Vehicle key positioning method, and apparatus and storage medium

Abstract

A vehicle key positioning method, and an apparatus and a storage medium. The method comprises: after a vehicle completes a communication connection with a key of the vehicle, determining respective distances between a plurality of positioning anchor points and the key on the basis of respective ranging signals between the plurality of positioning anchor points of the vehicle and the key; on the basis of the respective distances between the plurality of positioning anchor points and the key, determining at least two reference anchor points from among the plurality of positioning anchor points, wherein the reference anchor point represents a ranging signal transmission mode between the reference anchor point and the key being line-of-sight (LOS) wireless transmission; on the basis of respective distances between the determined reference anchor points and the key, determining first coordinates of the key in a local coordinate system corresponding to the determined reference anchor points; performing coordinate system transformation processing on the first coordinates, so as to acquire second coordinates of the key in a preset coordinate system of the vehicle; and according to the second coordinates, if it is determined that the key is in a functional area of the vehicle, executing a preset operation corresponding to the functional area. By means of the method, the problem of positioning being inaccurate in key positioning methods in the prior art is solved.

Description

Vehicle key positioning method, device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 16, 2023, with application number 202310723293.5 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) and other keyless entry and start technologies allow users to control the vehicle without any feeling before entering the vehicle, thus improving the user experience of the vehicle.

[0004] The specific process of the user's seamless control of the vehicle is as follows: when the key of the vehicle carried by the user is within a preset distance range outside the vehicle body, the key establishes communication with the vehicle. The vehicle's body control module (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, the BCM determines whether the key is within the vehicle's functional area. If it is determined that the key is within a certain functional area of ​​the vehicle, the BCM executes the preset operation of the functional area where the key is located. 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 obtained by the BCM and all positioning anchor points on the vehicle 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 affects the user's experience of using the vehicle.

[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] Determining at least two reference anchor points from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key; wherein the reference anchor points indicate that a ranging signal transmission mode between the reference anchor points and the key is line-of-sight wireless transmission (LOS);

[0011] determining, based on the distances between the determined reference anchor points and the key, first coordinates of the key in the local coordinate system corresponding to the determined reference anchor points;

[0012] Performing coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle;

[0013] If it is determined according to the second coordinate that the key is within a functional area of ​​the vehicle, a preset operation corresponding to the functional area is executed.

[0014] Optionally, determining the first coordinate of the key in the local coordinate system corresponding to the determined reference anchor points based on the distances between the determined reference anchor points and the key includes:

[0015] From the determined reference anchor points, two reference anchor points are determined as target reference anchor points;

[0016] Determine a local coordinate system with a line connecting the two target reference anchor points as an X-axis and a target reference anchor point on the X-axis as a coordinate origin;

[0017] A first coordinate of the key in the local coordinate system is determined based on the distance between each of the two target reference anchor points and the key, and the distance between the two target reference anchor points.

[0018] Optionally, determining two reference anchor points as target reference anchor points from the determined reference anchor points includes:

[0019] If the number of determined reference anchor points exceeds two and the determined reference anchor points are collinear, the two reference anchor points with the largest distance between them are determined as target reference anchor points;

[0020] If the number of determined reference anchor points exceeds two and the determined reference anchor points are not collinear, two adjacent reference anchor points whose connecting line is parallel to the ground are determined as target reference anchor points.

[0021] Optionally, performing coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle includes:

[0022] Determine the first coordinate (x l ,y l ) The coordinate transformation coefficient θ corresponding to the coordinate origin of the local coordinate system to which it belongs;

[0023] Using transformation matrix The first coordinate (x l ,y l ) is transformed into the rotation coordinate (x r ,y r );

[0024] Based on the coordinate origin of the local coordinate system corresponding to the global coordinate (x0, y0) of the positioning anchor point in the preset coordinate system of the vehicle, the formula is used:

[0025] x g =x r +x0 and y g =y r +y0

[0026] Determine the second coordinate (x g ,y g ).

[0027] Optionally, the positioning anchor point is a positioning anchor point located outside the vehicle body;

[0028] Then, determining at least two reference anchor points from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key includes:

[0029] sorting the distances between each of the plurality of positioning anchor points and the key in ascending order to obtain a distance sequence;

[0030] Determine the positioning anchor points corresponding to the first n distances in the distance sequence as reference anchor points;

[0031] Where n≥2.

[0032] Optionally, determining at least two reference anchor points from the plurality of positioning anchor points based on the distance between each of the plurality of positioning anchor points and the key includes:

[0033] Obtaining a received signal strength indicator (RSSI) corresponding to each of the plurality of positioning anchor points from the key; and / or obtaining a status identifier of the corresponding positioning anchor point from the positioning device of each of the plurality of positioning anchor points; wherein the status identifier is an identifier indicating whether a ranging signal used for measuring the distance between the positioning anchor point and the key is valid;

[0034] Determine, from the distances between each of the plurality of positioning anchor points and the key, a distance corresponding to an RSSI greater than a signal strength threshold as the effective distance; and / or determine, from the status identifiers of each of the plurality of positioning anchor points obtained, a distance between the positioning anchor point corresponding to a valid identifier and the key as the effective distance;

[0035] Based on the determined effective distance, at least two reference anchor points are determined from the plurality of positioning anchor points.

[0036] Optionally, before determining at least two reference anchor points from the multiple positioning anchor points based on the determined effective distance, the method further includes:

[0037] If the number of determined valid distances is less than two, distance measurement signals between each of the plurality of positioning anchor points of the vehicle and the key are reacquired, and the distance between each of the plurality of positioning anchor points and the key is determined based on the acquired distance measurement signals until at least two valid distances are determined from the distances between each of the plurality of positioning anchor points and the key.

[0038] In a second aspect, the present application provides a control device, the device comprising: a collection module, a processing module, and an operation module;

[0039] 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;

[0040] The processing module is configured to determine at least two reference anchor points from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key; wherein the reference anchor points indicate that a ranging signal transmission method between the reference anchor points and the key is line-of-sight wireless transmission (LOS);

[0041] The processing module is further configured to determine, based on the distances between each of the determined reference anchor points and the key, a first coordinate of the key in the local coordinate system corresponding to the determined reference anchor points;

[0042] The processing module is further configured to perform coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle;

[0043] The operating module is configured to execute a preset operation corresponding to a functional area if it is determined that the key is within a functional area of ​​the vehicle based on the second coordinate.

[0044] In a third aspect, the present application provides a control device, comprising:

[0045] processor and memory;

[0046] The memory stores executable instructions executable by the processor;

[0047] The processor executes the executable instructions stored in the memory, so that the processor performs the method described above.

[0048] 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.

[0049] In a fifth aspect, the present application provides a chip, which includes a memory and a processor, wherein the memory stores code and data, the memory is coupled to the processor, and the processor runs the program in the memory so that the chip is used to execute the method as described above.

[0050] In a sixth aspect, the present application provides a program product, comprising: a computer program, which, when the program product is run on a computer, enables the computer to execute the method as described above.

[0051] In a seventh aspect, the present application provides a computer program, which, when executed by a processor, is used to perform the method as described above.

[0052] The vehicle key positioning method, device, and storage medium provided by the present application determine the distance between the reference anchor point and the key using LOS transmission as the distance signal transmission method between the positioning anchor point and the key, thereby determining the first coordinate of the key in the local coordinate system corresponding to the reference anchor point, that is, determining the position of the key relative to the reference anchor point, thereby ensuring the accuracy of the determined key position. The first coordinate is subjected to coordinate system transformation processing to obtain the second coordinate of the key in the preset coordinate system of the vehicle. If the key is determined to be within a functional area of ​​the vehicle based on the second coordinate, the preset operation corresponding to the functional area is executed. The method of the present application avoids the adverse effect of inaccurate distance information determined by the ranging signal transmitted by NLOS on the key positioning accuracy, thereby improving the key positioning accuracy. The present application solves the problem of inaccurate positioning existing in the key positioning method of the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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.

[0054] Figure 1a is a diagram of an existing key positioning scenario;

[0055] FIG1b is a diagram showing a distance measurement signal transmission scenario between an existing key and a vehicle positioning anchor point;

[0056] FIG2 is a diagram of a vehicle key positioning scenario provided by an embodiment of the present application;

[0057] FIG3 is a flow chart of vehicle key positioning according to an embodiment of the present application;

[0058] FIG4 is a diagram showing a scenario in which a user opens a vehicle rearview mirror without any sense of manipulation, provided by an embodiment of the present application;

[0059] FIG5 is a schematic diagram of a local coordinate system provided in an embodiment of the present application;

[0060] FIG6 is a schematic diagram of a preset coordinate system of a vehicle provided in an embodiment of the present application;

[0061] FIG7 is a structural diagram of a control device according to an embodiment of the present application;

[0062] FIG8 is a second structural diagram of the control device provided in an embodiment of the present application.

[0063] 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

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of this application without making any creative efforts are within the scope of protection of this application.

[0065] Passive Entry Passive Start (PEPS) and other touchless control technologies allow users to control the vehicle keylessly (or touchless) before entering the vehicle, greatly improving the user experience of the vehicle.

[0066] 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, and UWB5, UWB6, and UWB7 are all located inside the vehicle body. A body control module (BCM) 12 is also deployed on the vehicle. BCM 12 will continuously broadcast the Bluetooth Low Energy (BLE) broadcast signal through the Bluetooth Low Energy (BLE) module on BCM 12. The vehicle's key 11 will detect the vehicle's BLE broadcast signal in real time.

[0067] The specific process for 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 and, after authentication, establishes communication with the key 11, completing 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 Wide Band (UWB) ToF (Time of Flight) ranging method. The positioning device, for example, is a UWB device that includes a UWB chip or module. The positioning device and the BCM 12 may be connected via a bus.

[0068] The vehicle key 11 may be a physical key or a virtual key on a user terminal.

[0069] After the BCM 12 converts the Bluetooth RSSI ranging method to the UWB ToF ranging method, the BCM 12 locates the key 11 as follows: Based on the ranging signals between each positioning device and the key 11, the BCM 12 determines the distance information between the positioning anchor point corresponding to each positioning device and the key 11. The 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 to locate 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 11 relative to the vehicle, the BCM 12 determines whether the key 11 is within the functional area of ​​the vehicle. If it is determined that the key 11 is within the functional area of ​​the vehicle, the BCM 12 executes the preset operation corresponding to the functional area where the key 11 is located. If it is determined that the key 11 is not within the functional area of ​​the vehicle, the preset operation corresponding to the functional area will not be executed.

[0070] 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 ranging signal transmission method 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, for example, the metal or non-metal 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.

[0071] In this application, NLOS is also referred to as NLOS transmission, and LOS is also referred to as LOS transmission.

[0072] Since the accuracy of the least squares solution result is closely related to the amount of data used for the solution and the accuracy of the data, in order to ensure the amount of data used for the least squares solution, the existing key positioning method uses the distance information between the key 11 and all positioning anchor points to solve the position of the key 11, resulting in a large deviation between the obtained position information of the key 11 relative to the vehicle and the actual position of the key 11 relative to the vehicle. This makes the key positioning method in the prior art have the problem of inaccurate positioning, which in turn causes the key position solved by the vehicle to be inconsistent with the actual position of the key, triggering the execution of the preset operation of the functional area that does not match the actual position; or causing the key to be located in the functional area of ​​the vehicle, but the preset operation of the functional area where the key is located cannot be executed, affecting the user's experience of using the vehicle.

[0073] Typically, as shown in FIG1b , the key 11 is outside the vehicle body, and the transmission of the ranging signal between the key 11 and at least two positioning anchor points on the vehicle is not subject to reflection or diffraction from the vehicle body, or the ranging signal transmission method between the key 11 and at least two positioning anchor points on the vehicle is LOS transmission. LOS transmission is the LOS transmission shown in Scenario 1, Scenario 2, and Scenario 3 of FIG1b . If the positioning anchor point corresponding to the LOS transmission is used as the reference anchor point to locate the key 11, the positioning accuracy of the key 11 can be improved, and at the same time, the adverse effect of inaccurate distance information determined based on the ranging signal transmitted by NLOS on the positioning accuracy of the key 11 can be eliminated.

[0074] In this regard, the present application proposes a vehicle key positioning method, which determines 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 and the vehicle key complete the communication connection; 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; and determines the first coordinate of the key in the local coordinate system corresponding to the determined reference anchor point based on the distance between each of the determined reference anchor points and the key; wherein the reference anchor point indicates that the ranging signal transmission method between it and the key is line-of-sight wireless transmission LOS; performs coordinate system transformation processing on the first coordinate to obtain the second coordinate of the key in the preset coordinate system of the vehicle; based on the second coordinate, if it is determined that the key is within a functional area of ​​the vehicle, executes the preset operation corresponding to the functional area. The vehicle key positioning method provided by the present application uses the distance between the reference anchor point and the key transmitted by LOS to characterize the ranging signal transmission mode between the positioning anchor point and the key to determine the first coordinate of the key in the local coordinate system corresponding to the reference anchor point, that is, to determine the position of the key relative to the reference anchor point, thereby ensuring the accuracy of the determined key position. The first coordinate is then subjected to coordinate system transformation processing to obtain the second coordinate of the key in the preset coordinate system of the vehicle. If it is determined that the key is within a functional area of ​​the vehicle according to the second coordinate, the preset operation corresponding to the functional area is executed. The method of the present application avoids the adverse effect of inaccurate distance information determined by the ranging signal transmitted by NLOS 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.

[0075] The vehicle key locating method provided by this application is described below with reference to some embodiments.

[0076] FIG2 is a diagram of a vehicle key positioning scenario provided by an embodiment of the present application. As shown in FIG2 , 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 FIG2 . 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, a tablet computer, or other terminal.

[0077] Typically, the control device 21 continuously broadcasts the BLE broadcast signal via the BLE module, and the vehicle key 11 detects the vehicle's BLE broadcast signal in real time.

[0078] 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 unit 21. The control unit 21 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 key 11. Based on the BLE ranging signal between the control unit 21 and the key 11, the control unit 21 continuously measures the distance of the key 11 from the vehicle to obtain the Bluetooth ranging distance of the key 11. If the Bluetooth ranging distance is less than or equal to the first distance threshold, the control unit 21 controls the positioning devices at multiple positioning anchor points of the vehicle to activate the ranging function of each positioning device. If the positioning device is a UWB device, the control unit 21 converts the Bluetooth ranging method used by the control unit 21 to the UWB ranging method used by the positioning device. The ranging signal between the positioning device and the key 11 is the ranging signal between the positioning device's corresponding positioning anchor point and the key 11.

[0079] After the control device 21 converts the Bluetooth ranging method to the UWB ranging method, it locates the key 11 as follows: Based on the ranging signals between the vehicle's multiple positioning anchor points and the key 11, the control device 21 determines the distance between each of the multiple positioning anchor points and the key 11. Based on the distances between each of the multiple positioning anchor points and the key 11, the control device 21 determines at least two reference anchor points from the multiple positioning anchor points. Based on the determined distances between each of the reference anchor points and the key 11, the control device 21 determines a first coordinate of the key 11 in the local coordinate system corresponding to each of the determined reference anchor points. A reference anchor point indicates that the ranging signal transmission method between the key 11 and the key 11 is line-of-sight (LOS) wireless transmission. The control device 21 performs a coordinate system transformation on the first coordinate to obtain a second coordinate of the key 11 in the vehicle's preset coordinate system. Based on the second coordinate, if the control device 21 determines that the key 11 is within a functional area of ​​the vehicle, the preset operation corresponding to the functional area is executed. If the control device 21 determines that the key 11 is not within the functional area of ​​the vehicle, the preset operation corresponding to the functional area is not executed.

[0080] Typically, a vehicle has multiple preset function areas. Each function area corresponds to at least one of the following: Passive Entry, Passive Start, turning on the welcome light, opening the left and right doors, adjusting the seat, turning on the air conditioning, locking the vehicle, turning off the engine, turning off the lights, closing the doors, and turning off the air conditioning.

[0081] As shown in Figure 2, positioning anchor points UWB1, UWB2, UWB3, and UWB4 are all located outside the vehicle body, with UWB1 and UWB4 located at the two corners of the front of the vehicle, and UWB2 and UWB3 located at the two corners of the rear of the vehicle. The positioning anchor points are located outside the vehicle body at the four corners of the front and rear of the vehicle, ensuring that the ranging signal between the key 11 and the positioning anchor points is not blocked, reflected, or diffracted by the vehicle body.

[0082] 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 as follows: Based on the ranging signals (e.g., Bluetooth ranging signals) between the Bluetooth positioning devices of each of the vehicle's multiple positioning anchor points and the key 11, the control device 21 determines the distance between each of the multiple positioning anchor points and the key 11. Based on the distances between each of the multiple positioning anchor points and the key 11, the control device 21 determines at least two reference anchor points from the multiple positioning anchor points. Based on the determined distances between each of the reference anchor points and the key 11, the control device 21 determines a first coordinate of the key 11 in the local coordinate system corresponding to the determined reference anchor points. The control device 21 performs a coordinate system transformation on the first coordinate to obtain a second coordinate of the key 11 in the vehicle's preset coordinate system. Based on the second coordinate, if the control device 21 determines that the key 11 is within a functional area of ​​the vehicle, the control device 21 executes the preset operation corresponding to the functional area; if the control device 21 determines that the key 11 is not within the functional area of ​​the vehicle, the preset operation corresponding to the functional area is not executed.

[0083] 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.

[0084] The vehicle key positioning method provided in this embodiment determines at least two reference anchor points from multiple positioning anchor points, and based on the distance between the determined reference anchor points and the key, determines the first coordinate of the key in the local coordinate system corresponding to the reference anchor point, so as to accurately determine the position of the key relative to the reference anchor point, thereby ensuring the accuracy of the determined key position. The first coordinate is then subjected to coordinate system transformation processing to obtain the second coordinate of the key in the preset coordinate system of the vehicle. If it is determined that the key is within the functional area of ​​the vehicle according to the second coordinate, the preset operation corresponding to the functional area where the key is located is executed; if it is determined that the key is not within the functional area of ​​the vehicle, the preset operation corresponding to the functional area will not be executed. The method of the present application avoids the adverse effect of the inaccurate distance information determined by the ranging signal transmitted by NLOS on the positioning accuracy of the key, improves the positioning accuracy of the key, and solves the problem of inaccurate positioning of the key positioning method in the prior art. The method of the present application can also avoid situations where the key position calculated by existing key positioning methods does not match the actual position of the key, resulting in the triggering of preset operations in a function zone that does not match the actual position; or avoid situations where the key is located in a function zone of the vehicle but the preset operations in the function zone cannot be executed. The method provided by the present application improves the user experience of the vehicle.

[0085] The vehicle key locating method provided by the present application is described in detail below with reference to Figures 2 and 3. Figure 3 is a flowchart of the vehicle key locating method provided by an embodiment of the present application. The execution subject of the embodiment shown in Figure 3 can be the control device 21 in the embodiment shown in Figure 2. As shown in Figure 3, the method includes:

[0086] S101: After a vehicle and a key of the vehicle complete a communication connection, determine the distances between each of the plurality of positioning anchor points of the vehicle and the key based on distance measurement signals between the plurality of positioning anchor points of the vehicle and the key.

[0087] In this embodiment, after the vehicle establishes a communication connection with the vehicle key 11 and the positioning devices at the multiple positioning anchor points on the vehicle initiate a distance measurement operation, the control device 21 obtains distance measurement signals between the multiple positioning anchor points on the vehicle and the key 11. Based on the distance measurement signals between the multiple positioning anchor points on the vehicle and the key 11, the control device 21 determines the distance between each of the multiple positioning anchor points and the key 11.

[0088] Optionally, the positioning anchor points are located outside the vehicle body. For example, the positioning anchor points may be located at the four corners of the front and rear of the vehicle, or at other locations outside the vehicle body. The distance between the positioning anchor points and the key 11 determined by the control device 21 may be a time of flight (ToF) distance.

[0089] S102. 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; wherein the reference anchor points indicate that a ranging signal transmission mode between the reference anchor points and the key is line-of-sight wireless transmission (LOS).

[0090] In this embodiment, the control device 21 may determine at least two positioning anchor points whose ranging signal transmission mode is LOS from the multiple positioning anchor points as reference anchor points based on the distances between the multiple positioning anchor points and the key 11 .

[0091] For example, the control device 21 may determine at least two reference anchor points from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key 11 as follows: the control device 21 sorts the distances between each of the plurality of positioning anchor points and the key 11 in ascending order to obtain a distance sequence. The control device 21 determines the positioning anchor points corresponding to the first n distances in the distance sequence as reference anchor points. Where n ≥ 2, and n may be a preset number of reference anchor points.

[0092] Optionally, the control device 21 may further determine the positioning anchor points corresponding to the first n distances in the distance sequence that are less than a second distance threshold as reference anchor points. The second distance threshold may be the maximum distance between the key 11 and the vehicle when the key 11 is located in the functional area.

[0093] If the distance measurement signal between the positioning anchor point and the key 11 is reflected or diffracted by the vehicle body, the distance between the positioning anchor point and the key 11 determined based on the distance measurement signal will increase. Therefore, determining the positioning anchor point with the smallest distance from the distance sequence as the reference anchor point can ensure the accuracy and validity of the determined reference anchor point, thereby ensuring the accuracy of the key 11 position determined based on the reference anchor point.

[0094] Optionally, the control device 21 may also 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 in the following manner as shown in steps I-III:

[0095] In 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 flag of the corresponding positioning anchor point from the positioning device of each of the multiple positioning anchor points. The status flag is an identifier indicating whether the ranging signal used for measuring the distance between the positioning anchor point and the key is valid. Specifically, the status flag is a valid flag indicating that the ranging signal used for measuring the distance between the positioning anchor point and the key is valid, or an invalid flag indicating that the ranging signal used for measuring the distance between the positioning anchor point and the key is invalid. A valid flag is, for example, 1 or valid. An invalid flag is, for example, 0 or invalid.

[0096] Step II: The control device 21 determines, from the distances between each of the multiple positioning anchor points and the key 11, the distance corresponding to the RSSI greater than the signal strength threshold 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.

[0097] Step III: The control device 21 determines at least two reference anchor points from the multiple positioning anchor points based on the determined effective distance.

[0098] Furthermore, before the control device 21 determines at least two reference anchor points from multiple positioning anchor points based on the determined effective distance, if the number of effective distances determined by the control device 21 is less than two, the control device 21 re-acquires the ranging signals between the multiple positioning anchor points of the vehicle and the key 11 respectively, and determines the distance between each of the multiple positioning anchor points and the key 11 based on the acquired ranging signals, until at least two effective distances are determined from the distances between each of the multiple positioning anchor points and the key 11, so as to improve the accuracy of subsequent key 11 positioning.

[0099] The control device 11 determines the effective distance from the distances between each of the multiple positioning anchor points and the key 11 based on the RSSI and / or the status identification of the positioning anchor point, and then determines the reference anchor point based on the effective distance, thereby improving the accuracy of determining the reference anchor point and ensuring the validity of the determined reference anchor point.

[0100] S103 : Determine first coordinates of the key in the local coordinate system corresponding to the determined reference anchor points based on the distances between the determined reference anchor points and the key.

[0101] In this embodiment, the control device 21 may determine the first coordinates of the key 11 in the local coordinate system corresponding to the determined reference anchor points based on the distances between the determined reference anchor points and the key in the following manner as shown in steps IV-VI:

[0102] In step IV, the control device 21 determines two reference anchor points as target reference anchor points from the determined reference anchor points.

[0103] Exemplarily, if the number of reference anchor points determined by the control device 21 exceeds two and the determined reference anchor points are collinear, the control device 21 determines the two reference anchor points with the largest distance between them as target reference anchor points.

[0104] If the number of reference anchor points determined by the control device 21 exceeds two and the determined reference anchor points are not collinear, two adjacent reference anchor points whose connecting line is parallel to the ground are determined as target reference anchor points. Furthermore, if the control device 21 determines that the connecting line of multiple pairs of adjacent reference anchor points is parallel to the ground, the two adjacent reference anchor points whose connecting line is parallel to the ground and whose influence is minimally affected by the vehicle body are selected as target reference anchor points according to a preset rule.

[0105] If the number of reference anchor points determined by the control device 21 exceeds two and the determined reference anchor points are not collinear, the control device 21 determines two adjacent reference anchor points whose sum of distances from the key 11 is the smallest as target reference anchor points.

[0106] Step V: The control device 21 determines a local coordinate system with the line connecting the two target reference anchor points as the X-axis and a target reference anchor point on the X-axis as the coordinate origin.

[0107] In step VI, the control device 21 determines the first coordinate of the key 11 in the local coordinate system based on the distance between each of the two target reference anchor points and the key 11, and the distance between the two target reference anchor points.

[0108] Alternatively, 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.

[0109] 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.

[0110] The first coordinate of key 11 represents the position of key 11 relative to the determined reference anchor point. Control device 21 determines at least two positioning anchor points, each using a distance measurement signal transmission mode of LOS, from among the multiple positioning anchor points as reference anchor points. Based on the distances between each of the reference anchor points and key 11, control device 21 accurately determines the position of key 11 relative to the reference anchor points, ensuring the accuracy of the determined position of key 11.

[0111] Typically, a vehicle is preset with multiple functional areas, each of which corresponds to a preset operation. When it is determined that the user is carrying the key 11 in a certain functional area, the preset operation corresponding to the functional area is executed, so that the user can achieve seamless control of the vehicle.

[0112] To facilitate determining whether key 11 is within a functional area of ​​the vehicle, the determination is typically made based on the coordinates of key 11 in the vehicle's preset coordinate system. Each functional area of ​​the vehicle is associated with the vehicle's preset coordinate system. Based on the first coordinate of key 11 in the local coordinate system, control device 21 can accurately determine the coordinates of key 11 in the vehicle's preset coordinate system, and thus accurately determine whether key 11 is within the vehicle's functional area. Therefore, after executing step S103, control device 21 executes step S104 to accurately determine the coordinates of key 11 in the vehicle's preset coordinate system.

[0113] S104 : Perform coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle.

[0114] In this embodiment, the control device 21 performs a coordinate system transformation from the local coordinate system to the preset coordinate system based on the accurately determined first coordinate of the key 11, thereby accurately obtaining the second coordinate of the key 11 in the preset coordinate system of the vehicle. The second coordinate is used to determine whether the key 11 is within the functional area of ​​the vehicle.

[0115] For example, the control device 21 determines the first coordinate (x l ,y l ) corresponds to the coordinate transformation coefficient θ of the coordinate origin of the local coordinate system.

[0116] The control device 21 uses the transformation matrix The first coordinate (x l ,y l ) is transformed into the rotation coordinate (x r ,y r ).

[0117] The control device 21 locates the global coordinates (x0, y0) of the anchor point in the vehicle's preset coordinate system based on the coordinate origin of the local coordinate system, using the formula x g =x r +x0 and y g =y r +y0 determines the second coordinate (x g ,y g ).

[0118] Step S104 converts the coordinates of the key 11 in the local coordinate system to the coordinates of the key 11 in the preset coordinate system, thereby obtaining a second coordinate that can be used to determine whether the key 11 is within the functional area of ​​the vehicle.

[0119] S105 . If it is determined based on the second coordinate that the key is within a functional area of ​​the vehicle, a preset operation corresponding to the functional area is executed.

[0120] In this embodiment, if the control device 21 determines that the key 11 is in a functional area of ​​the vehicle based on the second coordinate, the control device 21 executes a preset operation corresponding to the functional area where the key 11 is located.

[0121] Correspondingly, if the control device 21 determines based on the second coordinate that the key 11 is not in the functional area of ​​the vehicle, the preset operation corresponding to the functional area will not be executed.

[0122] The vehicle key positioning method provided in this application is described below using the scenario shown in FIG4 where a user opens the vehicle rearview mirror without any sense of manipulation.

[0123] Assume that the rearview mirror of vehicle A is in a closed state. The positioning anchor point on vehicle A is a UWB anchor point. The positioning anchor points of vehicle A include two UWB anchor points UWB1 and UWB4 located at the two corners of the front of vehicle A as shown in Figure 4, and two UWB anchor points UWB2 and UWB3 located at the two corners of the rear of vehicle A. UWB devices are deployed at the UWB anchor points. The UWB device includes a UWB chip or a UWB module. Key A includes a UWB chip or a UWB module. Key A also includes a BLE module. A control device 21 similar to or identical to the embodiment of Figure 2 is deployed on vehicle A.

[0124] As shown in Figure 4, the process of the user opening the vehicle rearview mirror without any sense of control is as follows (1)-(3):

[0125] (1) If user A's key A detects and identifies that the RSSI of the BLE broadcast signal of vehicle A reaches a preset communication threshold, key A sends a communication connection request to the control device 21 of vehicle A. The control device 21 responds to the communication connection request sent by key A and establishes communication with key A after authentication to complete the communication connection between vehicle A and key A. The control device 21 continuously measures the distance of key A based on the BLE ranging signal between the control device 21 and key A to obtain the Bluetooth ranging distance of key A 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 UWB devices at multiple positioning anchor points of vehicle A and starts the ranging function of each UWB device. The control device 21 converts the Bluetooth ranging method measured by the control device 21 into the UWB ranging method measured by the UWB device. The ranging signal between the UWB device and key A is the ranging signal between the positioning anchor point corresponding to the UWB device and key A.

[0126] (2) After the control device 21 converts the Bluetooth distance measurement mode into the UWB distance measurement mode, the control device 21 locates the key A according to the following steps (2.1) to (2.8).

[0127] (2.1) The control device 21 determines the distance between UWB1, UWB2, UWB3, and UWB4 and key A based on the ranging signals between the vehicle's multiple positioning anchor points and key A. The distances between UWB1, UWB2, UWB3, and UWB4 and key A are as follows: distance d1 between key A and UWB1, distance d2 between key A and UWB2, distance d3 between key A and UWB3, and distance d4 between key A and UWB4.

[0128] (2.2) The control device 21 also obtains the RSSI corresponding to UWB1, UWB2, UWB3, and UWB4 from key A, and obtains the status identifier of the corresponding positioning anchor point from the UWB device corresponding to UWB1, UWB2, UWB3, and UWB4. Assume that the RSSI corresponding to UWB1, UWB2, UWB3, and UWB4 are RSSI-1, RSSI-2, RSSI-3, and RSSI-4, respectively; and that the status identifiers of UWB1, UWB2, UWB3, and UWB4 are all valid identifiers.

[0129] (2.3) Among the distances d1, d2, d3, and d4 between UWB1, UWB2, UWB3, and UWB4 and key A, if the RSSI-1, RSSI-2, RSSI-3, and RSSI-4 corresponding to d1, d2, d3, and d4 are all greater than the RSSI of the signal strength threshold, and the status identifiers of the positioning anchor points corresponding to d1, d2, d3, and d4 are all valid identifiers, the control device 21 determines that d1, d2, d3, and d4 are valid distances.

[0130] (2.4) The control device 21 sorts d1, d2, d3, and d4 in ascending order to obtain a distance sequence [d3, d4, d2, d1].

[0131] (2.5) Assume that n = 2. The control device 21 determines the positioning anchor points (ie, UWB3 and UWB4) corresponding to the first two distances (ie, d3 and d4) in the distance sequence [d3, d4, d2, d1] as reference anchor points.

[0132] (2.6) The control device 21 determines two reference anchor points UWB3 and UWB4 as target reference anchor points from among the determined reference anchor points UWB3 and UWB4.

[0133] (2.7) The control device 21 determines a local coordinate system as shown in FIG5 with the line connecting the target reference anchor points UWB3 and UWB4 as the X-axis and the positioning anchor point UWB3 as the coordinate origin. This local coordinate system is the local coordinate system corresponding to the reference anchor points UWB3 and UWB4. In this local coordinate system, the Y-axis coordinate value of key A is a negative number. The control device 21 determines the local coordinate system based on the distances d3 and d4 between the target reference anchor points UWB3 and UWB4 and key A, and the distance h between the target reference anchor points UWB3 and UWB4. 34 , determine the first coordinate (x lA ,y lA ):

[0134] 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 first coordinate (x lA ,y lA )=(dx,-dy).

[0135] 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: dx =d3×cosα;d y =d3×sinα.

[0136] (2.8) The control device 21 adjusts the first coordinate (x lA ,y lA ) to perform coordinate system transformation processing to obtain the second coordinate (x gA ,y gA ).

[0137] Assume that the preset coordinate system of vehicle A is shown in Figure 6. In the preset coordinate system of vehicle A, the forward direction of the centerline of the vehicle body 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 front end of the vehicle along the central axis. The global coordinates of the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A in the preset coordinate system of vehicle A are (x 01 ,y 02 )、(x 02 ,y 02 )、(x 03 ,y 03 )、(x 04 ,y 04 The coordinate transformation coefficients corresponding to the four positioning anchor points UWB1, UWB2, UWB3, and UWB4 of vehicle A are θ1, θ2, θ3, and θ4, respectively. Assuming that UWB1, UWB2, UWB3, and UWB4 are the coordinate origins, the local coordinate system is determined in a similar manner to step (4). The values ​​of θ1, θ2, θ3, and θ4 can be based on 270°, 0°, 90°, and 180°, and then the angular deviation of the specific anchor point layout can be corrected.

[0138] (2.8.1) The control device 21 determines the first coordinate (x lA ,y lA )The coordinate transformation coefficient corresponding to the coordinate origin of the local coordinate system (i.e., the positioning anchor point UWB3) is θ3.

[0139] (2.8.2) The control device 21 uses the transformation matrix The first coordinate of key A (x lA ,y lA ) is transformed into the rotation coordinate (x rA ,y rA ).

[0140] (2.8.3) The control device 21 calculates the global coordinates (x) of the coordinate origin of the local coordinate system (i.e., the positioning anchor point UWB3) in the preset coordinate system of the vehicle A. 03 ,y 03), using the formula x gA =x rA +x 03 and y gA =y rA +y 03 Determine the second coordinate (x gA ,y gA ).

[0141] (3) Assume that vehicle A has multiple functional areas s i is a functional area determined based on the preset coordinate system shown in FIG6 , and the functional area s i The coordinate point range is: Functional area s i Internal coordinate point satisfy and, Where i = 1, 2, 3,…, k.

[0142] If the preset operation of the functional area s5 of vehicle A is to open the rearview mirror.

[0143] The control device 21 traverses each functional area s i The coordinate point range of key A is determined. gA ,y gA ) is the coordinate within the range of the coordinate point of the functional area s5, that is, (x gA ,y gA )satisfy: and, If the control device 21 determines that the key A is in the functional area s5 of the vehicle A, the control device 21 performs the operation of opening the rearview mirror of the vehicle A, as shown in FIG4 ; if the control device 21 determines that the second coordinate (x gA ,y gA ) is not any functional area s of vehicle A i The coordinates of the coordinate points are within the range of the function area s i The corresponding preset operation will not be executed.

[0144] The vehicle key positioning method provided in this embodiment uses the RSSI corresponding to each vehicle positioning anchor point and / or the status identifier of the positioning anchor point to determine an effective distance from the distance between each of the multiple positioning anchor points and the key. Based on the effective distance, at least two reference anchor points are determined, thereby improving the accuracy of the reference anchor point determination and ensuring the validity of the determined reference anchor points. The reference anchor points indicate that the ranging signal transmission method between the positioning anchor point and the key is LOS transmission. Based on the distance between each target reference anchor point determined from the at least two reference anchor points and the key, the first coordinate of the key in the local coordinate system corresponding to the determined reference anchor point is accurately determined. The first coordinate is subjected to coordinate system transformation processing to accurately determine the second coordinate of the key in the preset coordinate system of the vehicle, thereby accurately determining whether the key is within the functional area of ​​the vehicle. If the key is determined to be within the functional area of ​​the vehicle, the preset operation corresponding to the functional area of ​​the key is executed, realizing user-friendly control of the vehicle. If the key is determined to be not within the functional area of ​​the vehicle, the preset operation corresponding to the functional area is not executed. The method of the present application accurately locates the key based on the distance between the positioning anchor point and the key determined by the ranging signal transmitted by LOS, avoiding the inaccurate distance information determined by the ranging signal transmitted by NLOS, which adversely affects the positioning accuracy of the key, improves the positioning accuracy of the key, and solves the problem of inaccurate positioning in the key positioning method in the prior art. The method of the present application can avoid the situation where the key position calculated by the existing key positioning method of the vehicle is inconsistent with the actual position of the key, resulting in the triggering of the preset operation of the functional area that does not match the actual position; or avoid the situation where the key is located in the functional area of ​​the vehicle, but the preset operation of the functional area where the key is located cannot be executed. The method provided by the present application improves the user experience of the vehicle.

[0145] The present invention also provides a control device. FIG7 is a structural diagram of the control device provided in the present invention. As shown in FIG7 , the device includes a collection module 41 , a processing module 42 , and an operation module 43 .

[0146] 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.

[0147] The processing module 42 is configured to determine at least two reference anchor points from the plurality of positioning anchor points based on the distances between the plurality of positioning anchor points and the key; wherein the reference anchor points are characterized in that the ranging signal transmission mode between the reference anchor points and the key is line-of-sight wireless transmission (LOS).

[0148] The processing module 42 is further configured to determine a first coordinate of the key in the local coordinate system corresponding to the determined reference anchor points based on the distances between the determined reference anchor points and the key.

[0149] The processing module 42 is further configured to perform coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle.

[0150] The operating module 43 is configured to execute a preset operation corresponding to the functional area if it is determined that the key is within the functional area of ​​the vehicle based on the second coordinate.

[0151] 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.

[0152] 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 3, and this embodiment will not be repeated here.

[0153] The embodiment of the present application also provides a control device. Figure 8 is a second structural diagram of the control device provided in the embodiment of the present application. As shown in Figure 8, the control device includes a processor 51 and a memory 52. ​​The memory 52 stores instructions executable by the processor 51, so that the processor 51 can be used to 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 reflected 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] This embodiment also provides a chip, which includes a memory and a processor. The memory stores code and data. The memory is coupled to the processor. The processor runs the program in the memory so that the chip is used to execute the vehicle key locating method provided by the various embodiments described above.

[0158] This embodiment further provides a computer program, which, when executed by a processor, is used to execute the vehicle key locating methods provided in the aforementioned various embodiments.

[0159] 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.

[0160] 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; Based on the distances between each of the multiple positioning anchor points and the key, at least two reference anchor points are determined from the multiple positioning anchor points; wherein the reference anchor point indicates that the ranging signal transmission mode between the reference anchor point and the key is line-of-sight wireless transmission LOS; Determine, based on the distances between the determined reference anchor points and the key, a first coordinate of the key in a local coordinate system corresponding to the determined reference anchor points; Performing coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle; If it is determined according to the second coordinate that the key is in a functional area of ​​the vehicle, a preset operation corresponding to the functional area is executed.

2. The method according to claim 1, characterized in that The determining, based on the distances between the determined reference anchor points and the key, a first coordinate of the key in a local coordinate system corresponding to the determined reference anchor points comprises: From the determined reference anchor points, two reference anchor points are determined as target reference anchor points; A local coordinate system is determined with a line connecting the two target reference anchor points as an X-axis and a target reference anchor point on the X-axis as a coordinate origin; Based on the distance between each of the two target reference anchor points and the key, and the distance between the two target reference anchor points, a first coordinate of the key in the local coordinate system is determined.

3. The method according to claim 2, characterized in that The step of determining two reference anchor points as target reference anchor points from the determined reference anchor points includes: If the number of determined reference anchor points exceeds two and the determined reference anchor points are collinear, two reference anchor points with the largest distance between the reference anchor points are determined as target reference anchor points; If the number of determined reference anchor points exceeds two and the determined reference anchor points are not collinear, two adjacent reference anchor points whose connecting line is parallel to the ground are determined as target reference anchor points.

4. The method according to any one of claims 1 to 3, characterized in that: The performing coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle includes: Determine the first coordinate (x l ,y l ) corresponds to the coordinate transformation coefficient θ of the coordinate origin of the local coordinate system to which it belongs; Using transformation matrix The first coordinate (x l ,y l ) is transformed into the rotation coordinate (x r ,y r ); Based on the coordinate origin of the local coordinate system, the global coordinate (x0, y0) of the positioning anchor point in the preset coordinate system of the vehicle is determined using the formula: x g = x r + x0 and y g = y r + y0 Determine the second coordinate (x) of the key in the preset coordinate system of the vehicle g ,y g ).

5. The method according to any one of claims 1 to 4, characterized in that: The positioning anchor point is a positioning anchor point located outside the vehicle body; Then, determining 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 includes: Arrange the distances between each of the plurality of positioning anchor points and the key in ascending order to obtain a distance sequence; Determine the positioning anchor points corresponding to the first n distances in the distance sequence as reference anchor points; Among them, n≥2.

6. The method according to any one of claims 1 to 4, characterized in that: The step of determining at least two reference anchor points from the plurality of positioning anchor points based on the distances between each of the plurality of positioning anchor points and the key comprises: Obtaining the received signal strength indication RSSI corresponding to each of the plurality of positioning anchor points from the key; and / or obtaining the state identifier of the corresponding positioning anchor point from the positioning device of each of the plurality of positioning anchor points; wherein the state identifier is an identifier indicating whether the ranging signal used for ranging between the positioning anchor point and the key is valid; From the distances between each of the plurality of positioning anchor points and the key, determine the distance corresponding to the RSSI greater than the signal strength threshold as the effective distance; and / or from the distances between each of the plurality of positioning anchor points obtained From the state identifiers, determine the distance between the positioning anchor point corresponding to the valid identifier and the key as the effective distance; Based on the determined effective distance, at least two reference anchor points are determined from the plurality of positioning anchor points.

7. The method according to any one of claims 1 to 6, characterized in that: Before determining at least two reference anchor points from the multiple positioning anchor points based on the determined effective distance, the method further includes: If the number of determined effective distances is less than two, the ranging signals between the multiple positioning anchor points of the vehicle and the key are reacquired, and the distances between each of the multiple positioning anchor points and the key are determined based on the acquired ranging signals, until at least two effective distances are determined from the distances between each of the multiple positioning anchor points and the key.

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 used to 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; wherein the reference anchor point indicates that the ranging 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 determine the first coordinates of the key in the local coordinate system corresponding to the determined reference anchor points based on the distances between the determined reference anchor points and the key; The processing module is further used to perform coordinate system transformation processing on the first coordinate to obtain a second coordinate of the key in a preset coordinate system of the vehicle; The operating module is used to execute a preset operation corresponding to the functional area if it is determined that the key is in the functional area of ​​the vehicle according to the second coordinate.

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.

11. A chip, characterized in that: The chip includes a memory and a processor, wherein the memory stores codes and data, the memory is coupled to the processor, and the processor runs the program in the memory so that the chip is used to execute the method described in any one of claims 1 to 7.

12. A program product, characterized in that include: A computer program, when the program product is run on a computer, causes the computer to execute the method according to any one of claims 1 to 7.

13. A computer program, characterized in that When the computer program is executed by a processor, it is used to perform the method according to any one of claims 1 to 7.

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