Vehicle key positioning method, and apparatus and storage medium

Abstract

Provided in the present application are a vehicle key positioning method, and an apparatus and a storage medium. The method comprises: on the basis of a ranging signal between each of a plurality of positioning anchor points of a vehicle and a key of the vehicle, determining the distance between each of the plurality of positioning anchor points and the key; if a reference anchor point is determined from the plurality of positioning anchor points on the basis of the distance between each of the plurality of positioning anchor points and the key, correcting the distance between a positioning anchor point adjacent to the reference anchor point and the key, so as to obtain a corrected distance, wherein the reference anchor point represents that a transmission mode of a ranging signal between the reference anchor point and the key is line of sight (LOS) wireless transmission; performing positioning calculation on the distance between the reference anchor point and the key, and the corrected distance, so as to obtain final position information of the key relative to the vehicle; and executing a preset action corresponding to both the final position information of the key relative to the vehicle and a control instruction sent by the key. The method in the present application solves the problem in the prior art of key positioning methods being inaccurate in positioning.

Description

Vehicle key positioning method, device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on June 16, 2023, with application number 202310725924.7 and application name “Vehicle Key Positioning Method, Device and Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a vehicle key positioning method, device, and storage medium. Background Art

[0003] Passive Entry Passive Start (PEPS) technology allows users to control the vehicle without any feeling before entering the vehicle.

[0004] The user's seamless control of the vehicle is specifically as follows: when the vehicle key carried by the user is within a preset distance range outside the vehicle body, the vehicle's body control module (BCM) establishes communication with the key. The BCM locates the key and obtains the key's position information relative to the vehicle. Based on the key's position information relative to the vehicle and the key's control instructions, the BCM executes the preset actions corresponding to the key's position information and the key's control instructions. In the prior art, the BCM's method of locating the key is mainly as follows: the BCM uses the least squares method to calculate the distance information between the key and all positioning anchor points on the vehicle obtained by the BCM to obtain the key's position information relative to the vehicle.

[0005] The key positioning method in the prior art has the problem of inaccurate positioning, which results in the inability to execute the preset action.

[0006] Summary of the Invention

[0007] The present application provides a vehicle key positioning method, device and storage medium to solve the problem of inaccurate positioning of key positioning methods in the prior art.

[0008] In a first aspect, the present application provides a vehicle key positioning method, comprising:

[0009] After the vehicle and the key of the vehicle complete the communication connection, determining the distance between each of the plurality of positioning anchor points of the vehicle and the key based on the ranging signals between the plurality of positioning anchor points of the vehicle and the key respectively;

[0010] If a reference anchor point is determined from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key, the distances between the positioning anchor points adjacent to the reference anchor point and the key are corrected to obtain a corrected distance; wherein the reference anchor point indicates that a ranging signal transmission method between the reference anchor point and the key is line-of-sight wireless transmission (LOS);

[0011] Performing positioning calculation on the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle;

[0012] Execute a preset action corresponding to both the final position information of the key relative to the vehicle and the control instruction issued by the key.

[0013] Optionally, a positioning anchor point adjacent to the reference anchor point is a first adjacent anchor point;

[0014] Correcting the distance between the key and a positioning anchor point adjacent to the one reference anchor point to obtain a corrected distance includes:

[0015] performing positioning calculation on the distance between the one reference anchor point and the first adjacent anchor point and the key, and the distance between the one reference anchor point and the first adjacent anchor point, to obtain first position information of the key relative to the vehicle;

[0016] The preset correction value corresponding to the first position information is used to correct the distance between the first adjacent anchor point and the key to obtain a corrected distance of the first adjacent anchor point.

[0017] Optionally, performing positioning calculation on the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle includes:

[0018] If the first position information is located in a preset first area, performing a positioning calculation on the distance between the one reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point to obtain a first positioning result of the key; the accuracy of the final position of the key represented by the first area is related to a positioning anchor point adjacent to the one reference anchor point;

[0019] The first positioning result is determined to be final position information of the key relative to the vehicle.

[0020] Optionally, another positioning anchor point adjacent to the one reference anchor point is a second adjacent anchor point;

[0021] The performing positioning calculation on the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle includes:

[0022] If the first position information is located in a preset second area, a positioning solution is performed on the distance between the one reference anchor point and the second adjacent anchor point and the key, as well as the distance between the one reference anchor point and the second adjacent anchor point, to obtain second position information of the key relative to the vehicle; the accuracy of the second area in representing the final position of the key is related to the two positioning anchor points adjacent to the one reference anchor point;

[0023] Using a preset correction value corresponding to the second position information to correct the distance between the second adjacent anchor point and the key, to obtain a corrected distance between the second adjacent anchor point;

[0024] performing positioning calculation on the distance between the one reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point to obtain a second positioning result of the key;

[0025] An average value of the first positioning result and the second positioning result is determined as final position information of the key relative to the vehicle.

[0026] Optionally, performing positioning calculation on the distance between each of the one reference anchor point and the first adjacent anchor point and the key, and the distance between the one reference anchor point and the first adjacent anchor point to obtain first position information of the key relative to the vehicle includes:

[0027] Determine a first local coordinate system with a line connecting the one reference anchor point and the first adjacent anchor point as an X-axis and with the one reference anchor point or the first adjacent anchor point as a coordinate origin;

[0028] determining a first local coordinate of the key in the first local coordinate system based on a distance between each of the one reference anchor point and the first adjacent anchor point and the key, and a distance between the one reference anchor point and the first adjacent anchor point;

[0029] A coordinate system transformation process is performed on the first local coordinate to obtain a first coordinate of the key in a preset coordinate system of the vehicle, where the first coordinate is first position information of the key relative to the vehicle.

[0030] Optionally, performing positioning calculation on the distance between the one reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point to obtain a first positioning result of the key includes:

[0031] Determine a first local coordinate system with a line connecting the one reference anchor point and the first adjacent anchor point as an X-axis and with the one reference anchor point or the first adjacent anchor point as a coordinate origin;

[0032] determining a first local revised coordinate of the key in the first local coordinate system based on the distance between the one reference anchor point and the key, the revised distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point;

[0033] Performing coordinate system transformation processing on the first local corrected coordinates to obtain first corrected coordinates of the key in a preset coordinate system of the vehicle;

[0034] The performing positioning calculation on the distance between the one reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point to obtain a second positioning result of the key includes:

[0035] Determine a second local coordinate system with a line connecting the one reference anchor point and the second adjacent anchor point as an X-axis and with the one reference anchor point or the second adjacent anchor point as a coordinate origin;

[0036] determining a second local revised coordinate of the key in the second local coordinate system based on the distance between the one reference anchor point and the key, the revised distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point;

[0037] A coordinate system transformation process is performed on the second local corrected coordinates to obtain second corrected coordinates of the key in a preset coordinate system of the vehicle.

[0038] Optionally, determining an average value of the first positioning result and the second positioning result as final position information of the key relative to the vehicle includes:

[0039] A mean value is calculated for the first corrected coordinate and the second corrected coordinate to obtain a final coordinate of the key in a preset coordinate system of the vehicle.

[0040] In a second aspect, the present application provides a control device, the device comprising: a collection module, a processing module, and an operation module;

[0041] The acquisition module is configured to determine the distance between each of the plurality of positioning anchor points of the vehicle and the key based on the ranging signals between the plurality of positioning anchor points of the vehicle and the key after the vehicle completes the communication connection with the vehicle key;

[0042] The processing module is configured to, if a reference anchor point is determined from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key, correct the distances between the positioning anchor points adjacent to the reference anchor point and the key to obtain a corrected distance; wherein the reference anchor point indicates that a ranging signal transmission method between the reference anchor point and the key is line-of-sight wireless transmission (LOS);

[0043] The processing module is further configured to perform positioning calculation on the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle;

[0044] The operation module is used to execute a preset action corresponding to the final position information of the key relative to the vehicle and the control instruction issued by the key.

[0045] In a third aspect, the present application provides a control device, comprising:

[0046] processor and memory;

[0047] The memory stores executable instructions executable by the processor;

[0048] The processor executes the executable instructions stored in the memory, so that the processor performs the method described above.

[0049] In a fourth aspect, the present application provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the method described above when executed by a processor.

[0050] The vehicle key positioning method, device, and storage medium provided by this application determine a reference anchor point for LOS transmission from multiple positioning anchor points. If there is only one reference anchor point, the distance between the LOS reference anchor point and the key and the corrected distance between the positioning anchor point adjacent to the NLOS reference anchor point and the key are calculated to obtain the final position information of the key relative to the vehicle. This improves the key's positioning accuracy, ensuring that the final position information of the key relative to the vehicle matches the key's actual position relative to the vehicle. This application solves the problem of inaccurate positioning in key positioning methods in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, 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.

[0052] Figure 1a is a diagram of an existing key positioning scenario;

[0053] FIG1b is a diagram showing a distance measurement signal transmission scenario between an existing key and a vehicle positioning anchor point;

[0054] FIG2 is a first diagram of a vehicle key positioning scenario provided by an embodiment of the present application;

[0055] FIG3 is a schematic diagram of a positioning solution process according to an embodiment of the present application;

[0056] FIG4 is a second diagram of a vehicle key positioning scenario provided by an embodiment of the present application;

[0057] FIG5 is a schematic diagram of a local coordinate system provided in an embodiment of the present application;

[0058] FIG6 is a third diagram of a vehicle key positioning scenario provided by an embodiment of the present application;

[0059] FIG7 is a first flowchart of a vehicle key positioning process according to an embodiment of the present application;

[0060] FIG8 is a schematic diagram of determining a preset correction value according to an embodiment of the present application;

[0061] FIG9 is a schematic diagram showing the relationship between the first area, the second area, and the anchor point preset area provided in an embodiment of the present application;

[0062] FIG10 is a second flowchart of a vehicle key positioning process according to an embodiment of the present application;

[0063] FIG11 is a structural diagram of a control device according to an embodiment of the present application;

[0064] FIG12 is a second structural diagram of the control device provided in an embodiment of the present application.

[0065] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0066] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0067] Passive Entry Passive Start (PEPS) and other technologies allow users to control the vehicle without any sense of touch before entering the vehicle.

[0068] Figure 1a is a diagram of an existing key positioning scenario. As shown in Figure 1a, positioning anchor points are usually deployed on the vehicle, such as the UWB anchor points such as UWB1, UWB2, UWB3, UWB4, UWB5, UWB6, and UWB7 shown in Figure 1a. As shown in Figure 1a, UWB1, UWB2, UWB3, and UWB4 are all located outside the vehicle body. For example, UWB1 and UWB4 are respectively located at both ends of the vehicle's front bumper, and UWB2 and UWB3 are respectively located at both ends of the rear bumper. UWB5, UWB6, and UWB7 are all located inside the vehicle body. A body controller (BCM) 12 is also deployed on the vehicle. BCM 12 will continuously broadcast Bluetooth Low Energy (BLE) broadcast signals through the Bluetooth Low Energy (BLE) module on BCM 12. The vehicle key 11 will detect the vehicle's BLE broadcast signals in real time.

[0069] The specific process of user-friendly vehicle control is as follows: If the key 11 detects and identifies that the received signal strength indicator (RSSI) of the associated vehicle's BLE broadcast signal reaches a preset communication threshold, the key 11 sends a communication connection request to the associated vehicle's BCM 12. The BCM 12 responds to the communication connection request sent by the key 11 and, after authentication, establishes communication with the key 11 to complete the communication connection between the vehicle and the corresponding key 11. The BCM 12 uses the BLE RSSI between the BCM 12 and the key 11 as a ranging signal to continuously measure the distance between the key 11 and the vehicle, obtaining the Bluetooth ranging distance of the key 11 relative to the vehicle. If the Bluetooth ranging distance is less than or equal to a first distance threshold, the BCM 12 controls the positioning devices at multiple positioning anchor points in the vehicle, activating the ranging function of each positioning device and converting the Bluetooth ranging method to the positioning device's ultra-wideband (UWB) time of flight (ToF) ranging method. The positioning device may include a UWB device including a UWB chip or a UWB module. The positioning device and the BCM 12 may be connected via a bus.

[0070] The vehicle key 11 may be a physical key or a virtual key on a user terminal.

[0071] After BCM 12 converts the Bluetooth RSSI ranging mode into the UWB ToF ranging mode, BCM 12 locates the key 11 as follows: BCM 12 determines the distance information between the positioning anchor point corresponding to each positioning device and the key 11 based on the ranging signal between each positioning device and the key 11. BCM 12 uses the least squares method to perform position calculation on the multiple distance information determined to obtain the position information of the key 11 relative to the vehicle, thereby locating the key 11. The position information of the key 11 relative to the vehicle can be the coordinates of the key 11 in the preset coordinate system of the vehicle. Based on the position information of the key relative to the vehicle and the control instructions issued by the key, BCM12 executes the preset action corresponding to the key's position information and the key's control instructions. The preset action is such as controlling the vehicle so that the vehicle automatically drives out of the garage and arrives at a predetermined position.

[0072] As shown in Figure 1b, the key 11 is outside the vehicle body. The ranging signal transmission methods between the key 11 and the positioning anchor point outside the vehicle body include line-of-sight wireless transmission (LOS) and non-line-of-sight wireless transmission (NLOS). The ranging signal between the key 11 and the positioning anchor point inside the vehicle body has no direct path due to the obstruction of the vehicle body, so the transmission method of the ranging signal is NLOS transmission. The NLOS transmission of the ranging signal between the key 11 and the positioning anchor point indicates that the ranging signal is reflected and / or diffracted by the reflector during the transmission between the key 11 and the positioning anchor point, and the transmission of the ranging signal does not have a line-of-sight condition and has no direct path. The reflector is such as the ground, the metal or non-metallic body of the vehicle. The ranging signal is reflected and / or diffracted by the reflector, and the RSSI of the ranging signal will also be weakened due to factors such as the surface conductivity, roughness, and reflectivity of the reflector. Due to reflection and / or diffraction from reflective objects during the transmission of the ranging signal, the distance between the key 11 and the positioning anchor point determined based on the ranging signal is often greater than the actual distance between the key 11 and the positioning anchor point. Therefore, the distance information between the key 11 and all the positioning anchor points of the vehicle contains inaccurate distance information.

[0073] In the embodiments of this application, NLOS is also referred to as NLOS transmission, and LOS is also referred to as LOS transmission. The actual distance between two points refers to the straight-line distance between the two points. For example, the actual distance between key 11 and positioning anchor point UWB1 is the straight-line distance between key 11 and UWB1.

[0074] Because the accuracy of the least squares solution is closely related to the amount of data used for the solution and its accuracy, existing key positioning methods, in order to ensure the amount of data used for the least squares solution, use the distance information between the key 11 and all positioning anchor points to calculate the key 11's position. This results in a significant discrepancy between the obtained position of the key 11 relative to the vehicle and the key 11's actual position relative to the vehicle. Existing key positioning methods suffer from inaccurate positioning, which in turn causes the calculated key position in the vehicle to differ from the key's actual position. This can lead to situations where the key 11 is located at a position corresponding to a preset action, but after issuing a control command corresponding to the preset action, the preset action cannot be executed by the BCM 12, affecting the user's experience with the vehicle.

[0075] As shown in Scenario 1 in Figure 1b, for the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the front and rear bumpers of the vehicle, when the key 11 is outside the vehicle body and located on one side of the door, the transmission of the ranging signal between the key 11 and at least two of the positioning anchor points is not reflected or diffracted by reflectors, or the ranging signal transmission method between the key 11 and at least two of the positioning anchor points is LOS transmission. Similarly, as shown in Scenario 2 in Figure 1b, for the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the front and rear bumpers of the vehicle, when the key is outside the vehicle body and located on one side of the front or rear of the vehicle, the ranging signal transmission method between the key 11 and at least two of the positioning anchor points is LOS transmission. And as shown in Scenario 1 and Scenario 2 in Figure 1b, the two positioning anchor points of LOS transmission are adjacent.

[0076] As shown in Figure 1b, for the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the front and rear bumpers of the vehicle, if the two positioning anchor points on the same side of the front of the vehicle (such as UWB1 and UWB4) are not on the same straight line with the vertex of the outer edge of the front of the vehicle (such as point K1), and if the two positioning anchor points on the same side of the door (such as UWB3 and UWB4) are not on the same straight line with the vertex of the outer edge of the vehicle body on that side (such as K2), when the key 11 is located in the intersection area of ​​the front of the vehicle and the outer side of the door as shown in scenario three in Figure 1b, the ranging signal between the key 11 and the nearest positioning anchor point is LOS transmission. However, the ranging signal between the key 11 and the remaining three positioning anchor points (such as UWB1, UWB2, and UWB3) will be reflected or diffracted by the reflector, that is, the ranging signal transmission mode between the key 11 and UWB1, UWB2, and UWB3 is NLOS transmission.

[0077] If the ranging signal transmission method between the key and at least two positioning anchor points of the vehicle is LOS transmission, the key can be accurately located by performing positioning and solving the distance information of the two positioning anchor points using LOS transmission. If the ranging signal transmission method between the key and one positioning anchor point of the vehicle is LOS transmission, the key can also be accurately located by performing positioning and solving the distance information of the positioning anchor point corresponding to the LOS transmission and the distance information of the positioning anchor point corresponding to the corrected NLOS transmission.

[0078] In view of this, the present application proposes a vehicle key positioning method, which improves the positioning accuracy of the vehicle key by performing positioning solution on the distance information of the positioning anchor point corresponding to the LOS transmission and the corrected distance information of the positioning anchor point corresponding to the NLOS transmission.

[0079] The vehicle key locating method proposed in this application is described below with reference to some embodiments.

[0080] Figure 2 is a diagram of a vehicle key positioning scenario provided by an embodiment of the present application. As shown in Figure 2, a plurality of positioning anchor points are provided on the vehicle, and the positioning anchor points are UWB1, UWB2, UWB3, and UWB4 as shown in Figure 2. For example, UWB1 and UWB4 are respectively located at both ends of the front bumper of the vehicle, and UWB2 and UWB3 are respectively located at both ends of the rear bumper. For the four positioning anchor points UWB1, UWB4, UWB2, and UWB3 deployed at both ends of the front and rear bumpers of the vehicle, the two positioning anchor points on the same side of the front of the vehicle (such as UWB1 and UWB4) are not in a straight line with the vertex of the outer edge of the front of the vehicle (such as point K1), the two positioning anchor points on the same side of the rear of the vehicle (such as UWB2 and UWB3) are not in a straight line with the vertex of the outer edge of the rear of the vehicle (such as point K3), and the two positioning anchor points on the same side of the door (such as UWB3 and UWB4) are not in a straight line with the vertex of the outer edge of the vehicle body on that side (such as K2). A positioning device is deployed on the positioning anchor point, and the positioning device can determine the distance between the positioning anchor point and the key 11; or, the positioning anchor point is an anchor point with a positioning function. The positioning device can be a UWB device including a UWB chip or a UWB module. The positioning device can also be a positioning device including a BLE module or a BLE chip. A control device 21 is deployed on the vehicle, and the control device 21 includes a BLE module. The vehicle key 11 also includes a UWB chip or a UWB module. The vehicle key 11 also includes a BLE module or a BLE chip. The vehicle key 11 can be a physical key or a virtual key on a user terminal. The user terminal can be a mobile phone, tablet computer or other terminal.

[0081] The control device 21 continuously broadcasts the BLE broadcast signal through the BLE module. The vehicle's key 11 detects the vehicle's BLE broadcast signal in real time. If the key 11 detects and identifies that the RSSI of the vehicle's BLE broadcast signal reaches a preset 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 by the key 11 and establishes communication with the key 11 after authentication to complete the communication connection between the vehicle and the key 11. Based on the BLE ranging signal between the control device 21 and the key 11, the control device 21 continuously measures the distance of the key 11 to obtain the Bluetooth ranging distance of the key 11 relative to the vehicle. If the Bluetooth ranging distance is less than or equal to the first distance threshold, the control device 21 controls the positioning devices at multiple positioning anchor points of the vehicle and activates the ranging function of each positioning device. If the positioning device is a UWB device, the control device 21 converts the Bluetooth ranging method measured by the control device 21 to the UWB ranging method measured by the positioning device. The distance measurement signal between the positioning device and the key 11 is a distance measurement signal between the corresponding positioning anchor point of the positioning device and the key 11 .

[0082] After the control device 21 switches the Bluetooth distance measurement mode to the UWB distance measurement mode, the control device 21 locates the key 11 in the following manner:

[0083] The control device 21 determines the distance between each of the plurality of positioning anchor points and the key 11 based on the distance measurement signals between each of the plurality of positioning anchor points of the vehicle and the key 11 .

[0084] When the key 11 and the vehicle are distributed in a similar manner to scenario 1 or 2 in FIG. 2 , the control device 21 can determine at least two reference anchor points from the multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key 11. The control device 21 can perform a positioning solution on the distances between each of the two adjacent reference anchor points and the key 11 to obtain the final position information of the key 11 relative to the vehicle.

[0085] The reference anchor point indicates that the distance measurement signal transmission mode between the reference anchor point and the key 11 is line-of-sight wireless transmission (LOS).

[0086] When the distribution of the key 11 and the vehicle is similar to the distribution scenario of scenario three in Figure 2, the ranging signal between the key 11 and the nearest positioning anchor point (such as UWB1) is LOS transmission. However, the ranging signal between the key 11 and the remaining three positioning anchor points (such as UWB2, UWB3, and UWB4) will be reflected or diffracted by the reflector, that is, the ranging signal transmission mode between the key 11 and UWB2, UWB3, and UWB4 is NLOS transmission. The reflector can be the ground or a metal or non-metallic car body. Based on the distance between each of the multiple positioning anchor points and the key 11, the control device 21 can determine a reference anchor point (such as UWB1) from the multiple positioning anchor points. The control device 21 can correct the distance between the positioning anchor points (such as UWB2 and / or UWB4) adjacent to the one reference anchor point and the key 11 to obtain a corrected distance. The control device 21 performs positioning calculation on the distance between the reference anchor point and the key 11 and the correction distance corresponding to the positioning anchor point adjacent to the reference anchor point to obtain the final position information of the key 11 relative to the vehicle.

[0087] Based on the final position information of the key 11 relative to the vehicle and the control command issued by the key, the control device 21 executes a preset action corresponding to the final position information of the key 11 and the control command issued by the key 11. The preset action may be to control the vehicle so that the vehicle automatically leaves the garage and arrives at a predetermined location.

[0088] For example, the control device 21 may determine a reference anchor point from a plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key 11 according to the following steps I-III:

[0089] Step 1: The control device 21 obtains the received signal strength indicator (RSSI) corresponding to each of the multiple positioning anchor points from the key 11; and / or obtains the status identifier of the corresponding positioning anchor point from the positioning device of each of the multiple positioning anchor points. The status identifier is a valid identifier indicating that the ranging signal used for measuring the distance between the positioning anchor point and the key is valid, or an invalid identifier indicating that the ranging signal used for measuring the distance between the positioning anchor point and the key is invalid. A valid identifier is 1 or valid. An invalid identifier is 0 or invalid. The control device 21 also obtains the time of flight (ToF) of the signal corresponding to each of the multiple positioning anchor points from the key 11.

[0090] Step II: The control device 21 determines, from the distances between each of the multiple positioning anchor points and the key 11, the distance between the positioning anchor point whose RSSI is greater than the signal strength threshold and the key 11 as the effective distance; and / or determines, from the status identifiers of each of the multiple positioning anchor points obtained, the distance between the positioning anchor point corresponding to the valid identifier and the key as the effective distance.

[0091] Step III, the control device 21 determines the positioning anchor point corresponding to the effective distance as the reference anchor point; or, the control device 21 determines the positioning anchor point whose ToF meets the preset conditions as the reference anchor point. For example, the control device 21 determines the positioning anchor point with the smallest ToF as the reference anchor point from the ToF corresponding to multiple positioning anchor points.

[0092] The control device 11 determines an effective distance from the distances between each of the multiple positioning anchor points and the key 11 based on at least one of the ToF satisfying a preset condition, the RSSI, and the status identifier of the positioning anchor point. Based on the effective distance, the control device 11 then determines a reference anchor point, thereby improving the accuracy of determining the reference anchor point and ensuring the validity of the determined reference anchor point. The control device 11 determines the reference anchor point based on the ToF corresponding to each of the multiple positioning anchor points, thereby improving the accuracy of determining the reference anchor point and ensuring that the determined reference anchor point is valid.

[0093] Optionally, the positioning device may also be a Bluetooth positioning device. After the ranging function of the Bluetooth positioning device is activated, the control device 21 locates the key 11 in the following manner: the control device 21 determines the distance between each of the multiple positioning anchor points and the key 11 based on the ranging signals (such as Bluetooth ranging signals) between each of the multiple positioning anchor points of the vehicle and the key 11. Based on the distances between each of the multiple positioning anchor points and the key 11, if at least two reference anchor points are determined from the multiple positioning anchor points, the control device 21 performs positioning calculation on the distances between each of the two adjacent reference anchor points and the key 11 to obtain the final position information of the key 11 relative to the vehicle. Based on the distances between each of the multiple positioning anchor points and the key 11, if a reference anchor point is determined from the multiple positioning anchor points, the control device 21 corrects the distances between the positioning anchor points adjacent to the reference anchor point and the key 11 to obtain the corrected distance. The control device 21 performs positioning calculation on the distance between the reference anchor point and the key 11 and the correction distance corresponding to the positioning anchor point adjacent to the reference anchor point to obtain the final position information of the key 11 relative to the vehicle.

[0094] Generally, in terms of short-range ranging, the UWB ranging accuracy is higher than the Bluetooth ranging accuracy. Therefore, the positioning device may preferably be a UWB device using the UWB ranging mode.

[0095] The vehicle key positioning method provided in an embodiment of the present application determines a reference anchor point transmitted by LOS from multiple positioning anchor points. If the number of reference anchor points includes at least two anchor points, the distances between the two adjacent reference anchor points and the key are respectively positioned and calculated to obtain the final position information of the key relative to the vehicle. If the number of reference anchor points is one, the distance between the reference anchor point transmitted by LOS and the key and the corrected distance between the adjacent positioning anchor point transmitted by NLOS and the key are positioned and calculated to obtain the final position information of the key relative to the vehicle, thereby improving the positioning accuracy of the key and ensuring that the final position information of the key relative to the vehicle is consistent with the actual position of the key relative to the vehicle. The vehicle key positioning method provided in an embodiment of the present application can reduce or even eliminate the adverse effects of inaccurate distance information determined by the ranging signal transmitted by NLOS on the positioning accuracy of the key, thereby solving the problem of inaccurate positioning in the key positioning method in the prior art.

[0096] The vehicle key positioning method provided by the present application is described in detail below with reference to Figures 3 to 10. Figure 3 is a schematic diagram of the positioning solution process provided by an embodiment of the present application. Figure 4 is a second vehicle key positioning scenario diagram provided by an embodiment of the present application. Figure 5 is a schematic diagram of the local coordinate system provided by an embodiment of the present application. Figure 6 is a third vehicle key positioning scenario diagram provided by an embodiment of the present application. Figure 7 is a first vehicle key positioning flowchart provided by an embodiment of the present application. Figure 8 is a schematic diagram of determining a preset correction value provided by an embodiment of the present application. Figure 9 is a schematic diagram of the relationship between the first area and the second area and the anchor point preset area provided by an embodiment of the present application. Figure 10 is a second vehicle key positioning flowchart provided by an embodiment of the present application. The execution subject of the vehicle key positioning method provided by an embodiment of the present application may be the control device 21 in the embodiment shown in Figure 2. The following is an exemplary description using the execution subject as the control device 21 as an example.

[0097] After the vehicle and the key 11 of the vehicle are connected in communication and the positioning devices on the multiple positioning anchor points on the vehicle start the distance measurement operation, the control device 21 obtains the distance measurement signals between the multiple positioning anchor points of the vehicle and the key 11 respectively. Based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key 11 respectively, the control device 21 determines the distance between each of the multiple positioning anchor points and the key 11. If the distribution scenario of the key 11 and the vehicle is similar to scenario one or scenario two in Figure 2, or the scenario shown in Figure 4, the control device 21 can determine at least two reference anchor points from the multiple positioning anchor points based on the distance between each of the multiple positioning anchor points and the key 11 to locate the key 11. If the distribution scenario of the key 11 and the vehicle is similar to scenario three in Figure 2, or the scenario shown in Figure 6, the control device 21 can determine one reference anchor point from the multiple positioning anchor points based on the distance between each of the multiple positioning anchor points and the key 11 to locate the key 11.

[0098] The following describes a method for positioning the key 11 when the number of the determined reference anchor points is at least two and a method for positioning the key 11 when the number of the determined reference anchor points is one.

[0099] (1) The method for positioning the key 11 when the number of determined reference anchor points is at least two is described as follows:

[0100] If the control device 21 determines at least two reference anchor points from the multiple positioning anchor points based on the distance between each of the multiple positioning anchor points and the key 11, the distance between each of the two adjacent reference anchor points and the key 11 is positioned and calculated in the manner shown in S101-S102 in Figure 3 to obtain the final position information of the key 11 relative to the vehicle.

[0101] S101 : The control device 21 determines the third local coordinates of the key 11 in the third local coordinate system corresponding to the two adjacent reference anchor points based on the distances between the key 11 and the two adjacent reference anchor points.

[0102] Exemplarily, the control device 21 determines a third local coordinate system with the line connecting the two determined adjacent reference anchor points as the X-axis and a reference anchor point on the X-axis as the coordinate origin. Optionally, if the key 11 is not collinear with the reference anchor point, on the same vehicle, the local coordinate system determined by the control device 21 may be a local coordinate system in which the Y-axis coordinate value of the key 11 in the local coordinate system is a negative number. Optionally, if the key 11 is not collinear with the reference anchor point, on the same vehicle, the local coordinate system determined by the control device 21 may also be a local coordinate system in which the Y-axis coordinate value of the key 11 in the local coordinate system is a positive number. Based on the distance between each of the two determined adjacent reference anchor points and the key 11, the control device 21 determines the third local coordinate of the key 11 in the third local coordinate system corresponding to the two determined adjacent reference anchor points. The third local coordinate of the key 11 represents the position of the key 11 relative to the two determined adjacent reference anchor points.

[0103] The control device 21 accurately determines the position of the key 11 relative to the two adjacent reference anchor points based on the distance between the two adjacent reference anchor points in the ranging signal transmission mode of LOS, thereby ensuring the accuracy of the determined position of the key 11 and facilitating the subsequent coordinate system transformation processing of the local coordinates of the key 11 in the manner shown in S102 to obtain the coordinates of the key 11 in the preset coordinate system of the vehicle.

[0104] S102: The control device 21 performs coordinate system transformation processing on the third local coordinate to obtain the final coordinate of the key 11 in the vehicle's preset coordinate system. The final position information of the key 11 relative to the vehicle includes the final coordinate of the key 11 in the vehicle's preset coordinate system.

[0105] For example, the control device 21 determines the third local coordinate (x l3 ,y l3 ) corresponds to the coordinate transformation coefficient θ of the coordinate origin of the local coordinate system.

[0106] The control device 21 uses the transformation matrix The third local coordinate (x l3 ,y l3 ) is transformed into the rotation coordinate (x r3 ,y r3 The control device 21 locates the global coordinates (x ) of the anchor point in the vehicle's preset coordinate system corresponding to the coordinate origin of the third local coordinate system. 03 ,y 03 ), using the formula xg3 =x r3 +x 03 and y g3 =y r3 +y 03 , determine the final coordinates (x g3 ,y g3 ).

[0107] Step S102 realizes the conversion between the coordinates of the key 11 in the local coordinate system and the coordinates of the key 11 in the preset coordinate system, thereby obtaining the final position information of the key 11 relative to the vehicle.

[0108] After the control device 21 obtains the final position information of the key 11 relative to the vehicle according to steps S101 - S102 , the control device 21 executes a preset action corresponding to the final position information of the key 11 relative to the vehicle and the control instruction issued by the key 11 .

[0109] The following is an example to illustrate the positioning solution shown in steps S101-S102.

[0110] Assuming that the distribution of key A and vehicle A is as shown in Figure 4, the preset coordinate system of vehicle A can be the coordinate system shown in Figure 4, that is, the forward direction of the vehicle centerline is the positive direction of the Y axis, 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 vertex of the front edge of the vehicle along the central axis (at point K1 as shown in Figure 2). The four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A are deployed in the same manner as the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 shown in Figure 2. When the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A are respectively used as the coordinate origin of the local coordinate system, the corresponding coordinate transformation coefficients are θ1, θ2, θ3, and θ4 respectively. The values ​​of θ1, θ2, θ3, and θ4 can be 270°, 0°, 90°, and 180° respectively.

[0111] The control device 21 determines two adjacent reference anchor points UWB3 and UWB4 from the distances between the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of the vehicle A shown in FIG4 and the key A. The coordinates of the two adjacent reference anchor points UWB3 and UWB4 in the preset coordinate system of the vehicle A are (x 03A ,y 03A ) and (x 04A ,y 04A ).

[0112] The control device 21 determines the third local coordinate system shown in FIG5 with the line connecting the reference anchor points UWB3 and UWB4 as the X-axis and UWB3 as the coordinate origin. The coordinate transformation coefficient θ3 corresponding to the coordinate origin of the third local coordinate system shown in FIG5 is shown. The third local coordinate system is the local coordinate system corresponding to the reference anchor points UWB3 and UWB4. In the third local coordinate system, the Y-axis coordinate value of key A is a negative number. The control device 21 is based on the distances d3 and d4 between the reference anchor points UWB3 and UWB4 and key A, and the distance h between the reference anchor points UWB3 and UWB4. 34 The third local coordinate (x l3A ,y l3A ):

[0113] As shown in FIG5 , 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. Then, the third local coordinate (x l3A ,y l3A )=(dx,-dy).

[0114] Wherein, dx and dy are determined as follows: the control device 21 is determined according to the cosine theorem (d4) 2 =(d3) 2 +(h 34 ) 2 -2×d3×h 34 × cosα, determine Then determine: d x =d3×cosα;d y =d3×sinα.

[0115] The control device 21 uses the transformation matrix The third local coordinate (x l3A ,y l3A ) is transformed into the rotation coordinate (x r3A ,y r3A The control device 21 locates the global coordinates (x ) of the anchor point in the preset coordinate system of vehicle A based on the coordinate origin of the third local coordinate system. 03A ,y 03A ), using the formula x g3A = x r3A +x 03A and y g3A =y r3A +y 03A Determine the final coordinates (x g3A ,y g3A The final coordinates of key A in the preset coordinate system of vehicle A (x g3A,y g3A ) is the final position information of key A relative to vehicle A.

[0116] (2) The method for positioning the key 11 when the number of determined reference anchor points is one is described as follows:

[0117] If the key 11 and the vehicle are positioned as shown in Scenario 3 in Figure 2, the ranging signal transmission mode between the key 11 and UWB1 is LOS. However, the ranging signal transmission mode between the key 11 and UWB2, UWB3, and UWB4 is NLOS. Based on the distances between the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 and the key 11, the control device 21 determines UWB1 as a reference anchor point.

[0118] The method for locating the key 11 shown in the third scenario in FIG. 2 is shown in FIG. 7 :

[0119] S201 : After the vehicle and the key 11 of the vehicle complete the communication connection, the control device 21 determines the distance between each of the plurality of positioning anchor points of the vehicle and the key 11 based on the ranging signals between the plurality of positioning anchor points of the vehicle and the key 11 .

[0120] S202: If the control device 21 determines a reference anchor point from the multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key 11, the distances between the positioning anchor points adjacent to the reference anchor point and the key 11 are corrected to obtain a corrected distance.

[0121] If the control device 21 determines a reference anchor point from a plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key 11, then the transmission mode of the ranging signal between the positioning anchor points adjacent to the reference anchor point and the key 11 is NLOS. The transmission mode of the ranging signal between the positioning anchor point and the key 11 is NLOS, which indicates that the ranging signal between the positioning anchor point and the key 11 is reflected or diffracted by a reflector during transmission, and the distance between the positioning anchor point and the key 11 determined based on the ranging signal reflected or diffracted by the reflector is greater than the actual distance between the positioning anchor point and the key 11. If the distance determined by the ranging signal transmitted by NLOS between the positioning anchor point and the key 11 is to be used for locating the key 11, the distance determined by the ranging signal transmitted by NLOS needs to be corrected to obtain the precise distance between the positioning anchor point and the key 11, thereby improving the positioning accuracy of the key 11. To this end, the embodiment of the present application proposes using a preset correction value to correct the distance determined by the ranging signal transmitted by NLOS.

[0122] For example, FIG8 is a schematic diagram of determining the preset correction value provided by an embodiment of the present application. As shown in FIG8 , the four positioning anchor points of the vehicle (such as UWB1, UWB2, UWB3, UWB4) are pre-set with corresponding anchor point preset areas (such as a 5 m x 5 m area), and equidistant squares (such as a 25 cm x 25 cm square) are set within the anchor point preset area. The identification of each grid can be represented by (i, j), where i represents the grid number in the X-axis direction of the vehicle's preset coordinate system, and j represents the grid number in the Y-axis direction of the vehicle's preset coordinate system. The coordinate point (X i ,Y j ) satisfies β i1 ≤X i ≤β i2 , and β j1 ≤Y j ≤β j2 For each square in each anchor point preset area, the key 11 is placed at the center of the square. The distances between the adjacent positioning anchor points corresponding to the positioning anchor point in the anchor point preset area and the ranging signals transmitted by the key NLOS are obtained, i.e., the acquisition distances. The distances between the center of the square and the adjacent positioning anchor points corresponding to the positioning anchor point in the anchor point preset area, i.e., the theoretical distances, are calculated. The difference between the acquisition distance and the theoretical distance is determined as the compensation value corresponding to the square. Optionally, the shape of the anchor point preset area can also be a sector, a circle, or other irregular shapes.

[0123] As shown in Figure 8, the adjacent positioning anchor points of UWB1 include UWB2 and UWB4. Place the key 11 (such as key A in Figure 8) at the center of the square (i, j) in the preset anchor area corresponding to UWB1. Obtain the acquisition distance d21 between key A and UWB2, and calculate the theoretical distance d22 between key A and UWB2, and determine the compensation value Δd2(i, j) = d21-d22 of the adjacent positioning anchor point UWB2 corresponding to square (i, j). Similarly, obtain the acquisition distance d41 between key A and UWB4, and calculate the theoretical distance d42 between key A and UWB4, and determine the compensation value Δd4(i, j) = d41-d42 of the adjacent positioning anchor point UWB4 corresponding to square (i, j).

[0124] The compensation value corresponding to the square (i, j) is also the preset correction value corresponding to the square (i, j). After the preset correction value is determined, the control device 21 can use the preset correction value to correct the distance determined by the ranging signal transmitted by the NLOS to obtain an accurate distance.

[0125] For example, a positioning anchor point adjacent to the one reference anchor point is the first adjacent anchor point. If the control device 21 determines the one reference anchor point from the multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key 11, the control device 21 uses a method similar to S101-S102 to perform positioning calculations on the distances between the one reference anchor point and the first adjacent anchor point and the key 11, as well as the distance between the one reference anchor point and the first adjacent anchor point, to obtain the first position information of the key 11 relative to the vehicle. The control device 21 calculates the first position information of the key 11 relative to the vehicle based on the coordinate point (X i ,Y j ) condition β i1 ≤X i ≤β i2 , and β j1 ≤Y j ≤β j2 , determine the identifier (i, j) of the square corresponding to the first position information. The control device 21 determines the compensation value of the first adjacent anchor point corresponding to the square (i, j) based on the identifier (i, j). The compensation value of the first adjacent anchor point corresponding to the square (i, j) is the preset correction value corresponding to the first position information. The control device 21 uses the preset correction value corresponding to the first position information to correct the distance between the first adjacent anchor point and the key to obtain the corrected distance of the first adjacent anchor point. For example, the control device 21 subtracts the compensation value of the first adjacent anchor point corresponding to the square (i, j) from the distance between the first adjacent anchor point and the key to obtain the corrected distance of the first adjacent anchor point.

[0126] The control device 21 uses a method similar to steps S101-S102 to perform a positioning calculation based on the distances between the reference anchor point and the first adjacent anchor point and the key 11, as well as the distance between the reference anchor point and the first adjacent anchor point, to obtain first position information of the key 11 relative to the vehicle. For example, the control device 21 determines a first local coordinate system corresponding to the reference anchor point and the first adjacent anchor point, using the line connecting the reference anchor point and the first adjacent anchor point as the X-axis and the reference anchor point or the first adjacent anchor point as the coordinate origin. Based on the distances between the reference anchor point and the first adjacent anchor point and the key, as well as the distance between the reference anchor point and the first adjacent anchor point, the control device 21 determines the first local coordinates of the key 11 in the first local coordinate system using the law of cosines similar to the embodiment of FIG. 5 The control device 21 uses a method similar to step S102 to perform a coordinate system transformation on the first local coordinates to obtain the first coordinates of the key 11 in the vehicle's preset coordinate system. The first coordinates are the first position information of the key 11 relative to the vehicle.

[0127] After determining the corrected distance of the first adjacent anchor point in step S202 , step S203 may be executed based on the corrected distance of the first adjacent anchor point to determine the final position information of the key 11 relative to the vehicle.

[0128] S203 : The control device 21 performs positioning calculation on the distance between the reference anchor point and the key 11 and the corrected distance of the first adjacent anchor point to obtain final position information of the key 11 relative to the vehicle.

[0129] Exemplarily, the control device 21 adopts a method similar to S101-S102 to perform positioning calculation on the distance between the reference anchor point and the key 11, the corrected distance of the first adjacent anchor point, and the distance between the reference anchor point and the first adjacent anchor point to obtain the final position information of the key 11 relative to the vehicle.

[0130] Figure 9 is a schematic diagram of the relationship between the first area, the second area, and the anchor point preset area provided in an embodiment of the present application. As shown in Figure 9, each anchor point preset area includes two first areas (such as first area 1 and first area 2) and one second area.

[0131] The first area represents the accuracy of the final position of the key 11 and is related to an adjacent positioning anchor point of the reference anchor point corresponding to the anchor point preset area.

[0132] The second area represents the accuracy of the final position of the key 11, which is related to the two adjacent positioning anchor points of the one reference anchor point corresponding to the anchor point preset area. As shown in Figure 9, the second area corresponding to UWB1 corresponds to the one reference anchor point is UWB1, and the adjacent positioning anchor points of the one reference anchor point UWB1 are UWB2 and UWB4 respectively. For the same second area, such as the second area corresponding to UWB1 in Figure 9, if the key 11 is located in the second area, the position information obtained by positioning and solving the key 11 based on UWB1 and UWB2 and the position information obtained by positioning and solving the key 11 based on UWB1 and UWB4 are respectively located on both sides of the central axis of the second area. Therefore, when the key 11 is located in the second area, the position information obtained by positioning and solving the key 11 based on the one reference anchor point and an adjacent positioning anchor point of the one reference anchor point will be reversed back and forth on both sides of the central axis of the second area. Therefore, the accuracy of the final position of the key 11 represented by the second area is related to the two adjacent positioning anchor points of the reference anchor point corresponding to the anchor point preset area.

[0133] Optionally, the angle between the central axis of the second area and the Y axis (or X axis) of the preset coordinate system of the vehicle may be 45°.

[0134] Optionally, the width of the second area can be determined based on theoretical calculations and measurement results of the key within the preset anchor point area. For example, the width of the second area W = 10σ. Here, σ is the variance of the ranging error of the positioning device at the positioning anchor point. If the positioning device is a UWB device, the corresponding σ is 6-10 (cm), and the probability of being within 3σ when the ranging is normally distributed is 0.9974.

[0135] If the first position information determined in step S202 is located in the preset first area, the control device 21 adopts a method similar to S101-S102 to perform positioning calculation on the distance between the one reference anchor point and the key 11, the corrected distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point to obtain a first positioning result of the key 11, and determine the first positioning result as the final position information of the key 11 relative to the vehicle.

[0136] For example, if the first position information is located in a preset first area, the control device 21 determines a first local coordinate system using the line connecting the one reference anchor point and the first adjacent anchor point as the X-axis and the one reference anchor point or the first adjacent anchor point as the coordinate origin. Based on the distance between the one reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point, the control device 21 determines the first local corrected coordinates of the key 11 in the first local coordinate system using a cosine theorem calculation method similar to the embodiment of FIG. 5 . The control device 21 uses a similar method as shown in step S102 to perform a coordinate system transformation on the first local corrected coordinates to obtain the first corrected coordinates of the key 11 in the preset coordinate system of the vehicle. The control device 21 determines the first corrected coordinates as the final position information of the key 11 relative to the vehicle, thereby improving the positioning rate of the key 11.

[0137] Another positioning anchor point adjacent to the one reference anchor point is a second adjacent anchor point.

[0138] If the first location information determined in step S202 is located in the preset second area, the control device 21 performs a positioning calculation based on the distances between the reference anchor point and the second adjacent anchor point and the key, as well as the distance between the reference anchor point and the second adjacent anchor point, in a manner similar to steps S101 and S102, to obtain second location information of the key 11 relative to the vehicle. The control device 21 uses a preset correction value corresponding to the second location information to correct the distance between the second adjacent anchor point and the key, obtaining a corrected distance for the second adjacent anchor point. The control device 21 performs a positioning calculation based on the distance between the reference anchor point and the key 11, the corrected distance of the second adjacent anchor point, and the distance between the reference anchor point and the second adjacent anchor point, in a manner similar to steps S101 and S102, to obtain a second location result for the key 11. The control device 21 determines the average of the first and second location results as the final location information of the key 11 relative to the vehicle, thereby improving the positioning accuracy of the key 11 in the second area.

[0139] The control device 21 uses a method similar to S101-S102 to perform a positioning calculation based on the distance between the one reference anchor point and the key 11, the corrected distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point, obtaining a second positioning result for the key 11. For example, the control device 21 determines a second local coordinate system using the line connecting the one reference anchor point and the second adjacent anchor point as the X-axis and the one reference anchor point or the second adjacent anchor point as the coordinate origin. Based on the distance between the one reference anchor point and the key 11, the corrected distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point, the control device 21 determines the second local corrected coordinates of the key 11 in the second local coordinate system using a cosine theorem calculation method similar to that of the embodiment of FIG. The control device 21 uses a method similar to that shown in step S102 to perform a coordinate system transformation on the second local corrected coordinates to obtain the second corrected coordinates of the key 11 in the preset coordinate system of the vehicle.

[0140] Illustratively, the first positioning result includes the first corrected coordinates of the key 11 in the vehicle's preset coordinate system. The second positioning result includes the second corrected coordinates of the key 11 in the vehicle's preset coordinate system. If the first location information is located within the preset second area, the control device 21 calculates the mean of the first and second corrected coordinates to obtain the final coordinates of the key 11 in the vehicle's preset coordinate system. The final coordinates of the key 11 in the vehicle's preset coordinate system are the final position information of the key 11 relative to the vehicle.

[0141] In the same anchor point preset area, if a first area and an adjacent positioning anchor point are located on the same side of a second area, it indicates that the first area corresponds to the adjacent positioning anchor point. The adjacent positioning anchor point is an adjacent positioning anchor point corresponding to the positioning anchor point in the anchor point preset area.

[0142] Optionally, if the control device 21 determines a reference anchor point from a plurality of positioning anchor points based on the distance between each of the plurality of positioning anchor points and the key 11, the control device 21 may obtain the first position information corresponding to the first adjacent anchor point of the reference anchor point and the second position information corresponding to the second adjacent anchor point of the reference anchor point. If the control device 21 determines that the first position information and the second position information are both located in the same first area, the control device 21 locates the key 11 based on the adjacent positioning anchor points corresponding to the first area and the reference anchor point. The control device 21 locates the key 11 based on the adjacent positioning anchor points corresponding to the first area and the reference anchor point. For example, the control device 21 uses a method similar to S101-S102 to perform positioning calculations on the corrected distances corresponding to the adjacent positioning anchor points corresponding to the first area, the distance between the reference anchor point and the key 11, and the distance between the reference anchor point and the adjacent positioning anchor points corresponding to the first area, to obtain the final position information of the key 11 relative to the vehicle.

[0143] After the control device 21 obtains the final position information of the key 11 relative to the vehicle in step S203 , the control device 21 executes step S204 .

[0144] S204 : The control device 21 executes a preset action corresponding to the final position information of the key 11 relative to the vehicle and the control instruction issued by the key 11 .

[0145] Taking FIG. 6 as an example, the positioning of the vehicle key shown in FIG. 6 is exemplarily described in the manner shown in steps (1) to (4).

[0146] (1) As shown in FIG6 , after the control device 21 of vehicle A completes the communication connection with the key A of vehicle A, the distances between UWB1, UWB2, UWB3, and UWB4 and key A are determined to be d1a, d2a, d3a, and d4a, respectively, based on the ranging signals between the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A and key A. The ranging signal transmission mode between key A and UWB1 is LOS, indicating that the actual distance between key A and UWB1 is the same as or equivalent to d1a. The ranging signal transmission mode between key A and UWB2, UWB3, and UWB4 is NLOS, indicating that the actual distance between key A and UWB2 is less than d2a, the actual distance between key A and UWB3 is less than d3a, and the actual distance between key A and UWB4 is less than d4a.

[0147] In the embodiment of the present application, the actual distance between two points refers to the straight-line distance between the two points. For example, the actual distance between key A and UWB4 is the straight-line distance between key A and UWB4.

[0148] (2) The control device 21 determines UWB1 as a reference anchor point based on the distances between each of the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 and key A. The adjacent positioning anchor points of UWB1 include UWB2 and UWB4. If UWB2 is the first adjacent anchor point, UWB4 is the second adjacent anchor point.

[0149] (3) The control device 21 uses a method similar to that shown in steps S101-S102 to perform positioning calculations on the distance between UWB1 and key A, the distance between UWB2 and key A, and the distance between UWB1 and UWB2, to obtain first position information of key A. Furthermore, the control device 21 uses a method similar to that shown in steps S101-S102 to perform positioning calculations on the distance between UWB1 and key A, the distance between UWB4 and key A, and the distance between UWB1 and UWB4, to obtain second position information of key A.

[0150] (4) If the first location information and the second location information are both located in the same first area, then execute steps (4.1.1) to (4.1.4). If the first location information and the second location information are both located in the same second area, then execute steps (4.2.1) to (4.2.5).

[0151] (4.1.1) If the first position information and the second position information are both located in the same first area, and the same first area, as shown in FIG8 , corresponds to the first area 1 in the anchor point preset area, and the first area 1 corresponds to UWB4, then the control device 21 determines the identifier (i1, j1) of the square corresponding to the second position information based on the second position information.

[0152] (4.1.2) The control device 21 uses the compensation value Δd4(i1,j1) of the positioning anchor point UWB4 corresponding to the grid (i1,j1) according to the formula: d4ax=d4a-Δd4(i1,j1)

[0153] The distance d4a between UWB4 and key A is corrected to obtain the corrected distance d4ax corresponding to UWB4.

[0154] (4.1.3) The control device 21 uses a similar method as shown in steps S101-S102 to perform positioning calculation on d1a, d4ax and the distance between UWB1 and UWB4 to obtain the second corrected coordinate (x gA2 ,y gA2). The control device 21 determines (x gA2 ,y gA2 ) is the final coordinate of key A relative to vehicle A.

[0155] (4.1.4) The control device 21 executes the final position information of the key A relative to the vehicle A (such as (x gA2 ,y gA2 )) and the preset action corresponding to the control command issued by key A.

[0156] (4.2.1) If the first position information and the second position information are both located in the same second area, and the same second area is the second area in the preset area of ​​the UWB1 corresponding anchor point as shown in FIG8 , the control device 21 determines the identifier (i1, j1) of the square corresponding to the second position information based on the second position information, and determines the identifier (i2, j2) of the square corresponding to the first position information based on the first position information.

[0157] (4.2.2) The control device 21 uses the compensation value Δd4(i1,j1) of the positioning anchor point UWB4 corresponding to the grid (i1,j1) according to the formula: d4ax=d4a-Δd4(i1,j1)

[0158] The distance d4a between UWB4 and key A is corrected to obtain the corrected distance d4ax corresponding to UWB4; and the control device 21 uses the compensation value Δd2(i2,j2) corresponding to the positioning anchor point UWB2 in the grid (i2,j2) according to the formula: d2ax=d4a-Δd2(i2,j2)

[0159] The distance d2a between UWB2 and key A is corrected to obtain the corrected distance d2ax corresponding to UWB2.

[0160] (4.2.3) The control device 21 uses a similar method as shown in steps S101-S102 to perform positioning calculation on d1a, d4ax and the distance between UWB1 and UWB4 to obtain the second corrected coordinate (x gA2 ,y gA2 ). In addition, the control device 21 uses a similar method as shown in steps S101-S102 to perform positioning calculation on d1a, d2ax and the distance between UWB1 and UWB2 to obtain the first corrected coordinate (x gA1 ,y gA1 ).

[0161] (4.2.4) The control device 21 presses and The second corrected coordinate (x gA2 ,y gA2 ) and the first corrected coordinate (x gA1 ,ygA1 ) to calculate the mean value and obtain the final coordinates (x gA ,y gA ).

[0162] (4.2.5) The control device 21 executes the final position information of the key A relative to the vehicle A (such as (x gA ,y gA )) and the preset action corresponding to the control command issued by key A.

[0163] The following is an exemplary description of the positioning of the key A shown in FIG6 in conjunction with the positioning process shown in FIG10:

[0164] (a) After key A establishes a communication connection with vehicle A, key A begins to be located outside the vehicle and waits for the control device 21 of vehicle A to start the positioning program.

[0165] (b) After the control device 21 starts the positioning program, the control device 21 of vehicle A obtains the following information of the four positioning anchor points of vehicle A: status identifier (such as valid identifier), ToF and RSSI.

[0166] (c) The control device 21 sorts the ToFs of the four positioning anchor points in ascending order to obtain an anchor point sequence.

[0167] (d) The control device 21 uses the first and second positioning anchor points in the anchor point sequence to perform dual-anchor point positioning on key A in a positioning solution method similar to steps S101-S102, and obtains the coordinates (x1, y1) of key A in the preset coordinate system of vehicle A.

[0168] (e) The control device 21 determines whether the coordinates (x1, y1) are located in the anchor point preset area. If not, the control device 21 performs step (e1):

[0169] (e1) Output the coordinates (x1, y1) as the final position information (x, y) of key A;

[0170] If yes, the control device 21 performs the following steps (e2) to (e4):

[0171] (e2) The control device 21 corrects the distance between the second positioning anchor point in the anchor point sequence and the key A to obtain a corrected distance.

[0172] (e3) The control device 21 performs dual-anchor point positioning on key A based on the distance between the first positioning anchor point and key A and the corresponding corrected distance of the second positioning anchor point, in a positioning solution method similar to steps S101-S102, to obtain the coordinates (x2, y2) of key A in the preset coordinate system of vehicle A.

[0173] (e4) The control device 21 determines whether the coordinate (x1, y1) is located in the second area. If not, the control device 21 performs step (e41):

[0174] (e41) The control device 21 outputs the coordinates (x2, y2) as the final position information (x, y) of the key A;

[0175] If yes, the control device 21 executes steps (e42)-(e45):

[0176] (e42) The control device 21 corrects the distance between the third positioning anchor point in the anchor point sequence and the key A to obtain a corrected distance.

[0177] (e43) Based on the distance between the first positioning anchor point and key A and the corresponding corrected distance of the third positioning anchor point, the control device 21 performs dual-anchor positioning on key A in a positioning solution method similar to steps S101-S102, and obtains the coordinates (x3, y3) of key A in the preset coordinate system of vehicle A.

[0178] (e44) The control device 21 calculates the final position information (x, y) of the key A relative to the vehicle A according to x=(x2+x3) / 2 and y=(y2+y3) / 2.

[0179] (e45) The control device 21 outputs the final position information (x, y) of the key A.

[0180] The vehicle key positioning method provided by this embodiment determines a reference anchor point transmitted by LOS from multiple positioning anchor points. If there is only one reference anchor point, the distance between the reference anchor point transmitted by LOS and the key and the corrected distance between the adjacent positioning anchor point transmitted by NLOS and the key are positioned and resolved to obtain accurate final position information of the key relative to the vehicle, thereby improving the key positioning accuracy. In addition, if the key is located in the first area of ​​the anchor point preset area, the reference anchor point and a positioning anchor point adjacent to the reference anchor point are used for positioning, thereby improving the key positioning speed. If the key is located in the second area of ​​the anchor point preset area, the corrected coordinates corresponding to the two positioning anchor points adjacent to the reference anchor point are averaged to obtain accurate final position information of the key relative to the vehicle, thereby improving the key positioning accuracy in the second area. The vehicle key positioning method provided by the embodiment of the application can reduce or even eliminate the adverse effects of inaccurate distance information determined by the NLOS transmission ranging signal on the key positioning accuracy, thereby improving the key positioning accuracy and solving the problem of inaccurate positioning in the key positioning method in the prior art. The vehicle key positioning method provided in the embodiment of the present application only requires the deployment of four positioning anchor points to achieve accurate positioning of the key at different positions of the vehicle, saving positioning device resources at the positioning anchor points.

[0181] The present application also provides a control device, and FIG11 is a structural diagram of the control device provided in the present application. As shown in FIG11 , the control device includes: an acquisition module 41 , a processing module 42 , and an operation module 43 .

[0182] The acquisition module 41 is used to determine the distance between each of the multiple positioning anchor points and the key based on the ranging signals between the multiple positioning anchor points of the vehicle and the key after the vehicle completes the communication connection with the vehicle key.

[0183] The processing module 42 is configured to, if a reference anchor point is determined from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key, correct the distances between the positioning anchor points adjacent to the reference anchor point and the key to obtain a corrected distance. The reference anchor point indicates that the ranging signal transmission method between the reference anchor point and the key is line-of-sight wireless transmission (LOS).

[0184] The processing module 42 is further configured to perform positioning calculation on the distance between a reference anchor point and the key and the corrected distance to obtain the final position information of the key relative to the vehicle.

[0185] The operation module 43 is used to execute a preset action corresponding to the final position information of the key relative to the vehicle and the control instruction issued by the key.

[0186] Optionally, the acquisition module 41 further includes a Bluetooth (BLE) module 411. The Bluetooth module 411 is used to broadcast BLE broadcast signals and also to measure the Bluetooth distance of the key.

[0187] The specific implementation principle and technical effects of the control device provided in the embodiment of the present application are similar to the specific implementation principle and technical effects of the embodiment shown in Figure 7, and this embodiment will not be repeated here.

[0188] The embodiment of the present application also provides a control device. Figure 12 is a second structural diagram of the control device provided in the embodiment of the present application. As shown in Figure 12, 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 execute the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be repeated here. It should be understood that the above-mentioned processor 51 can be a central processing unit (English: Central Processing Unit, abbreviated as: CPU), or other general-purpose processors, digital signal processors (English: Digital Signal Processor, abbreviated as: DSP), application-specific integrated circuits (English: Application Specific Integrated Circuit, abbreviated as: ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The memory 52 may include a high-speed random access memory (RAM) and may also include a non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0189] The present application also provides a storage medium storing computer-executable instructions. When these computer-executable instructions are executed by a processor, the above-mentioned vehicle key locating method is implemented. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0190] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0191] An embodiment of the present application also provides a program product, such as a computer program, which, when executed by a processor, implements the vehicle key locating method covered by the present application.

[0192] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0193] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle key positioning method, characterized in that: include: After the vehicle and the key of the vehicle complete the communication connection, based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key respectively, determine the distance between each of the multiple positioning anchor points and the key; If a reference anchor point is determined from the multiple positioning anchor points based on the distances between each of the multiple positioning anchor points and the key, the distance between the positioning anchor points adjacent to the one reference anchor point and the key is corrected to obtain a corrected distance; wherein the reference anchor point indicates that the distance measurement signal transmission mode between the reference anchor point and the key is line-of-sight wireless transmission LOS; Performing positioning calculation on the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle; Execute a preset action corresponding to the final position information of the key relative to the vehicle and the control instruction issued by the key.

2. The method according to claim 1, characterized in that A positioning anchor point adjacent to the reference anchor point is a first adjacent anchor point; The step of correcting the distance between the key and a positioning anchor point adjacent to the one reference anchor point to obtain a corrected distance includes: Performing positioning calculation on the distance between each of the one reference anchor point and the first adjacent anchor point and the key, and the distance between the one reference anchor point and the first adjacent anchor point, to obtain first position information of the key relative to the vehicle; The preset correction value corresponding to the first position information is used to perform correction calculation on the distance between the first adjacent anchor point and the key to obtain a corrected distance of the first adjacent anchor point.

3. The method according to claim 2, characterized in that The positioning and calculating of the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle includes: If the first position information is located in a preset first area, a positioning solution is performed on the distance between the one reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point to obtain a first positioning result of the key; the accuracy of the final position of the key represented by the first area is related to an adjacent positioning anchor point of the one reference anchor point; The first positioning result is determined as final position information of the key relative to the vehicle.

4. The method according to claim 3, characterized in that Another positioning anchor point adjacent to the one reference anchor point is a second adjacent anchor point; The positioning and calculating of the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle includes: If the first position information is located in a preset second area, positioning and solving are performed on the distance between each of the one reference anchor point and the second adjacent anchor point and the key, and the distance between the one reference anchor point and the second adjacent anchor point, so as to obtain the second position information of the key relative to the vehicle; the accuracy of the final position of the key represented by the second area is related to the two adjacent positioning anchor points of the one reference anchor point; Using a preset correction value corresponding to the second position information to correct and calculate the distance between the second adjacent anchor point and the key, to obtain a corrected distance of the second adjacent anchor point; Performing positioning calculation on the distance between the one reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point to obtain a second positioning result of the key; An average value of the first positioning result and the second positioning result is determined as final position information of the key relative to the vehicle.

5. The method according to any one of claims 2 to 4, characterized in that: The method of performing positioning calculation on the distance between each of the reference anchor point and the first adjacent anchor point and the key, and the distance between the reference anchor point and the first adjacent anchor point to obtain first position information of the key relative to the vehicle includes: Determine a first local coordinate system by taking a line connecting the one reference anchor point and the first adjacent anchor point as an X-axis and taking the one reference anchor point or the first adjacent anchor point as a coordinate origin; Determine a first local coordinate of the key in the first local coordinate system based on a distance between each of the one reference anchor point and the first adjacent anchor point and the key, and a distance between the one reference anchor point and the first adjacent anchor point; The first local coordinate is subjected to a coordinate system transformation process to obtain a first coordinate of the key in a preset coordinate system of the vehicle, where the first coordinate is first position information of the key relative to the vehicle.

6. The method according to claim 4, characterized in that The performing positioning and solving on the distance between the one reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point to obtain a first positioning result of the key includes: Determine a first local coordinate system by taking a line connecting the one reference anchor point and the first adjacent anchor point as an X-axis and taking the one reference anchor point or the first adjacent anchor point as a coordinate origin; determining a first local corrected coordinate of the key in the first local coordinate system based on the distance between the one reference anchor point and the key, the corrected distance of the first adjacent anchor point, and the distance between the one reference anchor point and the first adjacent anchor point; Performing coordinate system transformation processing on the first local corrected coordinates to obtain first corrected coordinates of the key in a preset coordinate system of the vehicle; The performing positioning and solving on the distance between the one reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point to obtain a second positioning result of the key includes: Determine a second local coordinate system by taking a line connecting the one reference anchor point and the second adjacent anchor point as an X-axis and taking the one reference anchor point or the second adjacent anchor point as a coordinate origin; determining a second local corrected coordinate of the key in the second local coordinate system based on the distance between the one reference anchor point and the key, the corrected distance of the second adjacent anchor point, and the distance between the one reference anchor point and the second adjacent anchor point; The second local corrected coordinates are subjected to coordinate system transformation processing to obtain second corrected coordinates of the key in a preset coordinate system of the vehicle.

7. The method according to claim 6, characterized in that The step of determining an average value of the first positioning result and the second positioning result as final position information of the key relative to the vehicle includes: The first corrected coordinate and the second corrected coordinate are averaged to obtain the final coordinate of the key in the preset coordinate system of the vehicle.

8. A control device, characterized in that: The device comprises: a collection module, a processing module and an operation module; The acquisition module is used to determine the distance between each of the multiple positioning anchor points and the key based on the distance measurement signals between the multiple positioning anchor points of the vehicle and the key after the vehicle completes the communication connection with the key; The processing module is configured to correct the distance between the key and the positioning anchor points adjacent to the one reference anchor point if a reference anchor point is determined from the multiple positioning anchor points based on the distance between each of the multiple positioning anchor points and the key to obtain a corrected distance; wherein the reference anchor point indicates that the distance measurement signal transmission mode between the reference anchor point and the key is line-of-sight wireless transmission LOS; The processing module is further used to perform positioning calculation on the distance between the one reference anchor point and the key and the corrected distance to obtain final position information of the key relative to the vehicle; The operation module is used to execute a preset action corresponding to the final position information of the key relative to the vehicle and the control instruction issued by the key.

9. A control device, characterized in that: The device comprises: Processor and memory; The memory stores executable instructions executable by the processor; The processor executes the executable instructions stored in the memory, so that the processor executes the method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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