle when the pedestrian tracking information currently disappears;

[0086] a condition-determining station configured to check whether the matching conditions between the new pedestrian and the previously disappeared pedestrian are met when a new pedestrian appears near the vehicle at the current time;

[0087] an information determining station configured to, in the case where a new pedestrian meets the binding conditions of the previously disappeared pedestrian, receive tracking information of the new pedestrian as tracking information of the disappeared pedestrian at the current time; and

[0088] a trajectory generating station configured to generate a tracking trajectory of the corresponding pedestrian by arranging all tracking information related to a specified time interval according to a time sequence.

[0089] Additionally, the condition-determining station includes:

[0090] the second receiving unit, configured to receive the approximate location of the pedestrian whose tracking information has disappeared;

[0091] a second determining unit configured to, in the case where the distance between the tracking information of the new pedestrian and the approximate location of the disappeared pedestrian is less than a predetermined threshold value, determine that the new pedestrian satisfies the binding conditions with the disappeared pedestrian.

[0092] In the disclosed embodiment, a vehicle is provided that comprises a processor, a communication interface, a memory and a communication bus, in particular, the processor, the communication interface and the memory exchange data with each other using the communication bus;

[0093] memory configured to store computer instructions;

[0094] a processor configured to implement any of the vehicle key positioning methods when executing commands stored in memory.

[0095] The disclosed embodiment provides a machine-readable storage medium on which commands are stored that implement a method for positioning a car key, wherein when said commands are executed by the processor, any of the above-described steps of the method for positioning the car key is executed.

[0096] Advantageous technical effect of the disclosed embodiment:

[0097] In the disclosed embodiment, by executing a procedure to stabilize reference positioning information determined based on the Bluetooth signal strength, more stable Bluetooth positioning information is obtained. This, in turn, contributes to increased stability in the vehicle key positioning result obtained based on the Bluetooth positioning information at different points in time. Thus, the number of unwanted jumps in the Bluetooth positioning process and associated positioning errors are reduced, thereby improving the accuracy of the final vehicle key positioning result.

[0098] After reviewing the accompanying drawings and detailed description, one skilled in the art will be able to understand and implement other aspects of this application.

[0099] DESCRIPTION OF DRAWINGS

[0100] Figure 1 shows a diagram of zoning of the area around the vehicle according to the disclosed embodiment;

[0101] Figure 2 shows another zoning diagram of the area around the vehicle according to the disclosed embodiment;

[0102] Figure 3 is a diagram of a method for positioning a car key according to the disclosed embodiment;

[0103] Figure 4 is a diagram of another method for positioning a car key according to the disclosed embodiment;

[0104] Figure 5 shows a flow chart of the procedure for preventing sharp jumps between positioning zones according to the disclosed embodiment;

[0105] Figure 6 is a diagram of a jump limiting state machine according to the disclosed embodiment;

[0106] Figure 7 is a flow chart of a jump suppression procedure based on reference positioning information according to the disclosed embodiment;

[0107] Figure 8 shows a diagram of a Bluetooth positioning correction according to the disclosed embodiment;

[0108] Figure 9 is a flow chart of step S104 according to the disclosed embodiment;

[0109] Figure 10 is a diagram of a method for determining a positioning result of a car key based on a historical positioning trajectory and a historical tracking trajectory according to the disclosed embodiment;

[0110] Figure 11 is a diagram of another method for positioning a car key according to the disclosed embodiment;

[0111] Figure 12 shows a diagram of the pedestrian tracking trajectory binding according to the disclosed embodiment;

[0112] Figure 13 is a diagram showing the structure of a car key positioning device according to the disclosed embodiment;

[0113] Figure 14 shows a schematic diagram of the structure of the electronic device according to the disclosed embodiment.

[0114] DETAILED DESCRIPTION OF THE INVENTION

[0115] For a more complete understanding of the objectives, technical solutions, and advantages of the disclosed embodiment, the technical solutions presented in the embodiments are described in detail below with reference to the accompanying drawings. It is obvious that the described embodiments represent only a part of the possible embodiments covered by this disclosure and do not limit its completeness. Technical personnel of general knowledge in the given field, without departing from the disclosed embodiment, can obtain other embodiments; therefore, all other embodiments obtained on the basis of the disclosed embodiment without creative work fall within the scope of protection of this disclosure.

[0116] During the implementation of the disclosed embodiment, it was discovered that, when using certain Bluetooth positioning methods, distance or location determination can be subject to significant errors, reaching several meters, and in some cases, more than ten meters. For car users, using a Bluetooth key with insufficiently accurate positioning results in a degraded user experience when driving. To address the above problem, the disclosed embodiment proposes a method for positioning a car key, its device, a car, and a storage medium.

[0117] To ensure the reception of the signal from the vehicle key, multiple Bluetooth receivers are pre-installed on the vehicle and placed at fixed positions. The intensity of the Bluetooth signal received by these receivers is used as the input for the Bluetooth positioning model. Depending on the specific application of the vehicle key positioning function, the area inside and around the vehicle can be divided into separate zones. As shown in Figure 1, zoning can be performed by azimuth into five relative positions: the inside of the vehicle, the front, the left side, the right side, and the rear. For example, the inside corresponds to zone 1, the front to zone 2, the rear to zone 3, the left side to zone 4, and the right side to zone 5.Alternatively, zoning can be performed based on the distance from the vehicle, as shown in Figure 2. The installation configuration of the Bluetooth receiving device can correspond to the diagrams shown in Figure 1 and Figure 2, but is not limited to the two above-mentioned options. In the context of implementing the vehicle unlocking / locking function using a car key, the disclosed embodiment uses the zoning diagram shown in Figure 2. In accordance with this diagram, Bluetooth receiving devices are installed in the following fixed positions of the vehicle: inside the central armrest, on the driver's door, on the front passenger door, in the luggage compartment area, and in the front of the vehicle.

[0118] The disclosed embodiment provides a method for positioning a car key, as shown in Figure 3. The said method can be applied to the control equipment of a car and includes the following steps:

[0119] Step S101: Obtaining the strength values ​​of the Bluetooth signal received by multiple Bluetooth receiving devices;

[0120] In the disclosed embodiment, a Bluetooth signal is transmitted by a car key to specified receiving devices located at various points within the vehicle. By way of example, a car key may refer to a Bluetooth key used to control the vehicle.

[0121] When the car key is near the vehicle, it can transmit Bluetooth signals into the surrounding area at set intervals. After multiple Bluetooth receiving devices receive the Bluetooth signal sent by the car key, they will determine its intensity.

[0122] Using the example scenario shown in Figure 2, when the key approaches the vehicle, five Bluetooth receivers installed in the vehicle can receive the Bluetooth signal. Each of these receivers generates a signal intensity value at time t, and the sum of the five received signal intensity values ​​can be expressed as: .

[0123] where: - signal intensity of the first Bluetooth receiving device, - signal intensity of the second Bluetooth receiving device, - signal intensity of the third Bluetooth receiving device, - signal intensity of the fourth Bluetooth receiving device, - signal intensity of the fifth Bluetooth receiving device.

[0124] Step S102: determining reference information about the positioning of the car key at the current time based on a plurality of signal intensity values;

[0125] In the disclosed embodiment, the Bluetooth positioning model can be pre-trained using a plurality of signal strength values, enabling the prediction of reference information on the positioning of the car key. This enables the acquisition of reference information on the positioning of the key at the current time.

[0126] In other words, before using the Bluetooth positioning model to predict reference information for the car key, a large amount of data from various areas of the vehicle can be collected to train the model. Common methods such as geometric measurements, positional fingerprinting, and machine learning algorithms can be used as the Bluetooth positioning model.

[0127] Taking the example of using a Bluetooth positioning model based on machine learning algorithms, the signal intensity data of a car key can be preliminarily collected in various zones defined according to the zoning scheme shown in Figure 2. Each data set is assigned a label corresponding to the actual location zone of the key. The initial Bluetooth positioning model is trained based on the labeled signal intensity data sets. The Bluetooth positioning model can be denoted as . Moreover, its output includes five categories: 1 - the key is in zone 1, 2 - in zone 2, 3 - in zone 3, 4 - in zone 4, 5 - in zone 5. After obtaining the trained Bluetooth model, it can be deployed to the in-vehicle control device, which facilitates real-time positioning prediction.

[0128] At this stage, multiple signal intensity values ​​can be input into the Bluetooth positioning model, based on which the Bluetooth positioning model will generate reference positioning information at the current time (time t).

[0129] At any given time, a set of received signal intensity values is fed into a pre-trained Bluetooth positioning model. The model predicts reference information about the positioning of a car key. As an example, the positioning result could be the identification of the zone where the car key is located. The predicted reference information about positioning can be expressed as follows:

[0130]

[0131] After obtaining the reference positioning information to predict the location of the car key, the reference positioning information can be saved

[0132] Step S103: Performing the procedure of stabilizing the reference positioning information to obtain the updated Bluetooth positioning information at the current time;

[0133] In the disclosed embodiment, positioning stabilization refers to controlling the degree of change of a location determined based on reference positioning information in accordance with predetermined rules in order to reduce the difference between the location according to the current Bluetooth positioning information and the location determined in the previous time interval.

[0134] In this step, after the reference positioning information is obtained, a reference positioning information stabilization procedure can be performed to improve the stability of the Bluetooth positioning information obtained after processing compared with the reference positioning information.

[0135] Step S104: determining the positioning result of the car key based on a set of Bluetooth positioning information at different times.

[0136] After obtaining Bluetooth positioning information for multiple points in time, the current positioning result of the car key can be determined based on the totality of the Bluetooth positioning data for the said points in time.

[0137] In the disclosed embodiment, by stabilizing the reference positioning information determined based on the Bluetooth signal strength, more stable Bluetooth positioning information is obtained. This, in turn, contributes to increased stability in the vehicle key positioning result obtained based on the Bluetooth positioning information at different points in time. Thus, the number of unwanted jumps in the Bluetooth positioning process and the associated positioning errors are reduced, thereby improving the accuracy of the final vehicle key positioning result.

[0138] In another embodiment of the disclosed invention, in step S103, before stabilizing the reference positioning information and obtaining the Bluetooth positioning information at the current moment, as shown in Figure 4, the method also provides:

[0139] Step S201: determining whether the reference positioning information is the first one obtained within a predetermined period of time;

[0140] In the disclosed embodiment, the preset time interval may be set in accordance with the length of time required for a single approach of the car key to the vehicle or taking into account multiple approach and removal cycles, for example: 5 seconds, 10 seconds, 1 minute, etc.

[0141] Since there is no previous positioning value for the first positioning value within the preset time interval, no position hopping occurs. Accordingly, at this stage, a differentiated approach to determining Bluetooth positioning information can be implemented depending on whether the reference information is the first received within the specified time interval.

[0142] Step S202: If the reference positioning information is the first one within the predetermined period of time, it is directly adopted as the Bluetooth positioning information at the current time; if the reference positioning information is not the first positioning result within the predetermined period of time, the reference information stabilization process in step S103 is performed, which results in the Bluetooth positioning information at the current time being generated.

[0143] That is, in the case where the current reference positioning information is the first positioning prediction result within the specified time interval, the reference positioning information can be directly used as the final Bluetooth positioning result without positioning stabilization; however, if the current reference positioning information is not the first positioning prediction result within the specified time interval, stabilization of the reference positioning information can be performed.

[0144] The disclosed embodiment automatically determines whether the current reference positioning information is the first one received within a predetermined time interval. If the current reference positioning information is the first one received within a predetermined time interval, positioning stabilization is not performed. Otherwise, a procedure for stabilizing the reference positioning information is performed. This approach reduces the number of processing operations, reduces the system load, and avoids unnecessary consumption of system resources.

[0145] In another embodiment of the disclosed invention, at step S103, stabilization of the reference positioning information is performed to obtain updated Bluetooth positioning information at the current time, including:

[0146] performing a procedure for preventing sudden jumps between positioning areas while obtaining Bluetooth positioning information at the current time and / or performing a procedure for suppressing jumps in reference positioning information while obtaining Bluetooth positioning information at the current time.

[0147] In the disclosed embodiment, the inter-zone jump prevention procedure prevents a situation in which the reference positioning information at the current positioning instant significantly differs from the Bluetooth positioning data determined in the previous time interval and points to a different zone. The jump suppression procedure also reduces the frequency of reference information changes, preventing frequent jumps in the Bluetooth positioning information across multiple time intervals.

[0148] In the disclosed embodiment, when performing inter-area hop prevention and hop suppression based on the reference positioning information, a sequential scheme can be implemented in which one of the methods—either the inter-area hop prevention procedure or the hop suppression procedure—is first applied. Then, the result obtained after applying the second processing method is adopted as the final Bluetooth positioning information at the current time.

[0149] In the disclosed embodiment, a procedure for preventing inter-area hops and / or suppressing hops of Bluetooth positioning reference information limits the amplitude and / or frequency of hops determined based on the positioning reference information. This approach helps improve the stability of the Bluetooth positioning information.

[0150] In one embodiment of the disclosed embodiment, as shown in Figure 5, the procedure for processing reference positioning information to prevent inter-area hops to obtain updated Bluetooth positioning information at the current time includes:

[0151] Step S301: Obtaining reference positioning information and Bluetooth positioning information in the previous time interval;

[0152] Step S302: Inputting the reference positioning information and the Bluetooth positioning information in the previous time interval into the hop limiting state machine, which corrects the reference positioning information that does not comply with the inter-area hopping rules to obtain the updated Bluetooth positioning information at the current time.

[0153] In the disclosed embodiment, in the jump limiting finite state machine

[0154] includes the following states: evaluation state, correction state, and no-correction state. The input data for the evaluation state are the current reference positioning information and the Bluetooth positioning information determined in the previous time interval. The output of the evaluation state is the verification result—"yes" or "no." If the result is "yes," the state transitions to the no-correction state, in which the reference information is not corrected. If the verification result is "no," the state transitions to the correction state, in which the current reference information is replaced by the Bluetooth positioning information obtained in the previous time interval, that is, the Bluetooth positioning information from the previous time interval is accepted as the current positioning result.

[0155] In some embodiments, the inter-area hopping rules may allow hopping of Bluetooth positioning information in adjacent areas, while hopping of Bluetooth positioning information in non-adjacent areas is considered unacceptable.

[0156] At this stage, the hop constraint state machine determines whether the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules; if the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules, the hop constraint state machine does not adjust the reference positioning information; if the reference positioning information and the Bluetooth positioning information in the previous time slot do not comply with the inter-area hopping rules, the hop constraint state machine adjusts the reference positioning information to a neighboring positioning area adjacent to the previous location, thereby obtaining the Bluetooth positioning information at the current time.

[0157] In some embodiments, the reference information about current positioning and information Bluetooth positioning information for the previous time interval can be entered into the hop constraint state machine. If the inter-zone hop rules are met, the reference positioning information at the current time is not adjusted and is directly used as the Bluetooth positioning result at the current time; if the inter-zone hop rules are not met, the inter-zone hop constraint is applied to the Bluetooth positioning information.

[0158] Within the Bluetooth key unlock function, permissible scenarios for inter-zone jumps in Bluetooth positioning information are determined according to the diagram shown in Figure 6. Only changes in adjacent zones are permitted. For example, a jump in Bluetooth positioning information directly from Zone 1 to Zone 3 or from Zone 3 to Zone 5 is considered inconsistent with the actual conditions and is subject to restriction. In such cases, the current Bluetooth positioning information is replaced with the value determined in the previous time interval. However, jumps between Zone 2 and Zone 1 or between Zone 2 and Zone 3 are considered permissible and do not require adjustment of the reference information.

[0159] In the disclosed embodiment, the hop limiting state machine corrects the reference positioning information that does not comply with the inter-area hopping rules, so that the corrected Bluetooth positioning information at the current time is brought into line with the area in which the Bluetooth positioning information of the previous time interval is located. This ensures that inter-area hops of the Bluetooth positioning information are controlled and the hop amplitude of the Bluetooth positioning information determined based on the reference positioning information is limited, thereby improving the stability of the Bluetooth positioning information.

[0160] In one embodiment of the disclosed embodiment, as shown in Figure 7, the procedure for processing reference positioning information to suppress jumps to obtain updated Bluetooth positioning information at the current time includes:

[0161] Step S401: Obtaining Bluetooth positioning information at a positioning time that is within the historical time interval;

[0162] In the disclosed embodiment, the historical time interval precedes the current time. To make the final Bluetooth positioning information at the current time more accurate, the initial boundary of the historical time interval can be set according to actual needs, while its final boundary is the previous positioning time.

[0163] For example, the start boundary of a historical time period can coincide with the start boundary of a preset time interval, and its end boundary is the moment before the current one. In practical applications, to reduce the computational load, the start boundary of the historical time period can be shifted backward, thereby reducing the amount of Bluetooth positioning information received.

[0164] Step S402: determining the number of consecutive occurrences of the current reference positioning information based on the specified historical Bluetooth positioning information;

[0165] In the disclosed embodiment, the number of consecutive occurrences represents the total number of the latest consecutive occurrences of Bluetooth positioning information, which includes reference positioning information and is the same as the reference positioning information. That is, if the reference positioning information is received as Bluetooth positioning information, this number corresponds to the number of the latest consecutive occurrences of the Bluetooth positioning information in the recent time.

[0166] Step S403: Determine the Bluetooth positioning information at the current time according to the number of consecutive occurrences.

[0167] In one embodiment of the disclosed embodiment, step S403 includes determining Bluetooth positioning information at the current time based on the number of consecutive occurrences, wherein: if the number of consecutive occurrences is less than a predetermined threshold, Bluetooth positioning information for the previous time interval is obtained; and the reference information at the current time is adjusted by replacing it with the specified Bluetooth positioning information for the previous time interval.

[0168] In another embodiment of the disclosed embodiment, step S403 provides for determining the Bluetooth positioning information at the current time in accordance with the number of consecutive occurrences, wherein: in the case where the number of consecutive occurrences exceeds or is equal to a predetermined threshold value, the reference positioning information at the current time is received as the Bluetooth positioning information at the current time.

[0169] When the car key is at the boundary of the zone, it may cause the Bluetooth positioning signal to become unstable. In order to stabilize the Bluetooth positioning prediction result, the disclosed embodiment uses a counter to record the total number of the latest consecutive occurrences of the Bluetooth positioning information at the current time. However, when a change in the positioning zone is first detected, the new value is not adopted immediately. Only when the number of consecutive occurrences of the positioning information in the new zone reaches a times, the new value is adopted as the positioning result. For example, if the value a is 3, c represents the total number of the latest consecutive occurrences of the Bluetooth positioning information. As shown in Example 1 of the Bluetooth positioning output in Figure 8, if from the start only one transition from zone 4 to zone 2 occurred, the positioning result is considered unstable, and the result at the moment is adjusted back to zone 2. As shown in Example 2 of the Bluetooth positioning output in Figure 8, if from the start the transition from area 2 to area 3 occurred only twice, the positioning result is considered unstable, and the results in And are adjusted back to zone 2. For example, 3 Bluetooth positioning output, if the predicted positioning result in zone 3 appears more than 3 times in a row, the third consecutive occurrence of such a result is accepted as the actual Bluetooth positioning result.

[0170] The disclosed embodiment utilizes a jump suppression procedure in which the current reference positioning information is adjusted only when the total number of recent consecutive occurrences of the Bluetooth positioning information reaches a predetermined threshold. The Bluetooth positioning information of the previous time interval is used for this adjustment. By using the condition for judging whether the number of consecutive occurrences reaches a predetermined threshold, it is possible to suppress the jump rate of the Bluetooth positioning information, implement control for suppressing the jump rate of the Bluetooth positioning information, and limit the jump rate of the Bluetooth positioning information determined based on the reference positioning information, so that the Bluetooth positioning information becomes more stable.

[0171] In another embodiment of the disclosed embodiment, as shown in Figure 9, step S104 provides determining the positioning result of the car key based on the Bluetooth positioning information at various times, including:

[0172] Step S501: a first determining unit, configured to determine a historical positioning trajectory of the vehicle key based on the Bluetooth positioning information at a positioning time within a historical time interval;

[0173] At this stage, the Bluetooth positioning information at a positioning time within the historical time interval is extracted from the collection of Bluetooth positioning information at various points in time. Then, based on the Bluetooth positioning information at a positioning time within the historical time interval, the historical positioning trajectory of the car key is determined.

[0174] Step S502: in the context of tracking the pedestrians near the vehicle, the historical trajectory of the corresponding pedestrian is extracted within a specified historical interval, and the trajectory is obtained by smoothing the original tracking information;

[0175] In addition to Bluetooth positioning of the vehicle key, the disclosed embodiment also tracks at least one pedestrian near the vehicle, obtaining a corresponding pedestrian tracking trajectory. When tracking pedestrians near the vehicle, the resulting tracking information is smoothed, as described in detail in subsequent embodiments.

[0176] Step S503: Based on the historical key positioning trajectory and the historical tracking trajectory, adjust the reference location information at the current time, and obtain a refined positioning result of the car key.

[0177] In the embodiment of the disclosed embodiment, step S503 includes adjusting the reference positioning information at the current moment based on the historical positioning trajectory and the historical tracking trajectory to obtain a positioning result of the automobile key, including: combining the historical positioning trajectory and the historical tracking trajectory to obtain an integrated positioning trajectory; comparing the historical trajectory and the integrated positioning trajectory to determine the similarity degree of the trajectory; using the tracking information of the pedestrian whose trajectory has the highest similarity degree to adjust the reference positioning information at the current moment in time, to obtain a refined positioning result of the automobile key.

[0178] As shown in Figure 10, after obtaining the historical positioning trajectory and the historical tracking trajectory, they can be combined to obtain the final positioning result. The location area of ​​the i-th pedestrian in the historical time interval (i.e., the historical tracking trajectory) can be designated as , and the Bluetooth positioning information in the historical time interval (i.e., the historical positioning trajectory) can be denoted as The integrated positioning trajectory is denoted as in this case, the result of positioning at the moment is subject to unification

[0179] The historical tracking trajectories of all pedestrians currently recorded are compared with the integrated positioning trajectory obtained over the historical time interval. Optionally, the comparison can begin from the first saved moment. If, at the corresponding moment, the pedestrian was in an area matching the integrated positioning result, the similarity score is increased by 1. The process continues until the entire historical tracking trajectory is compared, resulting in the similarity score for the i-th pedestrian. (the degree of similarity is not normalized; if necessary, it can be normalized in practical applications). The index of a matching pedestrian is defined as:

[0180]

[0181] The pedestrian index identifier is expressed as According to the matched pedestrian index ID, the zone where the current pedestrian is located is determined, and this zone is used as the final positioning result of the car key. The join expression is shown below:

[0182]

[0183] where - the maximum degree of similarity calculated after matching the pedestrian's trajectory. If the maximum degree of similarity is less than or equal to , this indicates that the corresponding pedestrian is not a match. In this case, the current Bluetooth positioning information is used as the final result of the current car key positioning; if the maximum similarity degree exceeds The final result of car key positioning is the pedestrian's location zone with the highest degree of similarity. This article presents only one possible merging option, and other merging methods may be appropriate in a specific practical application.

[0184] The disclosed embodiment provides for correcting the current reference positioning information based on the historical positioning trajectory and the historical tracking trajectory to obtain the positioning result of the car key. Moreover, the current tracking information of a pedestrian whose historical trajectory has the highest degree of similarity to the historical positioning trajectory is used to correct the current Bluetooth positioning information, and the tracking information of a pedestrian located in the same position as the car key is used to correct the Bluetooth positioning information of the car key, thereby improving the accuracy of the positioning results of the car key.

[0185] In another embodiment of the disclosed embodiment, as shown in Figure 11, before performing step S104 of determining the positioning result of the car key based on the Bluetooth positioning information at different times, the method may also include:

[0186] Step S601: Track the location of pedestrians near the vehicle and obtain the corresponding tracking information;

[0187] Step S602: If the pedestrian tracking information currently disappears, determine whether there are new pedestrians near the vehicle;

[0188] Step S603: if a new pedestrian appears near the vehicle at the current time, check the correspondence between the new pedestrian and the previously disappeared pedestrian to see if the binding conditions are met;

[0189] In the embodiment of the disclosed embodiment, step S603 includes judging whether a new pedestrian and a pedestrian whose tracking information has disappeared meet the binding conditions, including: obtaining an approximate location of the pedestrian whose tracking information has disappeared; if the distance between the tracking information of the new pedestrian and the approximate location of the disappeared pedestrian is less than a predetermined threshold, it is considered that the new pedestrian meets the binding conditions with the disappeared pedestrian.

[0190] Step S604: If the new pedestrian meets the binding conditions of the previously disappeared pedestrian, the tracking information of the new pedestrian is taken as the tracking information of the disappeared pedestrian at the current time;

[0191] To record the historical tracking trajectory of each pedestrian, it is necessary to save tracking information for each pedestrian over the past period of time, such as their coordinate position. In practical applications, to conserve system resources, if a pedestrian disappears from the tracking zone for a period not exceeding d points in time, changes in the pedestrian's ID trajectory may continue to be recorded, or changes in the ID trajectory may be permanently saved.

[0192] When a new identifier appears, the distance between the coordinates of the pedestrian with the new identifier and the estimated location of the pedestrian with the missing identifier can be calculated. If the specified conditions are met (i.e., the distance is less than the specified distance threshold), the pedestrian with the new identifier is linked to the pedestrian with the missing identifier to smooth the pedestrian's trajectory.

[0193] According to the coordinate position of the pedestrian obtained by the BEV (Bird's Eye View) perception algorithm and the historically obtained coordinate position, the speed of the pedestrian at a certain time in the x and y directions is calculated, where the speed in the x direction is , and the speed in the y direction is In the event that a pedestrian suddenly disappears from the current perception result, his current coordinate position can be predicted based on the speed recorded at the previous moment in time:

[0194]

[0195] where - the time interval between two Bluetooth signal transmissions. If the pedestrian's estimated location which disappeared at time t - and the location of the new pedestrian which appeared at time t - then the distance between two pedestrians is:

[0196]

[0197] If the distance is less than the set threshold, the two pedestrians are considered as the same pedestrian.

[0198] As shown in Figure 12, the pedestrian with ID 2 disappears at the moment , but based on the position at the moments And , it is possible to calculate the estimated location of the pedestrian with ID 2 between the moments And . If at the moment a pedestrian with ID 8 appears and his location is closer to the expected pedestrian with ID 2 at the moment , then the new pedestrian with ID 8 is connected to the pedestrian with ID 2.

[0199] That is, after smoothing the result of each pedestrian's current positioning, it is necessary to calculate the zone in which that pedestrian is located based on the tracking information obtained after smoothing. Thus, the zone containing all visible pedestrians at the current positioning moment is defined as:

[0200]

[0201] where - the zone where pedestrian i+1 is located, there are five such zones in total.

[0202] Furthermore, since the BEV algorithm's perception results cover pedestrians at a significant distance, it is possible that the observed pedestrians are outside the Bluetooth signal coverage area. Therefore, during the current positioning stage, pedestrians whose coordinates fall outside the specified coverage area are filtered out. Such pedestrians are excluded from the trajectory matching procedure.

[0203] Step S605: By arranging all the tracking information related to the set time interval according to the time sequence, a tracking trajectory of the corresponding pedestrian is formed.

[0204] At this stage: For each pedestrian, all tracking information related to a given time interval is arranged according to the time sequence, and then a tracking trajectory of the corresponding pedestrian is generated.

[0205] The disclosed embodiment provides the ability to track the position of pedestrians near a vehicle and then smooth the obtained tracking information. This avoids the loss of pedestrian tracking, smooths out changes in the position of the tracking information, and ultimately achieves a more stable pedestrian tracking trajectory. This improves the stability of the current Bluetooth positioning information when correcting the current reference positioning information by merging the historical tracking trajectory and the historical positioning trajectory. Unnecessary jumps and associated errors in the Bluetooth positioning process are reduced, thereby making the final car key positioning result more accurate.

[0206] In another embodiment of the disclosed invention, a vehicle key positioning device is also provided, as shown in Figure 13, which includes:

[0207] a first receiving station 11 configured to receive intensity values ​​of a Bluetooth signal received by multiple Bluetooth receiving devices, wherein the Bluetooth signal is transmitted by the car key to said receiving devices located at different points of the car;

[0208] a first determining station 12, configured to determine reference information about the positioning of the automobile key at the current time based on a plurality of signal intensity values;

[0209] the first processing station 13, configured to perform the reference positioning information stabilization procedure to obtain updated Bluetooth positioning information at the current time;

[0210] a second determining station 14 configured to determine a positioning result of the vehicle key based on a plurality of Bluetooth positioning information at different times.

[0211] Additionally, the device also includes:

[0212] a third determining station, configured to determine whether the reference positioning information is the first one received within a predetermined period of time;

[0213] the fourth determining station, configured so that if the reference positioning information is the first one within a predetermined period of time, it is directly received as the Bluetooth positioning information at the current time; if the reference positioning information is not the first positioning result within a predetermined period of time, a reference information stabilization procedure is performed, which results in the Bluetooth positioning information at the current time.

[0214] Additionally, the first processing station includes:

[0215] a first processing unit configured to perform a procedure for preventing sudden jumps between positioning zones, with the receipt of Bluetooth positioning information at the current time, and / or a second processing unit configured to perform suppression of sudden changes in reference positioning information, with the receipt of Bluetooth positioning information at the current time.

[0216] Additionally, the first processing unit includes:

[0217] a first receiving subunit, configured to receive reference positioning information and Bluetooth positioning information in a previous time slot;

[0218] a first correction subunit configured to input reference positioning information and Bluetooth positioning information in a previous time interval into a hop limiting state machine, which corrects the reference positioning information that does not comply with the inter-area hopping rules to obtain updated Bluetooth positioning information at the current time.

[0219] In addition, the first correction sub-block is also configured as follows:

[0220] The hop constraint state machine determines whether the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules; if the reference positioning information and the Bluetooth positioning information in the previous time slot comply with the inter-area hopping rules, the hop constraint state machine does not adjust the reference positioning information; if the reference positioning information and the Bluetooth positioning information in the previous time slot do not comply with the inter-area hopping rules, the hop constraint state machine adjusts the reference positioning information to a neighboring positioning area adjacent to the previous location, thereby obtaining the Bluetooth positioning information at the current time.

[0221] Additionally, the second processing unit includes:

[0222] a second receiving subunit, configured to receive Bluetooth positioning information at a positioning time that is within a historical time interval preceding the current time;

[0223] a third receiving subunit, configured to determine a number of consecutive occurrences of the current reference positioning information based on the specified historical Bluetooth positioning information;

[0224] The first defining sub-unit, configured to define the Bluetooth positioning information at the current time according to the number of consecutive occurrences.

[0225] In addition, the first defining sub-block is also configured as follows:

[0226] If the number of consecutive occurrences of reference information is less than the specified threshold value, the Bluetooth positioning information of the previous time interval is obtained;

[0227] The reference positioning information at the current time is adjusted to the value of the positioning information at the previous time interval.

[0228] In addition, the first defining sub-block is also configured as follows:

[0229] If the number of consecutive occurrences of reference information is greater than or equal to a preset threshold, the specified reference information is taken as the Bluetooth positioning information at the current time.

[0230] Additionally, the second defining station includes:

[0231] a first determining unit configured to determine a historical positioning trajectory of the vehicle key based on the Bluetooth positioning information at a positioning time within a historical time interval;

[0232] a first receiving unit, configured to, in the context of tracking pedestrians located near a vehicle, extract a historical trajectory of a corresponding pedestrian over a specified historical interval, wherein the trajectory is obtained by smoothing the original tracking information;

[0233] the first correction unit, configured to correct the reference positioning information at the current time based on the historical positioning trajectory and the historical tracking trajectory to obtain a refined positioning result of the car key.

[0234] Additionally, the first correction block includes:

[0235] a combining subunit configured to combine the historical positioning trajectory and the historical tracking trajectory to obtain an integrated positioning trajectory;

[0236] matching unit, configured to match the historical trajectory and the integrated positioning trajectory to determine the similarity degree of the trajectory;

[0237] a second correction subunit, configured to use the tracking information of the pedestrian whose trajectory has the highest degree of similarity to correct the reference positioning information at the current time, thereby obtaining a refined positioning result of the car key.

[0238] Additionally, before the second determining station, the device also includes:

[0239] a location tracking station configured to track the location of pedestrians near the vehicle and obtain corresponding tracking information;

[0240] pedestrian detection station, configured to detect whether there are new pedestrians near the vehicle when the pedestrian tracking information currently disappears;

[0241] a condition-determining station configured to check whether the matching conditions between the new pedestrian and the previously disappeared pedestrian are met when a new pedestrian appears near the vehicle at the current time;

[0242] an information determining station configured to, when a new pedestrian meets the binding conditions of the previously disappeared pedestrian, accept the tracking information of the new pedestrian as the tracking information of the disappeared pedestrian at the current time;

[0243] a trajectory generating station configured to generate a tracking trajectory of the corresponding pedestrian by arranging all tracking information related to a given time interval according to a time sequence.

[0244] Additionally, the condition-determining station includes:

[0245] the second receiving unit, configured to receive the approximate location of the pedestrian whose tracking information has disappeared;

[0246] a second determining unit configured to, in the case where the distance between the tracking information of the new pedestrian and the approximate location of the disappeared pedestrian is less than a predetermined threshold value, determine that the new pedestrian satisfies the binding conditions with the disappeared pedestrian.

[0247] In another disclosed embodiment, a vehicle is also provided that comprises a processor, a communication interface, a memory and a communication bus, in particular, the processor, the communication interface and the memory exchange data with each other using a communication bus;

[0248] memory configured to store computer instructions;

[0249] a processor configured to implement any of the described methods of positioning a vehicle key when executing commands stored in memory.

[0250] This embodiment is equipped with a processor that, by executing commands stored in memory, stabilizes the reference positioning information determined based on the Bluetooth signal strength, ensuring more stable Bluetooth positioning information. This, in turn, helps improve the stability of the car key positioning result obtained based on the Bluetooth positioning information at different points in time. This reduces unwanted jumps in the Bluetooth positioning process and associated positioning errors, thereby improving the accuracy of the final car key positioning result.

[0251] The 1140 communication bus mentioned above in connection with the electronic equipment can be implemented based on the Peripheral Component Interconnect (PCI) standard or the Extended Industry Standard Architecture (EISA). The 1140 communication bus can be divided into an address bus, a data bus, a control bus, etc. For simplicity of the graphical representation, a single thick line is used in Figure 14, which does not mean that there is only one bus or a limitation on the type of bus used.

[0252] The 1120 communication interface is configured for communication between the electronic device and other devices.

[0253] Memory 1130 may be random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Additionally, the memory may include at least one data storage device located remotely from the aforementioned processor.

[0254] The above-mentioned processor 1110 may be a general-purpose processor including a central processing unit (CPU), a network processor (NP), and so on. In addition, it may be implemented as a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete logic elements (such as gates or transistors), and discrete hardware components.

[0255] In another embodiment of the disclosed embodiment, a machine-readable storage medium is also provided, on which commands are stored that implement the method for positioning the car key, wherein when said commands are executed by the processor, any of the above-described steps of the method for positioning the car key is executed.

[0256] It should be noted that in this specification, relational terms such as "first" and "second" are used solely to distinguish one object or action from another and do not imply any actual relationship or sequence between the corresponding objects or actions. Moreover, the terms "include," "comprise," or any other variations thereof are intended to indicate a non-exclusive inclusion, so that a process, method, article, or equipment that includes a number of elements includes not only those elements but also other elements that are not expressly listed or elements inherent in such a process, method, article, or equipment. Unless further limited, elements expressed by the expression "includes one..." do not exclude the presence of other identical elements in a process, method, article, or equipment that includes those elements.

[0257] The above is only a specific embodiment of the disclosed embodiment, so that technical personnel skilled in the art can understand and implement the disclosed embodiment. Various modifications to these embodiments will be obvious to technical personnel skilled in the art, and the general principles defined in this description may be implemented in other embodiments without departing from the disclosed embodiment. Therefore, the disclosed examples will not be limited to the embodiments shown in this description, but will correspond to the widest possible scope of application consistent with the principles and novel application characteristics described in this article.

Claims

1. A method for positioning a car key, which includes: obtaining the values ​​of the intensity of a Bluetooth signal received by several Bluetooth receiving devices, wherein the Bluetooth signal is transmitted by the car key to the specified receiving devices located at different points of the car; determining reference information about the positioning of the vehicle key at the current moment in time based on a plurality of signal intensity values; and performing a stabilization procedure based on reference positioning information with the receipt of updated Bluetooth positioning information at the current moment; performing a stabilization procedure based on reference positioning information with the receipt of updated Bluetooth positioning information at the current moment, including: performing a procedure for preventing sharp jumps between positioning zones with the receipt of Bluetooth positioning information at the current time and / or performing a procedure for suppressing jumps in reference positioning information with the receipt of Bluetooth positioning information at the current time; determining the result of positioning the car key based on a set of Bluetooth positioning information at different points in time.

2. The method for positioning a car key according to paragraph 1, characterized in that the method additionally includes: determining whether the reference positioning information is the first one received within a specified period of time; If the reference positioning information is the first one within a given period of time, it is directly adopted as the Bluetooth positioning information at the current time; if the reference positioning information is not the first positioning result within a given period of time, a reference positioning information stabilization procedure is performed, which results in the formation of the Bluetooth positioning information at the current time.

3. The method for positioning a car key according to paragraph 1, characterized in that the reference positioning information is subjected to a procedure for preventing inter-zone jumps with the receipt of updated information on the Bluetooth positioning at the current moment, including: obtaining reference positioning information and Bluetooth positioning information in the previous time interval; inputting reference positioning information and Bluetooth positioning information in a previous time interval into a hop limiting state machine that corrects the reference positioning information that does not comply with the inter-zone hop rules to obtain updated Bluetooth positioning information at the current time.

4. The method for positioning a car key according to paragraph 3, characterized in that the reference positioning information and the Bluetooth positioning information in the previous time interval are input into a jump limiting state machine, which performs the correction of the reference positioning information that does not comply with the inter-zone jump rules, with the receipt of updated Bluetooth positioning information at the current time, including: The hop constraint state machine determines whether the reference positioning information and the Bluetooth positioning information in the previous time interval comply with the inter-area hop rules; if the reference positioning information and the Bluetooth positioning information in the previous time interval comply with the inter-area hop rules, the hop constraint state machine does not adjust the reference positioning information; if the reference positioning information and the Bluetooth positioning information in the previous time interval do not comply with the inter-area hop rules, the hop constraint state machine adjusts the reference positioning information by shifting it to a neighboring positioning zone adjacent to the previous location, thereby obtaining the Bluetooth positioning information at the current time.

5. The method for positioning a car key according to paragraph 1, characterized in that the procedure for preventing inter-zone jumps of reference positioning information with obtaining updated information on Bluetooth positioning at the current moment includes: obtaining Bluetooth positioning information at a positioning moment that is within a historical time interval preceding the current moment in time; determining the number of consecutive occurrences of the current reference positioning information based on the specified historical Bluetooth positioning information; and determining the Bluetooth positioning information at the current time according to the number of consecutive appearances.

6. The method for positioning a car key according to paragraph 5, characterized in that the Bluetooth positioning information at the current moment in time is determined based on the number of consecutive occurrences of reference information, including: if the number of consecutive occurrences of the reference information is less than a specified threshold value, the Bluetooth positioning information is obtained in the previous time interval; and the reference positioning information at the current time is adjusted by taking the value of the positioning information at the previous time interval.

7. The method for positioning a car key according to paragraph 5, characterized in that the Bluetooth positioning information at the current time is determined based on the number of consecutive occurrences of reference information, including: if the number of consecutive occurrences of the reference information exceeds or is equal to a preset threshold value, the said reference information is accepted as the Bluetooth positioning information at the current time.

8. The method for positioning a car key according to paragraph 1, characterized in that the result of positioning the car key is determined on the basis of a set of information about Bluetooth positioning at various points in time, including: determining the historical positioning trajectory of the vehicle key based on Bluetooth positioning information at a positioning moment that is within a historical time interval; in the context of tracking pedestrians located near a vehicle, a historical trajectory of movement of the corresponding pedestrian is extracted for a specified historical interval, wherein the trajectory is obtained by smoothing the original tracking information; and Based on the historical key positioning trajectory and the historical tracking trajectory, the reference information on the current location is adjusted, resulting in a more accurate result of the car key positioning.

9. The method for positioning a car key according to paragraph 8, characterized in that the reference information about the location at the current moment in time is subject to correction based on the historical trajectory of the key positioning and the historical trajectory of tracking, with the receipt of a refined result of positioning the car key, including: combining the historical positioning trajectory and the historical tracking trajectory to obtain an integrated positioning trajectory; comparing the historical trajectory and the integrated positioning trajectory to determine the degree of trajectory similarity; and using the tracking information of the pedestrian whose trajectory has the greatest degree of similarity to adjust the reference positioning information at the current moment in time, thereby obtaining a refined result of the positioning of the car key.

10. The method for positioning a car key according to paragraph 1, characterized in that before determining the result of positioning the car key based on the Bluetooth positioning information at various points in time, the method also includes: Tracking the location of pedestrians near a vehicle and obtaining relevant tracking information; If the pedestrian tracking information disappears at the current moment in time, the presence of new pedestrians near the vehicle is determined; if a new pedestrian appears near the vehicle at the current moment in time, a check is performed between the new pedestrian and the previously disappeared pedestrian to ensure that the binding conditions are met; if the new pedestrian meets the conditions of binding to the previously disappeared pedestrian, the tracking information of the new pedestrian is accepted as the tracking information of the disappeared pedestrian at the current time; and By arranging all tracking information related to a given time interval according to a time sequence, a tracking trajectory of the corresponding pedestrian is formed.

11. The method for positioning a car key according to paragraph 9, characterized in that a check is made for the correspondence between the new pedestrian and the previously disappeared pedestrian to ensure that the binding conditions are met, including: obtaining the approximate location of a pedestrian whose tracking information has disappeared; and If the distance between the tracking information of the new pedestrian and the approximate location of the missing pedestrian is less than a given threshold, the new pedestrian is considered to satisfy the matching conditions with the missing pedestrian.

12. A device for positioning a car key, which, in particular, includes: a first receiving station configured to receive Bluetooth signal strength values ​​received by multiple Bluetooth receiving devices, wherein the Bluetooth signal is transmitted by the vehicle key to said receiving devices located at different points in the vehicle; a first determining station configured to determine reference information about the positioning of the automobile key at a current time based on a plurality of signal intensity values; a first processing station configured to perform a procedure for stabilizing reference positioning information with obtaining updated Bluetooth positioning information at the current moment; perform a procedure for stabilizing reference positioning information with obtaining updated Bluetooth positioning information at the current moment, including preventing abrupt jumps between positioning zones with obtaining Bluetooth positioning information at the current moment in time, and / or performing suppression of abrupt changes in reference positioning information with obtaining Bluetooth positioning information at the current moment in time; and a second determining station configured to determine a positioning result of the vehicle key based on a set of Bluetooth positioning information at different points in time.

13. A vehicle which, in particular, comprises a processor, a communication interface, a memory and a communication bus, in particular the processor, the communication interface and the memory exchange data with each other using a communication bus; memory for storing computer commands; a processor designed to implement any of the methods of positioning the car key according to paragraphs 1-11 when executing commands stored in memory.

14. A machine-readable storage medium on which commands are stored that implement any of the methods for positioning the car key according to paragraphs 1-11, wherein when the said commands are executed by the processor, any of the above-described stages of the method for positioning the car key is executed.

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