Digital car key positioning system and method, and related apparatus

Abstract

The present application belongs to the technical field of vehicle control. Disclosed are a digital car key positioning system and method, and a related apparatus. In the method, a vehicle can receive position information sent by a terminal device and, on the basis of the position information of the terminal device and a wireless signal separately collected by a plurality of short-range wireless communication modules in the vehicle, determine the position information of a digital car key with respect to the vehicle. That is, with reference to the position information determined by the terminal device itself and the wireless signal collected by the vehicle itself, the digital car key is positioned more accurately, thereby reducing the positioning error of the digital car key, improving positioning precision, and effectively solving the ping-pong problem of unlocking and locking the vehicle and the consistency problem of unlocking and locking distances.

Description

Digital car key positioning system, method and related device

[0001] This application claims priority to Chinese patent application No. 202310924187.3 filed on July 25, 2023, entitled “Positioning system, method and related device for digital car keys”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle control technology, and in particular to a positioning system, method, and related devices for a digital vehicle key. Background Art

[0003] Digital car keys utilize devices such as smartphones, smart bracelets, and smartwatches to control vehicle unlocking, starting and stopping the vehicle's computer, and controlling the temperature of the vehicle's air conditioning. Precise control of the vehicle through a digital car key relies primarily on accurate positioning of the digital car key, such as precisely controlling vehicle unlocking.

[0004] In related technologies, the positioning of digital car keys is mainly achieved based on Bluetooth positioning. For example, the distance between the digital car key and the vehicle is determined based on the strength of the Bluetooth signal sent by the terminal device with the digital car key to the vehicle.

[0005] However, when the user carrying the terminal device turns around, swings his arm, or places the terminal device in a backpack or pocket, the Bluetooth signal received by the vehicle is unstable, resulting in a large positioning error of the digital car key, and it is easy to cause a ping-pong problem in vehicle unlocking and consistency problems in the unlocking distance.

[0006] Summary of the Invention

[0007] This application provides a digital car key positioning system, method, and related device that can reduce the positioning error of the digital car key, improve positioning accuracy, and reduce the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance. The technical solution is as follows:

[0008] In a first aspect, a digital car key positioning system is provided, the system comprising a vehicle and a terminal device, the vehicle having multiple short-range wireless communication modules, the terminal device having a digital car key of the vehicle;

[0009] The terminal device is used to transmit wireless signals and send location information of the terminal device to the vehicle;

[0010] The vehicle is used to collect the wireless signals respectively through the multiple short-range wireless communication modules and receive the location information of the terminal device, and obtain the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

[0011] That is, this solution integrates the location information determined by the terminal device itself with the wireless signal collected by the vehicle itself to achieve more accurate positioning of the digital car key, reducing the positioning error of the digital car key, improving the positioning accuracy, and can effectively solve the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance.

[0012] Optionally, the vehicle is further configured to send a first instruction to the terminal device; and the terminal device is configured to send the location information of the terminal device to the vehicle after receiving the first instruction. That is, this solution supports the vehicle controlling the terminal device to send the location information of the terminal device.

[0013] Optionally, the vehicle is further configured to send a second instruction to the terminal device; and the terminal device is further configured to stop sending the terminal device's location information to the vehicle after receiving the second instruction. In other words, this solution allows the vehicle to control the terminal device to stop sending the terminal device's location information, thereby saving resources of the terminal device and the vehicle to a certain extent.

[0014] Optionally, the terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data. That is, this solution can be implemented using the PDR function of the terminal device.

[0015] In a second aspect, a method for locating a digital vehicle key is provided, which is applied to a vehicle having multiple short-range wireless communication modules. The method includes:

[0016] The vehicle receives location information of a terminal device, which has a digital car key for the vehicle; wireless signals transmitted by the terminal device are collected respectively through the multiple short-range wireless communication modules; and the position of the digital car key relative to the vehicle is obtained based on the location information of the terminal device and the wireless signals collected respectively by the multiple short-range wireless communication modules.

[0017] That is, this solution integrates the location information determined by the terminal device itself with the wireless signal collected by the vehicle itself to achieve more accurate positioning of the digital car key, reducing the positioning error of the digital car key, improving the positioning accuracy, and can effectively solve the ping-pong problem of vehicle unlocking and the consistency problem of unlocking distance.

[0018] Optionally, the method further includes: the vehicle sending a first instruction to the terminal device, the first instruction being used to instruct the terminal device to send the location information of the terminal device. In other words, this solution supports the vehicle controlling the terminal device to send the location information of the terminal device.

[0019] Optionally, the first instruction is sent when any one of multiple first conditions is met; the multiple first conditions include: a wireless communication connection has been established between the vehicle and the terminal device; the vehicle is parked or enters the parking gear; the vehicle is parked and the vehicle door is open.

[0020] Optionally, the method further includes: the vehicle sending a second instruction to the terminal device, the second instruction being used to instruct the terminal device to stop transmitting the terminal device's location information. In other words, this solution supports the vehicle controlling the terminal device to stop transmitting the terminal device's location information, thereby saving resource consumption of the terminal device and the vehicle to a certain extent.

[0021] Optionally, the second instruction is sent when any one of multiple second conditions is met; the multiple second conditions include: the vehicle is unlocked or the vehicle is out of parking; the wireless communication connection between the terminal device and the vehicle is disconnected; the terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle.

[0022] As can be seen from the above, after a wireless communication connection is established between the vehicle and the terminal device, the vehicle sends a first instruction to the terminal device to instruct the terminal device to begin transmitting its location information. The vehicle establishes a wireless communication connection with the terminal device as the terminal device approaches the vehicle. Thus, the terminal device begins transmitting its location information to the vehicle as it approaches the vehicle, allowing the vehicle to locate the terminal device and thereby unlock the vehicle based on the positioning result.

[0023] When the vehicle is unlocked or out of park based on the positioning results, a second command can be used to instruct the terminal device to stop transmitting its location information. The vehicle can then continue driving normally. When the vehicle is parked or in park, or when the vehicle is parked with the doors open, the vehicle again sends the first command to the terminal device, instructing it to continue transmitting its location information. Parking, in parking, or with the doors open typically indicates that the driver is about to exit the vehicle, meaning the terminal device is moving away from the vehicle. This allows the terminal device's location information to continue to be transmitted to the vehicle while it is moving away from the vehicle, allowing the vehicle to begin locating the terminal device and thereby achieve locking control of the vehicle based on the positioning results.

[0024] When the vehicle determines based on the positioning results that the terminal device has reached the locking area of ​​the vehicle while moving away from the vehicle and the vehicle is locked, or when the wireless communication connection with the terminal device has been disconnected, the terminal device can be instructed to stop sending the location information of the terminal device through a second instruction.

[0025] Optionally, the terminal device's location information includes information about multiple track points; the method further includes: the vehicle sending a third instruction to the terminal device, the third instruction being used to instruct the terminal device to determine the information about the multiple track points according to the first frequency. In other words, this solution also supports the vehicle controlling the frequency at which the terminal device outputs track points. In a specific implementation, frequency control can be used to ensure that the frequency at which the terminal device outputs track points is consistent with the frequency at which the vehicle determines the estimated distance between each short-range wireless communication module and the terminal device based on wireless signals, thereby facilitating fusion positioning.

[0026] Optionally, the terminal device has a PDR function, and the location information of the terminal device includes PDR data. That is, this solution can be implemented by utilizing the PDR function of the terminal device.

[0027] Optionally, the method further includes: when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, executing the step of obtaining the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules respectively; the third condition includes: the signal strength of multiple consecutive frames of signals in the wireless signals collected by at least P short-range wireless communication modules among the multiple short-range wireless communication modules exceeds the signal strength threshold. Wherein, P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules. That is, when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, the effective positioning algorithm is determined, thereby reducing the waste of vehicle resources to a certain extent while ensuring positioning precision and accuracy.

[0028] Optionally, the vehicle obtains the relative position of the digital car key based on the terminal device's location information and the wireless signals collected by the multiple short-range wireless communication modules, including: obtaining the relative position of the digital car key based on the terminal device's location information, the wireless signals collected by the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules. In other words, this solution can further integrate the location information of the short-range wireless communication modules to accurately locate the digital car key.

[0029] Optionally, each of the above-mentioned short-range wireless communication modules is a Bluetooth module or an ultra-wideband (UWB) module, a Spark Link Basic (SLB) module or a Spark Link Low Energy (SLE) module.

[0030] In a third aspect, a method for locating a digital vehicle key is provided, which is applied to a terminal device having a digital vehicle key for a vehicle. The method includes:

[0031] The terminal device transmits a wireless signal; receives a first instruction sent by a vehicle; after receiving the first instruction, sends the location information of the terminal device to the vehicle, and the location information of the terminal device and the wireless signal are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

[0032] In other words, this solution combines the terminal device's own location information with the vehicle's own wireless signals to more accurately locate the digital car key. This reduces positioning errors and improves positioning accuracy, effectively resolving the ping-pong problem of vehicle unlocking and the issue of consistent unlocking distance. Furthermore, this solution supports the vehicle control terminal device transmitting its location information.

[0033] Optionally, the method further includes: the terminal device receiving a second instruction sent by the vehicle; and upon receiving the second instruction, stopping sending the terminal device's location information to the vehicle. In other words, this solution allows the vehicle to control the terminal device to stop sending the terminal device's location information, thereby saving resources of the terminal device and the vehicle to a certain extent.

[0034] Optionally, the terminal device's location information includes information about multiple track points; the method further includes: receiving a third instruction sent by the vehicle, the third instruction indicating a first frequency; and upon receiving the third instruction, determining the information about the multiple track points according to the first frequency. In other words, this solution also supports the vehicle controlling the frequency at which the terminal device outputs track points. In a specific implementation, frequency control can be used to align the frequency at which the terminal device outputs track points with the frequency at which the vehicle determines the estimated distance between each short-range wireless communication module and the terminal device based on wireless signals, thereby facilitating fusion positioning.

[0035] Optionally, the terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data. In other words, this solution can be implemented using the PDR function of the terminal device.

[0036] Optionally, the method further includes: obtaining a fourth instruction generated based on a user's operation on the terminal device; and after obtaining the fourth instruction, enabling a function of transmitting the terminal device's location information to the vehicle. In other words, this solution also supports the user's ability to select whether to transmit the terminal device's location information to the vehicle.

[0037] In a fourth aspect, a digital car key positioning device is provided, wherein the digital car key positioning device is capable of implementing the digital car key positioning method described in the second or third aspect. The digital car key positioning device includes one or more modules configured to implement the digital car key positioning method described in the second or third aspect.

[0038] In a fifth aspect, a computing device is provided, comprising a processor and a memory, wherein the memory is configured to store a program for executing the method for locating a digital vehicle key provided in the second or third aspect, and to store data related to implementing the method for locating a digital vehicle key provided in the second or third aspect. The processor is configured to execute the program stored in the memory. The computing device may further include a communication bus for establishing a connection between the processor and the memory.

[0039] In a sixth aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium. When the computer-readable storage medium is executed on a processor, the processor executes the steps of the digital car key positioning method described in the second or third aspect above.

[0040] In a seventh aspect, a computer program product comprising instructions is provided, which, when executed on a processor, enables the processor to execute the steps of the method for locating a digital vehicle key as described in the second or third aspect above.

[0041] The technical effects obtained in the above-mentioned fourth to seventh aspects are similar to the technical effects obtained by the corresponding technical means in the first to third aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG1 is an architecture diagram of a digital car key positioning system provided in an embodiment of the present application;

[0043] FIG2 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0044] FIG3 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0045] FIG4 is a flow chart of a method for locating a digital car key provided in an embodiment of the present application;

[0046] FIG5 is a schematic diagram of a position relationship diagram provided in an embodiment of the present application;

[0047] FIG6 is a functional schematic diagram of a vehicle unlocking control provided by an embodiment of the present application;

[0048] FIG7 is a schematic diagram of a positioning algorithm provided in an embodiment of the present application;

[0049] FIG8 is a schematic structural diagram of a positioning device for a digital car key provided in an embodiment of the present application;

[0050] FIG9 is a schematic structural diagram of another digital car key positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0052] To facilitate understanding, the terms involved in the embodiments of the present application are first explained.

[0053] A digital car key refers to a car key implemented using a terminal device such as a smartphone, electronic bracelet, or electronic watch. A digital car key is typically a piece of functional software that can control vehicle unlocking, starting and stopping the vehicle's computer, and controlling the temperature of the vehicle's air conditioning. In the embodiments of this application, a terminal device possessing a vehicle's digital car key means that the terminal device has installed the digital car key software. Of course, if the digital car key is implemented through a combination of software and hardware, then a terminal device possessing a vehicle's digital car key means that the terminal device is equipped with the software and hardware that provide this digital car key functionality.

[0054] Pedestrian Dead Reckoning (PDR) algorithm processes sensor data collected by one or more sensors, such as an inertial measurement unit (IMU), visual-inertial odometry (VIO), wheel speed meter, accelerometer, magnetometer, and gyroscope. It measures and compiles statistics on the number of steps, stride length, and direction taken by pedestrians, thereby inferring information such as the pedestrian's walking trajectory.

[0055] Short-range wireless communication: The communication between the sender and receiver uses radio waves to transmit information, and the information can be transmitted within a short distance (for example, within a few tens of meters). Short-range wireless communication mainly refers to communication via the IEEE802.11 communication protocol, wireless Universal Serial Bus (USB), etc. In the embodiments of the present application, the short-range wireless communication module can be a Bluetooth module, UWB module, SLE module, or SLB module. The short-range wireless communication module may also be referred to as a short-range communication module, short-range communication base station, wireless communication module, wireless base station, wireless node, etc.

[0056] Next, the digital car key positioning system provided in the embodiment of the present application is introduced.

[0057] Figure 1 is an architectural diagram of a digital car key positioning system provided in an embodiment of the present application. Referring to Figure 1 , the positioning system includes a vehicle and a terminal device. The vehicle has multiple short-range wireless communication modules, such as short-range wireless communication module 1 to short-range wireless communication module n shown in Figure 1 . The positions of the multiple short-range wireless communication modules are different, and the terminal device has a digital car key of the vehicle. Each of the multiple short-range wireless communication modules can be a Bluetooth module, a UWB module, an SLB module, an SLE module, etc. The various short-range wireless communication modules can be the same or different.

[0058] The vehicle can establish a wireless communication connection with a terminal device through one of the multiple short-range wireless communication modules. For example, the multiple short-range wireless communication modules include a primary base station and at least one secondary base station. The vehicle can detect wireless signals in the environment through the primary base station, and after detecting a wireless signal transmitted by the terminal device, establish a wireless communication connection with the terminal device based on the detected wireless signal.

[0059] Taking the example that the main base station can be the Bluetooth module in the vehicle's computer and the terminal device also includes a Bluetooth module, after the vehicle computer detects the Bluetooth signal transmitted by the Bluetooth module of the terminal device through the Bluetooth module in the vehicle computer, it establishes a Bluetooth connection with the terminal device based on the detected Bluetooth signal.

[0060] In an embodiment of the present application, the terminal device is configured to transmit wireless signals and, after establishing a wireless communication connection with the vehicle, transmit the location information of the terminal device to the vehicle. The vehicle is configured to receive the location information of the terminal device and collect wireless signals respectively through the multiple wireless signal modules. Based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules, the vehicle obtains the position of the digital vehicle key relative to the vehicle.

[0061] Optionally, the vehicle is further configured to send a first instruction to the terminal device, and the terminal device is configured to send the terminal device's location information to the vehicle after receiving the first instruction. And / or, the vehicle is further configured to send a second instruction to the terminal device, and the terminal device is configured to stop sending the terminal device's location information to the vehicle after receiving the second instruction. In other words, the vehicle can control the terminal device to start and / or stop sending location information.

[0062] In the embodiment of the present application, the terminal device has a PDR function, and the location information of the terminal device includes PDR data. It should be understood that the PDR function is not intended to limit the embodiment of the present application. In other embodiments, the terminal device may also determine the location information of the terminal device through other functions similar to the PDR function.

[0063] In conjunction with the aforementioned PDR function, first instruction, and second instruction, the first instruction sent by the vehicle to the terminal device may be referred to as a PDR start instruction, and the second instruction may be referred to as a PDR stop instruction. The terminal device can initiate the PDR function in response to the PDR start instruction sent by the vehicle. After initiating the PDR function, the terminal device runs the PDR algorithm to determine the terminal device's location information and transmits the terminal device's location information to the vehicle. The terminal device can also terminate the PDR function in response to the PDR stop instruction sent by the vehicle. After terminating the PDR function, the terminal device stops executing the PDR algorithm and stops transmitting the terminal device's location information to the vehicle.

[0064] In the embodiment of the present application, the terminal device can be an electronic device such as a smart phone, a smart bracelet, or a smart watch.

[0065] FIG2 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Referring to FIG2 , the vehicle has multiple short-range wireless communication modules, and the multiple short-range wireless communication modules include a main base station and four auxiliary base stations. The vehicle includes a vehicle computer, and the vehicle computer includes the main base station. As shown in FIG2 , the vehicle computer is located near the center of the vehicle, and the four auxiliary base stations are respectively located in the middle of the front of the vehicle, the middle of the rear of the vehicle, and the middle of both sides of the vehicle. Of course, the four auxiliary base stations can also be located near the four corners of the vehicle or other positions. The embodiment of the present application does not limit the positions of the multiple short-range wireless communication modules.

[0066] It should be understood that the system architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0067] Figure 3 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Optionally, the electronic device becomes part of the vehicle shown in Figure 1 or Figure 2, such as part of a vehicle computer, or becomes part or all of the terminal device shown in Figure 1. The electronic device includes one or more processors 301, a communication bus 302, a memory 303, and one or more communication interfaces 304.

[0068] The processor 301 is a general-purpose central processing unit (CPU), a network processing processor (NP), a microprocessor, or one or more integrated circuits for implementing the solution of the present application, such as an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. Optionally, the PLD is a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0069] Communication bus 302 is used to transmit information between the above components. Optionally, communication bus 302 is divided into an address bus, a data bus, a control bus, etc. For ease of illustration, FIG3 shows only one thick line, but this does not mean that there is only one bus or only one type of bus.

[0070] Optionally, the memory 303 is a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), an optical disc (including a compact disc read-only memory (CD-ROM), a compact disc, a laser disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 303 exists independently and is connected to the processor 301 via the communication bus 302, or the memory 303 is integrated with the processor 301.

[0071] The communication interface 304 uses any transceiver-like device for communicating with other devices or communication networks. The communication interface 304 includes a wired communication interface and, optionally, a wireless communication interface. Examples of wired communication interfaces include Ethernet interfaces. Optionally, the Ethernet interface is an optical interface, an electrical interface, or a combination thereof. The wireless communication interface is a wireless local area network (WLAN) interface, a cellular network communication interface, or a combination thereof.

[0072] Optionally, in some embodiments, the electronic device includes multiple processors, such as processor 301 and processor 305 shown in Figure 3. Each of these processors is a single-core processor or a multi-core processor. Optionally, the processor here refers to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0073] In a specific implementation, as an embodiment, the electronic device further includes an output device 306 and an input device 307. The output device 306 communicates with the processor 301 and can display information in a variety of ways. For example, the output device 306 is a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 307 communicates with the processor 301 and can receive user input in a variety of ways. For example, the input device 207 is a mouse, a keyboard, a touch screen device, or a sensor device.

[0074] In some embodiments, the memory 303 is used to store program code 310 for executing the solution of the present application, and the processor 301 is capable of executing the program code 310 stored in the memory 303. The program code includes one or more software modules, and the electronic device can implement the digital car key positioning method provided in the embodiment of FIG. 4 below through the processor 301 and the program code 310 in the memory 303.

[0075] Figure 4 is a flowchart of a method for locating a digital car key, provided in an embodiment of the present application. This method is applied to a digital car key positioning system, which includes a vehicle and a terminal device. The vehicle has multiple short-range wireless communication modules, and the terminal device has the vehicle's digital car key. Referring to Figure 4 , the method includes the following steps.

[0076] Step 401: The terminal device transmits a wireless signal.

[0077] In an embodiment of the present application, a terminal device may transmit a wireless signal after establishing a wireless communication connection with a vehicle. For example, the terminal device may periodically broadcast a data packet after establishing a wireless communication connection with the vehicle. That is, the wireless signal may be in the form of a data packet. Furthermore, the wireless signal transmitted by the terminal device may include one or more of a Bluetooth signal, an UWB signal, an SLB signal, and an SLE signal.

[0078] The wireless communication connection established between the terminal device and the vehicle may be a Bluetooth connection or other wireless communication connection, which is not limited in this application. The following description will take the wireless communication connection established between the terminal device and the vehicle as a Bluetooth connection as an example.

[0079] For example, a vehicle includes a head unit, which includes a Bluetooth module. The head unit's Bluetooth module broadcasts a Bluetooth signal. As the terminal device approaches the vehicle, the Bluetooth module detects the head unit's Bluetooth signal. Based on the detected Bluetooth signal, the head unit and the terminal device are bound using a pairing code, achieving authentication between the head unit and the terminal device. After authentication, the Bluetooth connection between the terminal device and the head unit is established. Subsequently, the terminal device's Bluetooth module periodically broadcasts data packets, emitting Bluetooth signals into the environment for reception by multiple Bluetooth modules in the vehicle.

[0080] It should be understood that the type of wireless signal transmitted by the terminal device matches the type of multiple short-range wireless communication modules on the vehicle. For example, if the multiple short-range wireless communication modules on the vehicle are all Bluetooth modules, then the terminal device includes a Bluetooth module, and the wireless signal transmitted by the terminal device is a Bluetooth signal transmitted by the Bluetooth module of the terminal device. For another example, if the types of the multiple short-range wireless communication modules on the vehicle are different, and the multiple short-range wireless communication modules include a Bluetooth module, a UWB module, etc., then the terminal device also includes a Bluetooth module, a UWB module, etc., and the wireless signal transmitted by the terminal device includes a Bluetooth signal, a UWB signal, etc. Of course, in some possible embodiments, the type of wireless signal transmitted by the terminal device may also be different from the type of the multiple short-range wireless communication modules on the vehicle, as long as the vehicle is able to process the wireless signals transmitted by the terminal device collected by the multiple short-range wireless communication modules.

[0081] Step 402: The vehicle collects wireless signals transmitted by the terminal device through multiple short-range wireless communication modules.

[0082] In an embodiment of the present application, after establishing a wireless communication connection with a terminal device, the vehicle can collect wireless signals transmitted by the terminal device through multiple short-range wireless communication modules.

[0083] Among them, the categories of the multiple short-range wireless communication modules may be the same. For example, the multiple short-range wireless communication modules may all include Bluetooth modules. Alternatively, the categories of the multiple short-range wireless communication modules may be different. For example, the main base station includes a Bluetooth module, and the secondary base station includes a UWB module. For another example, the main base station and one of the secondary base stations include Bluetooth modules, and each of the remaining secondary base stations includes a UWB module or an SLE module. Among them, the Bluetooth module may also be called a Bluetooth base station or a Bluetooth tag, etc. In addition, the positions of the multiple short-range wireless communication modules are different. In this way, using multiple short-range wireless communication modules at multiple positions to measure the distance of the digital car key can improve the ranging accuracy of the digital car key, thereby improving the positioning accuracy of the digital car key.

[0084] Optionally, the multiple short-range wireless communication modules include a primary base station and at least one secondary base station, and the vehicle includes a vehicle computer, which includes the primary base station. After establishing a wireless communication connection with the terminal device, the vehicle computer collects wireless signals transmitted by the terminal device through the primary base station and sends a fourth instruction to the at least one secondary base station, the fourth instruction being used to instruct the at least one secondary base station to collect wireless signals transmitted by the terminal device. After receiving the fourth instruction, the at least one secondary base station collects the wireless signals transmitted by the terminal device in response to the fourth instruction.

[0085] The at least one secondary base station may send the collected wireless signal to the vehicle computer, and the vehicle computer receives the wireless signal collected by the at least one secondary base station. Alternatively, the at least one secondary base station processes the collected wireless signal and sends the processed data to the vehicle computer.

[0086] For example, if one of the secondary base stations is a Bluetooth base station, after collecting wireless signals, the Bluetooth base station determines the signal strength of the collected wireless signals, obtains received signal strength indication (RSSI) data, and reports the RSSI data to the vehicle computer. The RSSI data represents the signal strength of the wireless signals received by the Bluetooth base station. Furthermore, if one of the secondary base stations is a UWB base station, after collecting wireless signals, the UWB base station determines distance estimation data based on the collected wireless signals and reports the distance estimation data to the vehicle computer. The distance estimation data includes an estimated distance between the terminal device and the UWB base station.

[0087] Step 403: The terminal device sends the location information of the terminal device to the vehicle.

[0088] In order to improve the positioning accuracy of the digital car key, the terminal device also sends the location information of the terminal device to the vehicle. The location information of the terminal device and the wireless signal transmitted by the terminal device are both used by the vehicle to obtain the position of the digital car key relative to the vehicle.

[0089] The terminal device's location information refers to the terminal device's location relative to the vehicle, as determined by the terminal device. Specifically, it may be the terminal device's location relative to the vehicle's computer. Alternatively, the terminal device's location information refers to the terminal device's location on a world map. Simply put, the terminal device's location information may be relative or absolute, and this embodiment of the application does not limit this.

[0090] In the embodiment of the present application, the terminal device has a PDR function, and the location information of the terminal device includes PDR data. It should be understood that the PDR function is not intended to limit the embodiment of the present application. In other embodiments, the terminal device may also determine the location information of the terminal device through other functions similar to the PDR function.

[0091] Taking the location information of the terminal device including PDR data as an example, after the terminal device collects sensor data through one or more sensors such as IMU, VIO, wheel speed meter, accelerometer, magnetometer, gyroscope, etc. in the terminal device, it uses the PDR function to process the sensor data to obtain PDR data.

[0092] Among them, the PDR data includes two-dimensional coordinates, which include X coordinates and Y coordinates. Taking the example that the location information of the terminal device refers to the location information of the terminal device relative to the vehicle computer, the X coordinate and Y coordinate can refer to the coordinates of the terminal device with the vehicle computer as the origin and the ground as the coordinate plane. Alternatively, the PDR data includes three-dimensional coordinates, which include the Z coordinate in addition to the above-mentioned X coordinates and Y coordinates. Still taking the example that the location information of the terminal device refers to the location information of the terminal device relative to the vehicle computer, the Z coordinate refers to the coordinate of the terminal device perpendicular to the ground.

[0093] It should be understood that, generally speaking, the terminal device and the vehicle computer are approximately on the same horizontal plane, so the PDR data may not include the aforementioned Z coordinate. Alternatively, the PDR data may include the Z coordinate, but the vehicle may subsequently ignore the received Z coordinate of the terminal device, i.e., the Z coordinate is not included in the calculation.

[0094] Determining and transmitting the terminal device's location information consumes certain terminal device resources, including computing resources, memory resources, and power resources. To reduce the waste of terminal device resources, in an embodiment of the present application, the vehicle can control the terminal device to start and / or stop transmitting the terminal device's location information. This will be described below.

[0095] The vehicle controls the terminal device to start sending the location information by: the vehicle sends a first instruction to the terminal device, the first instruction being used to instruct the terminal device to send the location information of the terminal device. Accordingly, the terminal device receives the first instruction sent by the vehicle and sends the location information of the terminal device to the vehicle.

[0096] The first instruction is sent when any one of a plurality of first conditions is satisfied, including: a wireless communication connection is established between the vehicle and the terminal device; the vehicle is parked or in parking gear; the vehicle is parked and a door is open.

[0097] That is, after establishing a wireless communication connection between the vehicle and the terminal device, the vehicle sends a first instruction to the terminal device to instruct the terminal device to start sending the terminal device's location information. The vehicle establishes a wireless communication connection with the terminal device as the terminal device approaches the vehicle. Thus, the terminal device begins sending its location information to the vehicle as it approaches the vehicle, allowing the vehicle to locate the terminal device and thereby unlock the vehicle based on the positioning result.

[0098] When the vehicle is unlocked or out of park based on the positioning results, a second command can be used to instruct the terminal device to stop sending its location information. The vehicle can then travel normally. When the vehicle is parked or in park, or when the vehicle is parked with the doors open, the vehicle again sends the first command to the terminal device, instructing it to continue sending its location information. The fact that the vehicle is parked or in park, or with the doors open, indicates that the driver is typically about to get out of the vehicle and leave it, meaning the terminal device is moving away from the vehicle. This allows the terminal device's location information to continue to be sent to the vehicle while it is moving away from the vehicle, allowing the vehicle to begin locating the terminal device and thereby achieve locking control of the vehicle based on the positioning results.

[0099] When the vehicle determines based on the positioning results that the terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle and locks the vehicle, or when the wireless communication connection between the vehicle and the terminal device is disconnected, the terminal device can be instructed to stop sending the location information of the terminal device through a second instruction.

[0100] For a detailed description of the second instruction, please refer to the detailed description of step 404 below.

[0101] Taking the example of a terminal device's location information including PDR data, in combination with the aforementioned PDR function, first instruction, and second instruction, the first instruction sent by the vehicle to the terminal device can be referred to as a PDR start instruction, and the second instruction can be referred to as a PDR stop instruction. The terminal device can initiate the PDR function in response to the PDR start instruction sent by the vehicle. After initiating the PDR function, the terminal device uses the PDR function to run a PDR algorithm to determine the terminal device's location information and transmit the terminal device's location information to the vehicle. The terminal device can also terminate the PDR function in response to a PDR stop instruction sent by the vehicle. After terminating the PDR function, the terminal device stops executing the PDR algorithm and stops transmitting the terminal device's location information to the vehicle.

[0102] In the embodiment of the present application, the location information of the terminal device includes information of multiple track points. That is, the terminal device continuously sends the real-time location information of the terminal device to the vehicle, and the real-time location information represents the continuous running track of the terminal device.

[0103] Optionally, the vehicle sends a third instruction to the terminal device, and the third instruction is used to instruct the terminal device to determine the information of the multiple trajectory points according to the first frequency. Accordingly, the terminal device receives the third instruction sent by the vehicle, and the third instruction indicates the first frequency. After receiving the third instruction, the terminal device determines the information of the multiple trajectory points according to the first frequency. That is, the embodiment of the present application supports the vehicle controlling the frequency of the terminal device outputting the trajectory points. In a specific implementation, the frequency control can be used to make the frequency of the terminal device outputting the trajectory points consistent with the frequency of the vehicle determining the distance estimate based on the wireless signal, thereby facilitating fusion positioning.

[0104] The first frequency may be 5 Hz or 10 Hz or other values.

[0105] It should be understood that the vehicle can carry both the first instruction and the third instruction in a single data packet, thereby instructing the terminal device to determine and transmit information about multiple trajectory points of the terminal device at the first frequency. Alternatively, the vehicle can carry the first instruction and the third instruction separately in two data packets.

[0106] Optionally, this solution also allows the user to choose whether to enable the function of sending the terminal device's location information to the vehicle. In a specific implementation, the terminal device can also obtain a fourth instruction generated based on the user's operation on the terminal device. After obtaining the fourth instruction, the function of sending the terminal device's location information to the vehicle is enabled. Correspondingly, the terminal device can also obtain a fifth instruction generated based on the user's operation on the terminal device. After obtaining the fifth instruction, the function of sending the terminal device's location information to the vehicle is disabled.

[0107] Taking the terminal device as a mobile phone as an example, a setting interface is displayed on the mobile phone, and the user can choose to turn on or off the function of sending the terminal device's location information to the vehicle by operating the setting interface of the mobile phone.

[0108] It should be understood that, when the location information of the terminal device includes PDR data, the step of the terminal device sending the location information of the terminal device to the vehicle is performed when the terminal device has enabled the function of sending the location information of the terminal device to the vehicle and the PDR function. If the terminal device does not enable the function of sending the location information of the terminal device to the vehicle, the terminal device can still enable the PDR function to calculate the location information of the terminal device, but will not send the location information of the terminal device to the vehicle.

[0109] Step 404: The vehicle receives the location information of the terminal device.

[0110] Specifically, the vehicle's onboard computer receives the location information of the terminal device. Alternatively, in some other possible embodiments, the vehicle receives the location information of the terminal device through other modules. That is, this solution does not limit which module in the vehicle is used to receive the location information of the terminal device.

[0111] It should be noted that the embodiment of the present application does not limit the order of the above steps 401 and 403. The terminal device may start transmitting the wireless signal first and then start transmitting the terminal device's location information. The terminal device may also first transmit the terminal device's location information and then transmit the wireless signal. The terminal device may also send the wireless signal and the terminal device's location information simultaneously.

[0112] Step 405: The vehicle obtains the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules.

[0113] When the vehicle receives the terminal device's location information and the wireless signals transmitted by the terminal device are collected by the multiple short-range wireless communication modules, the vehicle determines the relative position of the digital car key based on the terminal device's location information and the wireless signals collected by the multiple short-range wireless communication modules. In other words, the digital car key is accurately located by integrating the continuous movement trajectory of the terminal device.

[0114] The vehicle's determination of the position of the digital car key relative to the vehicle will consume certain resources of the vehicle. In order to reduce the waste of vehicle resources and to ensure positioning accuracy and precision, the vehicle can, when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, execute the steps of obtaining the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules respectively.

[0115] In an embodiment of the present application, the third condition includes: the signal strength of multiple consecutive frames of signals in the wireless signals collected by at least P short-range wireless communication modules among the multiple short-range wireless communication modules exceeds the signal strength threshold. Wherein, P is an integer not less than 1 and not greater than the total number of the multiple short-range wireless communication modules, the number of frames of the consecutive multiple frames of signals is M, and M is an integer not less than 2. The signal strength threshold can be -50dB, -60dB, or other values.

[0116] For example, taking P as 3, M as 10, and a signal strength threshold of -60dB as an example, when there are 10 consecutive frames of signals with a signal strength exceeding -60dB in the wireless signals collected by no less than 3 short-range wireless communication modules among the multiple short-range wireless communication modules, the vehicle obtains the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules.

[0117] It should be understood that the above third condition is used to exemplify the present solution and is not used to limit the present solution. The third condition may also include some other possible conditions.

[0118] Next, the implementation method for the vehicle to obtain the position of the digital car key relative to the vehicle is introduced in detail.

[0119] In the embodiment of the present application, the vehicle determines the relative position of the digital car key based on the location information of the terminal device, the wireless signals collected by the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules. It should be understood that due to the different locations of the multiple short-range wireless communication modules, the location information of the multiple short-range wireless communication modules can be further integrated to accurately locate the digital car key.

[0120] The vehicle determines distance estimation data corresponding to each of the multiple short-range wireless communication modules based on the wireless signals collected by the multiple short-range wireless communication modules. The distance estimation data includes the estimated distance between the corresponding short-range wireless communication module and the digital car key. The vehicle determines the position of the digital car key relative to the vehicle based on the location information of the terminal device, the distance estimation data corresponding to each of the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules. That is, the vehicle first estimates the distance of the digital car key relative to each short-range wireless communication module based on the wireless signals collected by the multiple short-range wireless communication modules, and then accurately locates the digital car key based on the location information determined by the terminal device itself.

[0121] As can be seen from the foregoing, a variety of short-range wireless communication modules can be deployed on a vehicle. These modules can be of the same or different types, and they can directly transmit collected wireless signals to the vehicle computer, or process the collected wireless signals and transmit the resulting data to the vehicle computer. Therefore, there are many ways to implement how a vehicle determines distance estimation data corresponding to each of the multiple short-range wireless communication modules based on the wireless signals collected by each module. Some of these implementations are described here.

[0122] For example, one of the auxiliary base stations is a Bluetooth base station. The Bluetooth base station determines the signal strength of the collected wireless signal, obtains RSSI data, and reports the RSSI data to the vehicle computer. After receiving the RSSI data sent by the Bluetooth base station, the vehicle computer determines the distance estimation data corresponding to the Bluetooth base station based on the RSSI data, that is, determines the location information between the Bluetooth base station and the digital car key. For another example, if one of the auxiliary base stations is a UWB base station, the UWB base station determines the distance estimation data based on the collected wireless signal and reports the distance estimation data to the vehicle computer. The UWB base station can determine the distance estimation data using a time of flight (TOF) algorithm, a time difference method, or other algorithms.

[0123] It should be understood that the embodiments of the present application do not limit the execution entity of determining the distance estimation data to the vehicle computer or other short-range wireless communication modules, nor do they limit the specific algorithm for determining the distance estimation data. In specific implementation, the specific implementation process of the process can be determined based on the type of short-range wireless communication modules actually deployed, the designed data interaction process, etc.

[0124] After determining the distance estimation data corresponding to each of the multiple short-range wireless communication modules, the vehicle constructs a position relationship graph based on the location information of the terminal device, the distance estimation data corresponding to each of the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules. The position relationship graph represents the running trajectory of the terminal device and the positional relationship between the mobile terminal and each of the multiple short-range wireless communication modules at each time point of the running trajectory. Then, based on the position relationship graph, the vehicle obtains the position of the digital car key relative to the vehicle computer through graph optimization. That is, the embodiment of the present application can locate the digital car key through graph optimization.

[0125] The location information of the terminal device includes information of multiple trajectory points determined according to the first frequency, the distance estimation data corresponding to each short-range wireless communication module includes multiple distance estimation values ​​determined according to the second frequency, and the above-mentioned position relationship diagram includes a first sub-graph and a second sub-graph. The vehicle constructs the position relationship diagram based on the location information of the terminal device, the distance estimation data corresponding to the multiple short-range wireless communication modules, and the location information of the multiple short-range wireless communication modules, and implements the following process: constructing a first sub-graph based on the information of the multiple trajectory points, the first sub-graph representing the running trajectory of the terminal device; when the first frequency and the second frequency are consistent, matching the multiple trajectory points with the multiple distance estimation values ​​corresponding to each short-range wireless communication module to obtain a first corresponding relationship, the first corresponding relationship representing the corresponding relationship between the multiple trajectory points and the multiple distance estimation values ​​corresponding to each short-range wireless communication module; constructing a second sub-graph based on the first corresponding relationship, the second sub-graph representing the position relationship between the terminal device at each trajectory point and each short-range wireless communication module in the multiple short-range wireless communication modules.

[0126] In the case where the first frequency and the second frequency are inconsistent, the vehicle interpolates the multiple trajectory points based on the second frequency, and matches the multiple trajectory points after the interpolation process with the multiple distance estimation values ​​corresponding to each short-range wireless communication module to obtain a second correspondence relationship. The second correspondence relationship represents the correspondence between the multiple trajectory points after the interpolation process and the multiple distance estimation values ​​corresponding to each short-range wireless communication module. Then, the vehicle constructs a second subgraph based on the second correspondence relationship. In the case where the first frequency is less than the second frequency, the number of the multiple trajectory points after the interpolation process is greater than the number of the multiple trajectory points before the interpolation process. In the case where the first frequency is greater than the second frequency, the number of the multiple trajectory points after the interpolation process is less than the number of the multiple trajectory points before the interpolation process.

[0127] Alternatively, when the first frequency and the second frequency are inconsistent, the vehicle interpolates the multiple distance estimation values ​​corresponding to each short-range wireless communication module based on the first frequency, and matches the multiple trajectory points with the multiple distance estimation values ​​corresponding to each short-range wireless communication module after the interpolation processing to obtain a third correspondence relationship. The third correspondence relationship represents the correspondence between the multiple trajectory points and the multiple distance estimation values ​​corresponding to each short-range wireless communication module after the interpolation processing. Then, the vehicle constructs a second subgraph based on the third correspondence relationship. In the case where the first frequency is less than the second frequency, the number of the multiple distance estimation values ​​after the interpolation processing is less than the number of the multiple distance estimation values ​​before the interpolation processing. In the case where the first frequency is greater than the second frequency, the number of the multiple distance estimation values ​​after the interpolation processing is more than the number of the multiple distance estimation values ​​before the interpolation processing.

[0128] Alternatively, when the first frequency and the second frequency are inconsistent, the vehicle may also interpolate the multiple trajectory points and the multiple distance estimates corresponding to each short-range wireless communication module, and match the multiple interpolated trajectory points with the multiple distance estimates corresponding to each short-range wireless communication module to obtain a fourth correspondence relationship. The fourth correspondence relationship represents the correspondence between the multiple interpolated trajectory points and the multiple distance estimates corresponding to each short-range wireless communication module. The vehicle then constructs a second subgraph based on the fourth correspondence relationship.

[0129] It should be understood that the aforementioned consistency of the first and second frequencies means that the error between the first and second frequencies does not exceed an error threshold. For example, if the first and second frequencies are completely equal, it indicates that the first and second frequencies are consistent. A small error between the first and second frequencies also indicates that the first and second frequencies are consistent. The error threshold may be 0.1 Hz, 0.05 Hz, or other values.

[0130] It should also be understood that each trajectory point corresponds to a time, and the times of the above-mentioned multiple trajectory points are continuous. The time of the trajectory point is the time when the terminal device travels to the corresponding trajectory point. Each distance estimate also corresponds to a time, and the times of the above-mentioned multiple distance estimates are also continuous. The time of the distance estimate is the time when the corresponding short-range wireless communication module collects the corresponding frame wireless signal. When the first frequency and the second frequency are consistent, each trajectory point is directly associated with the distance estimate closest in time, thereby obtaining the above-mentioned first correspondence. When the first frequency and the second frequency are inconsistent, taking the interpolation processing of the multiple trajectory points as an example, each trajectory point after the interpolation processing can be associated with the distance estimate closest in time, thereby obtaining the above-mentioned second correspondence. Similarly, when interpolation processing is performed on multiple distance estimates corresponding to each short-range wireless communication module, or when interpolation processing is performed on both the multiple trajectory points and the multiple distance estimates corresponding to each short-range wireless communication module, the trajectory points and the distance estimates can be associated according to the principle of closest time. This will not be described in detail here.

[0131] FIG5 is a schematic diagram of a position relationship diagram provided in an embodiment of the present application. The position relationship diagram includes a first sub-diagram and a second sub-diagram. Please understand the first sub-diagram and the second sub-diagram in conjunction with FIG5.

[0132] 5, the first subgraph represents the running trajectory of the terminal device (such as the mobile phone in FIG5), and the vertices of the first subgraph refer to the above-mentioned trajectory points, such as the trajectory points at time t1 and t2, and the vertices are recorded as Vpdr = p i(x, y, θ), (x, y) represents the position coordinates of the trajectory point, θ represents the running direction of the trajectory point, and the edge of the first subgraph is recorded as Epdr-pdr=Edge(Vpdr, Vpdr). i With p i+1 The absolute value of the distance difference between the two is the step length between adjacent trajectory points, and the step length is recorded as l = |p i+1 -p i |, p i With p i+1 The angle difference between them is recorded as △θ=θ i-1 -θ i The weight of the edge in the first subgraph is denoted as w 1 i In the embodiment of this application, 1 i The value is constant C1, that is, w 1 i = C1. In other embodiments, other variable values ​​may also be taken.

[0133] The distance estimation value corresponding to each of the above short-range wireless communication modules is recorded as i If the first frequency is consistent with the second frequency, for example, the output frequency of the trajectory point (ie, the first frequency) is high enough, then directly set O i The p closest to the time i If the first frequency is inconsistent with the second frequency, the multiple trajectory points can be interpolated to obtain the value of i The p closest to the interpolation time j The corresponding relationship between the trajectory points and the distance estimation value is expressed as {(p i ,O j )}. Wherein, i and j are both ∈ [1, N], and N represents the total number of the multiple distance estimation values.

[0134] The second subgraph represents the positional relationship between the terminal device at each trajectory point and each short-range wireless communication module in the multiple short-range wireless communication modules. The vertices of the second subgraph include the trajectory points in the above correspondence and the points representing the positions of the multiple short-range wireless communication modules. The points representing the positions of the short-range wireless communication modules are denoted as Vnode. The edges of the second subgraph are denoted as Enode-pdr=Edge(Vnode,Vpdr), and the distance estimation value is the edge length. The weight of the edge in the second subgraph is denoted as w 2 i In the embodiment of the present application, in order to improve the positioning accuracy, the edge with short distance is given an additional weight w 2 i,r , as shown in formula (1). The final weight w 2 i As shown in formula (2).

[0135] Where C2 represents a constant. K i,acc Represents the ranging confidence, K i,acc ∈[0,1]. In the embodiment of the present application, C1 and C2 can be the same or different. Different types of short-range wireless communication modules can have different corresponding ranging confidence levels, which can improve positioning accuracy. For example, the ranging confidence level corresponding to the Bluetooth module can increase as the distance estimate decreases, while the ranging confidence level corresponding to the UWB module can be constant.

[0136] After constructing the first and second subgraphs, the vehicle uses graph optimization to determine the position of the digital key relative to the vehicle computer. This graph optimization involves constructing a nonlinear optimization objective function. The optimal solution to this objective function is then used to determine the position of the digital key relative to the vehicle.

[0137] Among them, the objective function is F(d) as shown in formula (3), and the optimal solution is d as shown in formula (4). * The relevant algorithms for solving the optimal solution of the objective function may be Gauss-Newton iteration method, g2o, Ceres, quasi-Newton method (BFGS), etc., which are not limited in the embodiments of the present application.

[0138] Among them, z i Represents the observed value, such as the distance estimate above, d i Represents the variable to be solved, that is, the true value. i (d i ,z i ) means d i With z i The error between T Represents the matrix transpose. Ω i Represents weight. Wherein, w is the same as above w 1 i or w 2 i .

[0139] It should be understood that the essence of the graph optimization method is to input the above-mentioned distance estimation value, the location information of the trajectory point and the weight into the relevant algorithm of the graph optimization, and output the variable value when the objective function reaches the minimum value through the relevant algorithm. The output result is the final position of the digital car key relative to the vehicle.

[0140] In the embodiments of the present application, the position of the digital car key relative to the vehicle may refer to the position of the digital car key relative to a reference point in the vehicle. The reference point may refer to the vehicle computer. Of course, the reference point may also refer to other locations in the vehicle.

[0141] The above describes that in an embodiment of the present application, the vehicle obtains the position of the digital car key relative to the vehicle based on the received location information of the terminal device and the wireless signals collected by multiple short-range wireless communication modules.

[0142] It should be understood that if the position of the digital car key relative to the vehicle obtained by a relevant algorithm of graph optimization includes the coordinates of the digital car key relative to the vehicle, but does not include the angle of the digital car key relative to the vehicle, after obtaining the coordinates of the digital car key relative to the vehicle, the vehicle can also obtain the position of the digital car key relative to the vehicle through posture fusion. The posture includes distance and angle. The embodiment of this application does not limit the specific implementation method of posture fusion. If the position of the digital car key relative to the vehicle determined by a relevant algorithm of graph optimization includes both the distance of the digital car key relative to the vehicle and the angle of the digital car key relative to the vehicle, then there is no need for additional posture fusion.

[0143] As can be seen from the foregoing, the vehicle can also control the terminal device to stop transmitting the terminal device's location information to save resource consumption of the terminal device and the vehicle. That is, in this embodiment of the present application, the vehicle sends a second instruction to the terminal device, the second instruction being used to instruct the terminal device to stop transmitting the terminal device's location information. Correspondingly, the terminal device receives the second instruction sent by the vehicle and, upon receiving the second instruction, stops transmitting the terminal device's location information to the vehicle.

[0144] The second instruction is sent when any one of a plurality of second conditions is satisfied, including: the vehicle is unlocked or out of park; the wireless communication connection between the terminal device and the vehicle is disconnected; or the terminal device reaches a locking zone of the vehicle while moving away from the vehicle.

[0145] That is, if the vehicle is unlocked or out of park, the terminal device has typically already been in the vehicle with the person, and the vehicle no longer needs to calculate the digital key's relative position to the vehicle. The vehicle then sends a second command to the terminal device, instructing it to stop sending its location information. If the wireless communication connection between the terminal device and the vehicle is disconnected, or if the terminal device reaches the vehicle's locking zone while moving away from the vehicle, the terminal device has typically already been away from the vehicle with the person, and the vehicle no longer needs to calculate the digital key's relative position to the vehicle. The vehicle also sends a second command to the terminal device.

[0146] Please refer to Table 1 for an exemplary introduction to the format of the instructions and data exchanged between the vehicle and the terminal device in the embodiment of the present application. Among them, the PDR control instruction includes the PDR start instruction and PDR stop instruction introduced above, and optionally, also includes a PDR pause instruction. The function of the PDR pause instruction is similar to that of the PDR stop instruction. For example, after the vehicle is unlocked and exits the parking gear, the PDR stop instruction sent by the vehicle computer to the terminal device can be replaced by a PDR pause instruction. The PDR transmission frequency control instruction is the third instruction introduced above. PDR data is the PDR data of the terminal device, and the value of the PDR data can be in type-value-length (TVL) format or other formats.

[0147] Table 1

[0148] As can be seen from the foregoing, the precise positioning of the digital car key can be used to unlock or otherwise control the vehicle. Next, the process of unlocking the vehicle based on the position of the digital car key relative to the vehicle will be described.

[0149] Figure 6 is a functional schematic diagram of a vehicle unlocking control method provided by an embodiment of the present application. Referring to Figure 6 , the vehicle has a primary base station and at least one secondary base station, with the vehicle's head unit including the primary base station. For example, in a scenario where both the primary and secondary base stations include Bluetooth modules, the functions and effects of the terminal device and each module in the vehicle are primarily as follows.

[0150] 1) Vehicle identification / application layer authentication. That is, the terminal device and the vehicle's Bluetooth module first establish a Bluetooth connection based on the Bluetooth data packet broadcast by the vehicle's Bluetooth module, and then pair and bind them using a pairing code to achieve authentication between the terminal device and the vehicle.

[0151] 2) RSSI data collection. That is, after completing the Bluetooth connection and passing the authentication with the vehicle's Bluetooth module, the terminal device periodically broadcasts Bluetooth data packets. The primary and secondary base stations on the vehicle collect the Bluetooth data packets broadcast by the terminal device and determine the RSSI data respectively. Each secondary base station reports its own RSSI data to the vehicle.

[0152] 3) PDR start and stop are effective. That is, the terminal device has the PDR function. Please understand the activation and deactivation of the PDR function in combination with the following actual scenarios.

[0153] a. Scenario in which a terminal device approaches a vehicle to unlock it. As the terminal device approaches the vehicle, it establishes a wireless communication connection with the vehicle's Bluetooth module. The vehicle sends a PDR start command to the terminal device, instructing it to begin sending PDR data to the vehicle. The vehicle notifies each auxiliary node to collect data, namely, to acquire and report RSSI data. The vehicle acquires RSSI data from each short-range wireless communication module. If, based on the RSSI data from each short-range wireless communication module, the multiple short-range wireless communication modules collect wireless signals with signal strength exceeding a signal strength threshold for multiple consecutive frames, the vehicle activates a positioning algorithm. This algorithm determines the relative position of the digital key to the vehicle based on the terminal device's location information (including PDR data) and the wireless signals collected by the multiple short-range wireless communication modules. The vehicle unlocks the vehicle when the vehicle determines, based on the digital key's relative position, that the terminal device has entered the vehicle's unlocking zone while approaching the vehicle. When the vehicle is unlocked and out of park, the vehicle sends a PDR stop command to the terminal device, instructing it to stop sending PDR data.

[0154] b. The scenario where the terminal device moves away from the vehicle to lock the vehicle. When the driver gets out of the vehicle, when the vehicle computer detects that the vehicle is in parking gear or the vehicle door is opened, the vehicle computer sends a PDR start command to the terminal device to instruct the terminal device to send PDR data to the vehicle computer. The vehicle computer executes a positioning algorithm to obtain the position of the digital car key relative to the vehicle. When it is determined based on the position of the digital car key relative to the vehicle that the terminal device has entered the vehicle's locking area while moving away from the vehicle, the vehicle is locked. When the Bluetooth connection between the vehicle computer and the terminal device is disconnected or the vehicle is locked, the vehicle computer sends a PDR stop command to the terminal device to instruct the terminal device to stop sending PDR data to the vehicle computer.

[0155] The unlocking and locking areas of the vehicle may or may not overlap, and this is not limited in this embodiment of the application. The unlocking and locking areas of the vehicle may be circular, elliptical, rounded rectangular, or other shapes, and this is not limited in this embodiment of the application.

[0156] 4) PDR data fusion and wireless ranging positioning. Specifically, the vehicle's positioning algorithm is implemented by determining the relative position of the digital key to the vehicle based on the terminal device's PDR data and the wireless signals collected by the multiple short-range wireless communication modules. As shown in Figure 7, this positioning algorithm primarily consists of the following three components.

[0157] a. PDR step / heading constraints. The first subgraph is constructed based on the PDR data from the terminal device. Step and heading constraints between trajectory points are established within the graph optimization algorithm. These constraints are similar to the step length l and angle difference Δθ described above. PDR data is obtained by processing sensor data collected by the terminal device. Sensors in the terminal device include the accelerometer and gyroscope described above.

[0158] b. Wireless ranging constraints. Distance measurement is performed based on the wireless signals collected by multiple short-range wireless communication modules. This involves determining the distance estimates corresponding to each short-range wireless communication module and the corresponding relationship between trajectory points and distance estimates, i.e., determining ranging constraints. A second subgraph is constructed based on this corresponding relationship.

[0159] c. Non-linear optimization fusion positioning. Based on the first subgraph and the second subgraph, the position of the digital car key relative to the vehicle is obtained by graph optimization. Specifically, based on the PDR step size / heading constraints and wireless ranging constraints, fusion positioning is achieved by non-linear optimization. If the position of the digital car key relative to the vehicle determined by the fusion positioning does not include the angle of the digital car key relative to the vehicle, then after the position of the digital car key relative to the vehicle is obtained by the fusion positioning, the vehicle can also obtain the posture of the digital car key relative to the vehicle through posture fusion. The embodiment of the present application does not limit the specific implementation method of posture fusion.

[0160] 5): Consistent unlocking control based on positioning. This solution can achieve at least the following two effects.

[0161] a. Consistency of unlocking distance. That is, when the terminal device approaches or moves away from the vehicle, in all scenarios of line of sight (LOS) and non-line of sight (NLOS), this solution can accurately locate the digital car key, and achieve consistency in the vehicle unlocking distance based on precise positioning, that is, the unlocking distance in various situations is basically the same, and the locking distance in various situations is also basically the same. Among them, the NLOS situation includes situations where the user carrying the terminal device turns around, swings his arm, places the terminal device in a backpack or pocket, etc. In the NLOS situation, the wireless signal received by the vehicle is unstable.

[0162] b. State consistency. That is, by accurately locating the digital car key, the ping-pong problem of vehicle unlocking can be effectively solved.

[0163] In summary, in the embodiments of the present application, the vehicle is able to receive location information transmitted by a terminal device and, based on the terminal device's location information and wireless signals collected by multiple short-range wireless communication modules on the vehicle, determine the relative position of the digital key. In other words, the integration of the terminal device's own location information and the vehicle's own wireless signals allows for more accurate positioning of the digital key, reducing positioning errors and improving positioning accuracy. This effectively resolves the ping-pong problem of vehicle unlocking and the consistency of unlocking distances.

[0164] In its implementation, PDR data and wireless ranging data are integrated to achieve precise positioning, enabling seamless unlocking of the vehicle using a digital key. Compared to related technologies that rely solely on wireless ranging data for positioning, this solution achieves lower positioning errors in NLOS scenarios and provides the ability to continuously locate the digital key. Furthermore, the vehicle can seamlessly start and stop the PDR function by controlling the terminal device through commands, eliminating the need for user operation and limiting resource consumption for both the terminal device and the vehicle.

[0165] Figure 8 is a schematic diagram of the structure of a digital vehicle key positioning device 800 provided in an embodiment of the present application. This device 800 can be implemented by software, hardware, or a combination of both and can be part of or all of a vehicle, such as a vehicle computer. The vehicle can be the vehicle shown in Figure 1 . In this embodiment of the present application, this device 800 is included in a vehicle, which has multiple short-range wireless communication modules. Referring to Figure 8 , this device 800 includes a receiving module 801, an acquisition module 802, and a determination module 803.

[0166] A receiving module 801 is configured to receive location information of a terminal device, where the terminal device has a digital key for a vehicle;

[0167] The acquisition module 802 is configured to respectively acquire wireless signals transmitted by the terminal device through the multiple short-range wireless communication modules;

[0168] The determination module 803 is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules.

[0169] Optionally, the apparatus 800 further includes:

[0170] The first sending module is used to send a first instruction to the terminal device, where the first instruction is used to instruct the terminal device to send the location information of the terminal device.

[0171] Optionally, the first instruction is sent when any first condition among a plurality of first conditions is satisfied;

[0172] The plurality of first conditions include:

[0173] A wireless communication connection has been established between the vehicle and the terminal device;

[0174] The vehicle is parked or in park;

[0175] The vehicle is parked and the vehicle's doors are open.

[0176] Optionally, the apparatus 800 further includes:

[0177] The second sending module is used to send a second instruction to the terminal device, and the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device.

[0178] Optionally, the second instruction is sent when any second condition among a plurality of second conditions is satisfied;

[0179] The plurality of second conditions include:

[0180] The vehicle is unlocked or the vehicle is out of park;

[0181] The wireless communication connection between the terminal device and the vehicle has been disconnected;

[0182] The terminal device reaches the locking area of ​​the vehicle while moving away from the vehicle.

[0183] Optionally, the location information of the terminal device includes information of multiple track points;

[0184] The apparatus 800 further includes:

[0185] The third sending module is used to send a third instruction to the terminal device, where the third instruction is used to instruct the terminal device to determine the information of the multiple trajectory points according to the first frequency.

[0186] Optionally, the terminal device has a PDR function, and the location information of the terminal device includes PDR data.

[0187] Optionally, the apparatus 800 further includes:

[0188] a triggering module configured to, upon determining that the wireless signals collected by the multiple short-range wireless communication modules satisfy a third condition, trigger the determination module 803 to execute a step of obtaining a position of the digital vehicle key relative to the vehicle based on the location information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules;

[0189] The third condition includes:

[0190] At least P short-range wireless communication modules among the multiple short-range wireless communication modules have collected wireless signals in which the signal strength of multiple consecutive frames of signals exceeds the signal strength threshold, and P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules.

[0191] Optionally, the determining module 803 includes:

[0192] The determination submodule is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device, the wireless signals respectively collected by the multiple short-range wireless communication modules, and the position information of the multiple short-range wireless communication modules.

[0193] Optionally, each short-range wireless communication module is a Bluetooth module, a UWB module, a SLB module, or a SLE module.

[0194] In an embodiment of the present application, the vehicle receives location information transmitted by a terminal device and determines the relative position of the digital key based on the terminal device's location information and wireless signals collected by multiple short-range wireless communication modules on the vehicle. This fusion of the terminal device's location information and the vehicle's collected wireless signals allows for more precise positioning of the digital key, reducing positioning errors and improving positioning accuracy. This effectively resolves the ping-pong issue of vehicle unlocking and the issue of consistent unlocking distances.

[0195] It should be noted that the digital vehicle key positioning device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate the positioning of a digital vehicle key. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the digital vehicle key positioning device provided in the above embodiment and the digital vehicle key positioning method embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0196] Figure 9 is a schematic diagram of the structure of a digital vehicle key positioning device 900 provided in an embodiment of the present application. This device 900 can be implemented as part or all of a terminal device using software, hardware, or a combination of both. The terminal device may be the terminal device shown in Figure 1 . In this embodiment of the present application, this device 900 is included in the terminal device, which has a vehicle digital vehicle key. Referring to Figure 9 , this device 900 includes a transmitting module 901, a first receiving module 902, and a sending module 903.

[0197] Transmitting module 901, used to transmit wireless signals;

[0198] A first receiving module 902 is configured to receive a first instruction sent by a vehicle;

[0199] The sending module 903 is used to send the location information of the terminal device to the vehicle after receiving the first instruction. The location information of the terminal device and the wireless signal are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

[0200] Optionally, the apparatus 900 further includes:

[0201] A second receiving module, configured to receive a second instruction sent by the vehicle;

[0202] The stop module is used to stop sending the location information of the terminal device to the vehicle after receiving the second instruction.

[0203] Optionally, the location information of the terminal device includes information of multiple track points;

[0204] The apparatus 900 further includes:

[0205] a third receiving module, configured to receive a third instruction sent by the vehicle, where the third instruction indicates the first frequency;

[0206] The determining module is configured to determine information of the plurality of trajectory points according to the first frequency after receiving the third instruction.

[0207] Optionally, the terminal device has a PDR function, and the location information of the terminal device includes PDR data.

[0208] Optionally, the apparatus 900 further includes:

[0209] an acquisition module, configured to acquire a fourth instruction generated based on a user operation on the terminal device;

[0210] A function activation module is used to activate the function of sending the location information of the terminal device to the vehicle after obtaining the fourth instruction.

[0211] In an embodiment of the present application, the vehicle receives location information transmitted by a terminal device and determines the relative position of the digital key based on the terminal device's location information and wireless signals collected by multiple short-range wireless communication modules on the vehicle. This fusion of the terminal device's location information and the vehicle's collected wireless signals allows for more precise positioning of the digital key, reducing positioning errors and improving positioning accuracy. This effectively resolves the ping-pong issue of vehicle unlocking and the issue of consistent unlocking distances.

[0212] It should be noted that the digital vehicle key positioning device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate the positioning of a digital vehicle key. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the digital vehicle key positioning device provided in the above embodiment and the digital vehicle key positioning method embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0213] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, or a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0214] It should be understood that the "at least one" mentioned herein refers to one or more, and "a plurality of" refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0215] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

[0216] The above description is an embodiment provided for this application and is not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A digital car key positioning system, characterized in that: The system includes a vehicle and a terminal device, wherein the vehicle has a plurality of short-range wireless communication modules, and the terminal device has a digital car key of the vehicle; The terminal device is used to transmit a wireless signal and send the location information of the terminal device to the vehicle; The vehicle is used to receive the location information of the terminal device, and collect the wireless signals respectively through the multiple short-range wireless communication modules, and obtain the position of the digital car key relative to the vehicle based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

2. The system according to claim 1, characterized in that The vehicle is also used to send a first instruction to the terminal device; The terminal device is used to send the location information of the terminal device to the vehicle after receiving the first instruction.

3. The system according to claim 2, characterized in that The vehicle is further used to send a second instruction to the terminal device; The terminal device is also used to stop sending the location information of the terminal device to the vehicle after receiving the second instruction.

4. The system according to any one of claims 1 to 3, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

5. A method for locating a digital car key, characterized in that: Applied to a vehicle, the vehicle having a plurality of short-range wireless communication modules, the method comprising: Receiving location information of a terminal device, the terminal device having a digital vehicle key of the vehicle; respectively collecting wireless signals transmitted by the terminal device through the multiple short-range wireless communication modules; Based on the location information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules, the position of the digital car key relative to the vehicle is obtained.

6. The method according to claim 5, characterized in that The method further comprises: A first instruction is sent to the terminal device, where the first instruction is used to instruct the terminal device to send location information of the terminal device.

7. The method according to claim 6, characterized in that The first instruction is sent when any first condition among a plurality of first conditions is satisfied; The plurality of first conditions include: A wireless communication connection has been established between the vehicle and the terminal device; The vehicle is stopped or put into parking gear; The vehicle is parked and a door of the vehicle is open.

8. The method according to any one of claims 5 to 7, characterized in that: The method further comprises: A second instruction is sent to the terminal device, where the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device.

9. The method according to claim 8, characterized in that The second instruction is sent when any second condition among a plurality of second conditions is satisfied; The second conditions include: The vehicle is unlocked or the vehicle is out of park; The wireless communication connection between the terminal device and the vehicle has been disconnected; The terminal device reaches a locking area of ​​the vehicle while moving away from the vehicle.

10. The method according to any one of claims 5 to 9, characterized in that: The location information of the terminal device includes information of multiple track points; The method further comprises: A third instruction is sent to the terminal device, where the third instruction is used to instruct the terminal device to determine information of the multiple trajectory points according to the first frequency.

11. The method according to any one of claims 5 to 10, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

12. The method according to any one of claims 5 to 11, characterized in that: The method further comprises: When it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet the third condition, executing the step of obtaining the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals collected by the multiple short-range wireless communication modules respectively; The third condition includes: At least P of the multiple short-range wireless communication modules have collected wireless signals whose signal strengths exceed a signal strength threshold, and P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules.

13. The method according to any one of claims 5 to 12, characterized in that: The obtaining the position of the digital vehicle key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules includes: Based on the location information of the terminal device, the wireless signals respectively collected by the multiple short-range wireless communication modules and the location information of the multiple short-range wireless communication modules, the location of the digital car key relative to the vehicle is obtained.

14. The method according to any one of claims 5 to 13, characterized in that: Each short-range wireless communication module is a Bluetooth module, an ultra-wideband UWB module, a Star Flash basic access SLB module, or a Star Flash low power access SLE module.

15. A method for locating a digital car key, characterized in that: Applied to a terminal device, the terminal device has a digital car key of a vehicle; the method comprises: Transmitting wireless signals; receiving a first instruction sent by the vehicle; After receiving the first instruction, the location information of the terminal device is sent to the vehicle, and the location information of the terminal device and the wireless signal are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

16. The method according to claim 15, characterized in that The method further comprises: receiving a second instruction sent by the vehicle; After receiving the second instruction, stop sending the location information of the terminal device to the vehicle.

17. The method according to claim 15 or 16, characterized in that The location information of the terminal device includes information of multiple track points; The method further comprises: receiving a third instruction sent by the vehicle, wherein the third instruction indicates a first frequency; After receiving the third instruction, information of the plurality of trajectory points is determined according to the first frequency.

18. The method according to any one of claims 15 to 17, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

19. The method according to any one of claims 15 to 18, characterized in that: The method further comprises: Acquire a fourth instruction generated based on an operation of the user on the terminal device; After obtaining the fourth instruction, the function of sending the location information of the terminal device to the vehicle is enabled.

20. A positioning device for a digital car key, characterized in that: The device is included in a vehicle, the vehicle has a plurality of short-range wireless communication modules, and the device includes: A receiving module, used to receive location information of a terminal device, wherein the terminal device has a digital vehicle key of the vehicle; A collection module, used to collect the wireless signals transmitted by the terminal device through the multiple short-range wireless communication modules respectively; A determination module is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules.

21. The device according to claim 20, characterized in that The device also includes: The first sending module is used to send a first instruction to the terminal device, where the first instruction is used to instruct the terminal device to send the location information of the terminal device.

22. The device according to claim 21, characterized in that The first instruction is sent when any first condition among a plurality of first conditions is satisfied; The plurality of first conditions include: A wireless communication connection has been established between the vehicle and the terminal device; The vehicle is stopped or put into parking gear; The vehicle is parked and a door of the vehicle is open.

23. The device according to any one of claims 20 to 22, characterized in that: The device also includes: The second sending module is used to send a second instruction to the terminal device, where the second instruction is used to instruct the terminal device to stop sending the location information of the terminal device.

24. The device according to claim 23, characterized in that The second instruction is sent when any second condition among a plurality of second conditions is satisfied; The second conditions include: The vehicle is unlocked or the vehicle is out of park; The wireless communication connection between the terminal device and the vehicle has been disconnected; The terminal device reaches a locking area of ​​the vehicle while moving away from the vehicle.

25. The device according to any one of claims 20 to 24, characterized in that: The location information of the terminal device includes information of multiple track points; The device also includes: The third sending module is used to send a third instruction to the terminal device, and the third instruction is used to instruct the terminal device to determine the information of the multiple trajectory points according to the first frequency.

26. The device according to any one of claims 20 to 25, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

27. The device according to any one of claims 20 to 26, characterized in that: The device also includes: a triggering module, configured to trigger the determining module to execute the step of obtaining the position of the digital vehicle key relative to the vehicle based on the position information of the terminal device and the wireless signals respectively collected by the multiple short-range wireless communication modules when it is determined that the wireless signals collected by the multiple short-range wireless communication modules meet a third condition; The third condition includes: At least P of the multiple short-range wireless communication modules have collected wireless signals whose signal strengths exceed a signal strength threshold, and P is not less than 1 and not greater than the total number of the multiple short-range wireless communication modules.

28. The device according to any one of claims 20 to 27, characterized in that: The determination module comprises: A determination submodule is used to obtain the position of the digital car key relative to the vehicle based on the position information of the terminal device, the wireless signals respectively collected by the multiple short-range wireless communication modules, and the position information of the multiple short-range wireless communication modules.

29. The device according to any one of claims 20 to 28, characterized in that: Each short-range wireless communication module is a Bluetooth module, an ultra-wideband UWB module, a Star Flash basic access SLB module, or a Star Flash low power access SLE module.

30. A positioning device for a digital car key, characterized in that: Included in a terminal device, the terminal device has a digital car key of a vehicle; the device includes: A transmitting module, used for transmitting wireless signals; A first receiving module, used for receiving a first instruction sent by the vehicle; A sending module is used to send the location information of the terminal device to the vehicle after receiving the first instruction, and the location information of the terminal device and the wireless signal are used by the vehicle to obtain the position of the digital car key relative to the vehicle.

31. The device according to claim 30, characterized in that The device also includes: A second receiving module, used for receiving a second instruction sent by the vehicle; A stop module is used to stop sending the location information of the terminal device to the vehicle after receiving the second instruction.

32. The device according to claim 30 or 31, characterized in that The location information of the terminal device includes information of multiple track points; The device also includes: A third receiving module, used for receiving a third instruction sent by the vehicle, wherein the third instruction indicates the first frequency; A determination module is used to determine the information of the multiple trajectory points according to the first frequency after receiving the third instruction.

33. The device according to any one of claims 30 to 32, characterized in that: The terminal device has a pedestrian dead reckoning (PDR) function, and the location information of the terminal device includes PDR data.

34. The device according to any one of claims 30 to 33, characterized in that: The device also includes: An acquisition module, configured to acquire a fourth instruction generated based on an operation of the user on the terminal device; A function activation module is used to activate the function of sending the location information of the terminal device to the vehicle after obtaining the fourth instruction.

35. A vehicle, characterized in that: The vehicle has a plurality of short-range wireless communication modules; The vehicle is used to implement the steps of any method described in claims 1-14.

36. A terminal device, characterized in that: The terminal device has a digital car key of the vehicle; The terminal device is used to implement the steps of any method described in claims 15-19.

37. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any one of the methods of claims 1-14, or implements any one of the methods of claims 15-19.

38. A computer program product, characterized in that The computer program product stores computer instructions, and when the computer instructions are executed by a processor, the method described in any one of claims 1 to 14 is implemented, or the method described in any one of claims 15 to 19 is implemented.

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