WO2024031655A1

WO2024031655A1 - Digital car key positioning method, device and system

Info

Publication number: WO2024031655A1
Application number: PCT/CN2022/112172
Authority: WO
Inventors: 吴代军; 周才发; 曾丹丹; 李威; 虞靖靓
Original assignee: 华为技术有限公司
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2024-02-15

Abstract

The present application relates to the technical field of positioning and discloses a digital car key positioning method, device and system, for use in providing stable, coherent, and accurate digital car key positioning, thereby providing more intelligent automobile control service. In the present application, a vehicle-mounted system can provide different digital car key positioning strategies for an external scenario and an internal scenario. In the external scenario, the vehicle-mounted system uses a motion data and ranging data fused positioning strategy to obtain a more accurate positioning result than a result based on single-category data. In the internal scenario, the vehicle-mounted system determines the specific position of a digital car key in a vehicle by means of matching a large amount of positioning data in a positioning database. On this basis, stable, coherent, and accurate digital vehicle key positioning capability can be achieved without considering that a digital vehicle key is located in a non-line-of-sight (NLOS) area or a line-of-sight (LOS) area.

Description

A positioning method, equipment and system for digital car keys

Technical field

The embodiments of the present application relate to the field of positioning technology, and in particular, to a positioning method, device and system for a digital car key.

Background technique

With the rapid development of mobile terminals, automobiles, and Internet of Things technology, vehicle unlocking has gradually changed from the traditional mechanical key unlocking method to the digital car key unlocking method. With a digital car key, the car can be unlocked and started without using a mechanical key. When a user enters the car with a digital car key, the car usually detects the digital car key and activates the car start button.

However, when existing cars locate digital car keys in the car, they are usually unable to accurately determine whether the user carrying the digital car key is in the main driver's seat, the passenger seat, the left rear seat, or the right rear seat. Therefore, there is often a problem that the user's car starts accidentally when he is not in the main driving seat.

Contents of the invention

This application provides a digital car key positioning method, equipment and system, which can provide stable, consistent and accurate digital car key positioning, thereby providing more intelligent car control services.

In order to achieve the above objectives, the embodiments of this application adopt the following technical solutions:

In a first aspect, a method for locating a digital car key is provided. The method includes: obtaining a first distance data set between a digital car key located in the car and multiple ultra-wideband (UWB) modules in the car, The first distance data group includes ranging values between the digital car key and multiple UWB modules respectively; the positioning data with the highest matching degree with the first distance data group is determined from the positioning database, where the positioning data in the positioning database is used Characterizing the ranging values between multiple positions in the car and multiple UWB modules; determining the position of the digital car key in the car to be the position indicated by the position tag corresponding to the positioning data with the highest matching degree of the first distance data group.

For example, the above-mentioned solution for determining the specific location of the digital car key located in the car may be called an "enhanced identification strategy" (also called an "enhanced identification algorithm").

For example, the above method can be applied to a digital car key locating device.

For example, the above-mentioned digital car key may be a UWB car key.

According to the method provided in the first aspect, the digital car key positioning device can determine the specific position of the digital car key in the car by comparing the ranging data with the positioning data in the positioning database, that is, the positioning data with the highest degree of matching with the ranging data. The location indicated by the corresponding location tag to achieve precise positioning of the digital car key in the car.

For example, in an in-car scene, the positioning error of a digital car key can reach centimeter level. Based on this, the digital car key can be positioned at the seat granularity in the car, thereby providing intelligent control based on specific seats. For example, when it is recognized that the digital car key is located in the driver's seat area, the vehicle will start, play music, activate the central control screen and display the preset application interface on the central control screen, turn on the air conditioner, etc. according to the preset intelligent control mechanism. control. Or, when it recognizes that the digital car key is located in the passenger seat area, the vehicle will decide to play music, turn on the air conditioner, activate the passenger screen, and display the preset application interface on the passenger screen according to the preset intelligent control mechanism. Or, when it is recognized that the digital car key is located in the left rear seat area/right rear seat area, play music, turn on the air conditioner, and activate the left rear seat display screen (referred to as "left rear screen")/right rear seat display screen (referred to as "right rear seat screen"). "Back Screen") and displays preset controls such as the preset application interface.

In a possible implementation, the above method also includes: respectively obtaining multiple second distance data groups between the digital car key and multiple UWB modules when the user carries the digital car key and is located at multiple locations in the car, and obtains samples. data; train the above sample data to obtain a positioning database, in which the positioning database includes multiple positioning data, one of which includes ranging values between a position in the car and multiple UWB modules; one positioning data and one Location tags are associated. By training a large number of sample data, a positioning database including a large amount of positioning data is obtained, and then the stability, consistency and accuracy of the specific position of the digital car key in the car can be determined by comparing the ranging data with the positioning data in the positioning database. .

In a possible implementation, the above-mentioned determination of the positioning data with the highest matching degree with the first distance data group from the positioning database includes: respectively calculating the similarity between the first distance data group and the plurality of positioning data. It is related to the spatial distance between multiple ranging values in the first distance data group and the corresponding ranging values in the positioning data; it is determined that the positioning data with the highest similarity to the first distance data group is the matching degree with the first distance data group. Highest positioning data. As an example, the similarity between the first distance data set and the positioning data may be negatively correlated with the spatial distance between the first distance data set and the positioning data. For example, the smaller the spatial distance between the first distance data group and the positioning data, the greater the similarity between the first distance data group and the positioning data; the smaller the spatial distance between the first distance data group and the positioning data. If it is large, it means that the similarity between the first distance data group and the positioning data is smaller. Based on this, by calculating the spatial distance between the multiple ranging values in the first distance data group and the corresponding ranging values in the positioning data, the similarity between the first distance data group and the multiple positioning data can be determined, and then Determine the positioning data that best matches the ranging data of the digital car key in the car.

In a possible implementation, the above method further includes: if it is determined that the position of the digital car key in the car is the first position, performing a first preset operation; if it is determined that the position of the digital car key in the car is the second position , perform the second preset operation. Based on the solution provided by this application for determining the specific location of the digital car key in the car based on the enhanced recognition strategy, intelligent control based on specific seats can be provided. For example, when it is recognized that the digital car key is located at the first position, a first preset operation is performed; when it is recognized that the digital car key is located at the second position, a second preset operation is performed.

In a possible implementation, the first position is the main driving position, and the first preset operation includes one or more of the following: starting the vehicle, playing music, starting the central control screen and displaying it on the central control screen Default application interface and turn on the air conditioner. Based on the solution provided by this application for determining the specific location of the digital car key in the car based on the enhanced recognition strategy, intelligent control based on specific seats can be provided. For example, when it is recognized that the digital car key is located in the main driving position, the first preset operations such as starting the vehicle, playing music, starting the central control screen and displaying the preset application interface on the central control screen, and turning on the air conditioner are performed.

Illustratively, the positioning data in the above-mentioned positioning database that has the highest matching degree with the first distance data group is associated with the main driving position.

In a possible implementation, the above-mentioned second position is the passenger seat or the rear seat, and the above-mentioned first preset operation includes one or more of the following: playing music, activating the display screen at the second position, and Display the preset application interface on the corresponding display screen and turn on the air conditioner. Based on the solution provided by this application for determining the specific location of the digital car key in the car based on the enhanced recognition strategy, intelligent control based on specific seats can be provided. For example, when it is recognized that the digital car key is located in the passenger seat or the rear seat, second preset operations such as playing music, starting and displaying a preset application interface on the corresponding display screen, and turning on the air conditioner are performed.

Illustratively, the positioning data in the above-mentioned positioning database that has the highest matching degree with the first distance data group is associated with the passenger seat.

In a possible implementation, the above method also includes: tracking the digital car key when the digital car key is outside the car; and when it is recognized that the digital car key enters the car from outside the car, switching to the position inside the car. Identification strategy to identify the location of the digital car key within the vehicle. By tracking the motion trajectory of the digital car key outside the car, when it is recognized that the digital car key enters the car from outside the car, the strategy for positioning the digital car key can be switched to an enhanced recognition strategy to achieve digital car key positioning. The precise positioning of the key in the car.

Optionally, when the digital car key is located outside the car, trajectory tracking of the digital car key can also facilitate the precise positioning of the digital car key outside the car, and then when the relative position of the digital car key and the vehicle meets the preset conditions , providing intelligent functions such as welcoming guests, unlocking doors, unlocking the trunk, locking the trunk, locking doors, and turning off lights.

In a possible implementation, the above-mentioned trajectory tracking of the digital car key includes: when the user carries the digital car key and is outside the car, continuously obtaining the third position of the digital car key relative to multiple UWB modules. Three distance data groups, as well as the motion data of the digital car key; establishing constraints based on the third distance data group and the motion data to obtain the preliminary motion trajectory of the digital car key; adjusting multiple elements of the preliminary motion trajectory according to the data characteristics of the third distance data group The weight of the constraint conditions; optimize the preliminary motion trajectory according to the weights of multiple constraints in the preliminary motion trajectory to obtain the motion trajectory of the digital car key. By using a positioning strategy that integrates motion data and ranging data to position the digital car key outside the car, the motion data of the digital car key can be used to make up for the lack of ranging data when it is in the non-line of sight (NLOS) area. Disadvantages, and using ranging data to make up for the shortcomings of being unable to determine the relative positional relationship between the digital car key and the vehicle based solely on the motion data of the digital car key. Moreover, in the line of sight (LOS) area outside the vehicle, the positioning strategy that integrates motion data and ranging data can also obtain more accurate positioning results than based on a single category of data. Therefore, regardless of whether the digital car key is located in the NLOS area or the LOS area outside the car, the fusion pose strategy can provide stable, consistent, and accurate digital car key positioning capabilities in the outdoor scene.

In a possible implementation, the plurality of UWB modules include a first UWB module and a second UWB module, and the distance measurement value between the digital car key and the first UWB module is smaller than that between the digital car key and the second UWB module. ranging values; after adjusting multiple constraints, the weight of the constraint corresponding to the digital car key and the first UWB module is greater than the weight of the constraint corresponding to the digital car key and the second UWB module. By using the short range enhancement method to optimize the weight of one or more UWB ranging constraints, focusing on the smaller ranging value, it is possible to avoid missing recognition of approaching events of digital car keys or vehicle entry events.

In a second aspect, a vehicle control method is provided, which method is applied to a vehicle control device. The method includes: obtaining the position of a digital car key located in the car; and performing corresponding actions on the vehicle according to the position of the digital car key in the car. Control of the vehicle, where the digital car key has different control authority over the vehicle depending on its location in the car.

The method provided in the second aspect above can realize corresponding intelligent control when the digital car key is in different positions by positioning the digital car key in the car.

In one possible implementation, the position of the digital car key in the car is the main driving position. The above-mentioned execution of corresponding intelligent control of the vehicle based on the specific position of the digital car key in the car includes: performing one or more of the following Types: start the vehicle, play music, start the central control screen and display the preset application interface on the central control screen, and turn on the air conditioner. Based on the method provided by this application, intelligent control based on specific seats can be provided. For example, when it is recognized that the digital car key is in the main driving position, preset operations such as starting the vehicle, playing music, starting the central control screen and displaying the preset application interface on the central control screen, and turning on the air conditioner are performed.

In a possible implementation, the above determination of the position of the digital car key in the car includes: obtaining a first distance data set between the digital car key and multiple UWB modules in the car, where the first distance The data set includes the ranging values between the digital car key and the UWB module respectively; the positioning data with the highest matching degree with the first distance data set is determined from the positioning database; the positioning data in the positioning database is used to characterize multiple locations in the car. ranging values between a position and multiple UWB modules; determining the position of the digital car key in the car to be the position indicated by the position tag corresponding to the positioning data with the highest matching degree of the first distance data group. By comparing the ranging data with the positioning data in the positioning database, the specific position of the digital car key in the car is determined, that is, the position indicated by the position tag corresponding to the positioning data with the highest matching degree of the ranging data, in order to realize the digital car key Precise positioning in the car, thereby achieving corresponding intelligent control when the digital car key is in different positions.

In a third aspect, a vehicle-mounted system is provided. The vehicle-mounted system includes a digital car key positioning device. The digital car key positioning device includes: a storage unit for storing a positioning database, wherein the positioning database includes multiple positioning data. The data is used to represent the ranging values between multiple locations in the car and multiple UWB modules in the car; the first data collection unit is used to collect the first distance between the digital car key located in the car and the multiple UWB modules. A data group, wherein the first distance data group includes distance measurement values between the digital car key and multiple UWB modules respectively; a processing unit is used to determine the positioning data with the highest matching degree to the first distance data group from the positioning database, and then Determine the position of the digital car key in the car; wherein the position of the digital car key in the car is the position indicated by the position tag corresponding to the positioning data with the highest matching degree of the first distance data group.

According to the method provided in the third aspect, the digital car key positioning device can determine the specific position of the digital car key in the car by comparing the ranging data with the positioning data in the positioning database, that is, the positioning data with the highest degree of matching with the ranging data. The location indicated by the corresponding location tag to achieve precise positioning of the digital car key in the car.

In a possible implementation manner, the above-mentioned first data collection unit is also used to: respectively obtain a plurality of third data between the digital car key and the plurality of UWB modules when the user carries the digital car key and is located at multiple locations in the car. Two distance data sets are used to obtain sample data; the above-mentioned digital car key positioning device also includes: a model training unit for training the sample data to obtain a positioning database, where the positioning database includes multiple positioning data, and one positioning data includes information in the car A location is associated with the ranging values between multiple UWB modules; a positioning data is associated with a location tag. By training a large number of sample data, a positioning database including a large amount of positioning data is obtained, and then the stability, consistency and accuracy of the specific position of the digital car key in the car can be determined by comparing the ranging data with the positioning data in the positioning database. .

In a possible implementation, the above-mentioned processing unit determines the positioning data with the highest matching degree with the first distance data group from the positioning database, including: the processing unit calculates the distance between the first distance data group and the plurality of positioning data respectively. similarity, and determining that the positioning data with the highest similarity to the first distance data group is the positioning data with the highest matching degree to the first distance data group. As an example, the similarity between the first distance data set and the positioning data may be negatively correlated with the spatial distance between the first distance data set and the positioning data. For example, the smaller the spatial distance between the first distance data group and the positioning data, the greater the similarity between the first distance data group and the positioning data; the smaller the spatial distance between the first distance data group and the positioning data. If it is large, it means that the similarity between the first distance data group and the positioning data is smaller. Based on this, by calculating the spatial distance between the multiple ranging values in the first distance data group and the corresponding ranging values in the positioning data, the similarity between the first distance data group and the multiple positioning data can be determined, and then Determine the positioning data that best matches the ranging data of the digital car key in the car.

In a possible implementation, the above-mentioned vehicle system further includes: a vehicle control device; the vehicle control device is configured to: when the digital car key positioning device determines that the position of the digital car key in the car is the first position, execute the first preset Assume the operation; when the digital car key positioning device determines that the position of the digital car key in the car is the second position, the second preset operation is performed. Based on the solution provided by this application for determining the specific location of the digital car key in the car based on the enhanced recognition strategy, intelligent control based on specific seats can be provided. For example, when it is recognized that the digital car key is located at the first position, a first preset operation is performed; when it is recognized that the digital car key is located at the second position, a second preset operation is performed.

In a possible implementation, the first position is the main driving position, and the first preset operation includes one or more of the following: starting the vehicle, playing music, starting the central control screen and displaying it on the central control screen Default application interface and turn on the air conditioner. Based on the solution provided by this application for determining the specific location of the digital car key in the car based on the enhanced recognition strategy, intelligent control based on specific seats can be provided. For example, when it is recognized that the digital car key is located in the main driving position, the first preset operations such as starting the vehicle, playing music, starting the central control screen and displaying the preset application interface on the central control screen, and turning on the air conditioner are performed. Illustratively, the positioning data in the above-mentioned positioning database that has the highest matching degree with the first distance data group is associated with the main driving position.

In a possible implementation, the above-mentioned second position is the passenger seat or the rear seat, and the above-mentioned first preset operation includes one or more of the following: playing music, activating the display screen at the second position, and Display the preset application interface on the corresponding display screen and turn on the air conditioner. Based on the solution provided by this application for determining the specific location of the digital car key in the car based on the enhanced recognition strategy, intelligent control based on specific seats can be provided. For example, when it is recognized that the digital car key is located in the passenger seat or the rear seat, second preset operations such as playing music, starting and displaying a preset application interface on the corresponding display screen, and turning on the air conditioner are performed. Illustratively, the positioning data in the above-mentioned positioning database that has the highest matching degree with the first distance data group is associated with the passenger seat.

In a possible implementation, the above-mentioned digital car key positioning device is also used to: track the digital car key when the digital car key is located outside the car; and, when it is recognized that the digital car key enters from outside the car. When in the car, switch to the in-car location recognition strategy to identify the location of the digital car key in the car. By tracking the motion trajectory of the digital car key outside the car, when it is recognized that the digital car key enters the car from outside the car, the strategy for positioning the digital car key can be switched to an enhanced recognition strategy to achieve digital car key positioning. The precise positioning of the key in the car.

In a possible implementation, the above-mentioned first data acquisition unit is also used to: when the user carries the digital car key and is outside the car, continuously obtain the third distance data group of the digital car key relative to the multiple UWB modules; the above-mentioned number The car key positioning device also includes: a second data collection unit, used to obtain the movement data of the digital car key when the user carries the digital car key outside the car; the above-mentioned digital car key positioning device tracks the digital car key, including: The processing unit establishes constraints based on the third distance data group and the motion data to obtain the preliminary motion trajectory of the digital car key; adjusts the weights of multiple constraints on the preliminary motion trajectory according to the data characteristics of the third distance data group; and, based on the preliminary The weights of multiple positions in the motion trajectory optimize the preliminary motion trajectory to obtain the motion trajectory of the digital car key. By using a positioning strategy that integrates motion data and ranging data to position the digital car key outside the car, the motion data of the digital car key can be used to make up for the shortcomings of the missing ranging data when it is in the NLOS area, and the ranging data can be used to make up for the shortcomings of the digital car key based solely on the NLOS area. The movement data of the digital car key cannot determine the relative positional relationship between the digital car key and the vehicle. Moreover, in the LOS area outside the vehicle, the positioning strategy that integrates motion data and ranging data can also obtain more accurate positioning results than based on a single category of data. Therefore, regardless of whether the digital car key is located in the NLOS area or the LOS area outside the car, the fusion pose strategy can provide stable, consistent, and accurate digital car key positioning capabilities in the outdoor scene.

In a fourth aspect, a computer-readable storage medium is provided. Computer-readable instructions are stored on the computer-readable storage medium. When the computer-readable instructions are executed by a processor, any one of the possibilities of the first aspect or the second aspect can be realized. method in the implementation.

In a fifth aspect, a chip system is provided. The chip system includes a processor and a memory, and instructions are stored in the memory; when the instructions are executed by the processor, any of the possible methods of the first aspect or the second aspect are implemented. Methods in the implementation. The chip system can be composed of chips or include chips and other discrete devices.

In a sixth aspect, a computer program product is provided, which includes computer-readable instructions. When the computer-readable instructions are run on a computer, the method in any possible implementation manner of the first aspect or the second aspect is implemented.

Description of drawings

Figure 1 is a schematic diagram of a car control service area in an off-car scene provided by an embodiment of the present application;

Figure 2 is a schematic diagram of the car control service area in two in-car scenarios provided by the embodiment of the present application;

Figure 3 is a schematic diagram of the hardware structure of an intelligent device provided by an embodiment of the present application;

Figure 4 is a schematic structural diagram of a digital car key positioning system provided by an embodiment of the present application;

Figure 5 is a schematic diagram of an ultra-wideband (UWB) car key positioning logic process provided by an embodiment of the present application;

Figure 6 is a schematic diagram of ranging data of a UWB car key in an off-car scenario provided by an embodiment of the present application;

Figure 7 is a schematic diagram of ranging data of a UWB car key in an in-car scenario provided by an embodiment of the present application;

Figure 8 is a schematic diagram of an example of a three-dimensional coordinate system provided by an embodiment of the present application;

Figure 9 is a schematic diagram of location tag distribution corresponding to positioning data provided by an embodiment of the present application;

Figure 10 is a schematic diagram of the movement of a UWB car key provided by an embodiment of the present application;

Figure 11 is a flow chart of a UWB car key positioning method provided by an embodiment of the present application;

Figure 12 is a schematic diagram of the calculation process of a fusion pose strategy provided by an embodiment of the present application;

Figure 13 is a schematic diagram of the calculation process of another fusion pose strategy provided by an embodiment of the present application;

Figure 14 is a schematic diagram of an exterior scene provided by an embodiment of the present application;

Figure 15 is a schematic diagram of inertial navigation constraints and UWB ranging constraints in an off-vehicle scenario provided by the embodiment of the present application;

Figure 16 is a schematic diagram of the preliminary movement trajectory provided by the embodiment of the present application and the movement trajectory of the UWB car key outside the vehicle determined based on the preliminary movement trajectory and different weight constraints;

Figure 17 is a schematic diagram of the movement trajectory of a UWB car key in an exterior scene provided by an embodiment of the present application;

Figure 18 is a box diagram of the ranging value distribution when the UWB car key is located on different seats according to the embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Among them, in the description of the embodiments of this application, unless otherwise stated, "/" means or, for example, A/B can mean A or B; "and/or" in this article is only a way to describe related objects. The association relationship means that there can be three relationships. For example, A and/or B can mean: A alone exists, A and B exist simultaneously, and B alone exists. In addition, in the description of the embodiments of this application, "plurality" refers to two or more than two.

Hereinafter, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this embodiment, unless otherwise specified, "plurality" means two or more.

Embodiments of the present application provide a method for positioning a digital car key. This method can be used to accurately position a digital car key, including positioning the digital car key in an exterior scene and accurately positioning a digital car key in an interior scene. . Based on the precise positioning in the outdoor scene and the indoor scene, various intelligent car control services can be realized in the outdoor scene and the indoor scene. Among them, the location of the digital car key outside/in the car is different, and the control authority over the vehicle is different.

As an example, in an outside-the-car scenario, an embodiment of the present application provides a positioning method for a digital car key, which can provide continuous tracking of the movement trajectory of the digital car key outside the car, so as to accurately position the digital car key. , and then when the relative position of the digital car key and the vehicle meets the preset conditions, it will provide intelligent functions such as welcoming guests, unlocking the door, unlocking the trunk, locking the trunk, locking the door, turning off the lights, etc. For example, when the relative position of the digital car key and the vehicle meets preset conditions, the vehicle can provide corresponding intelligent control through the vehicle control device.

For example, please refer to FIG. 1 , which shows a schematic diagram of a car control service area in an off-car scene provided by an embodiment of the present application. Among them, area 1 shown in Figure 1 is the locked door area, area 2 is the welcome area, area 3 is the unlocked door area, and area 4 is the unlocked trunk area.

Based on the distribution of car control service areas shown in Figure 1, when the user brings the digital car key and approaches the vehicle from a distance, the positioning method of the digital car key provided by the embodiment of the present application can be used to determine whether the digital car key is outside the car. The movement trajectory is continuously tracked. Among them, when the digital car key is recognized to enter area 2 from area 1, the vehicle will enter welcome-related controls according to the preset intelligent control mechanism, such as turning on the welcome lights, turning on the air conditioner, opening the sunroof, etc. Further optionally, when the digital car key is recognized to enter area 2 and area 3, the vehicle determines preset controls such as unlocking the door and adjusting the seat according to the preset intelligent control mechanism. Or alternatively, when the digital car key is recognized to enter area 4, the vehicle decides to unlock the trunk according to the preset intelligent control mechanism.

On the contrary, based on the car control service area distribution shown in Figure 1, when the user carries the digital car key away from the vehicle, the location of the digital car key outside the car can be determined based on a positioning method of the digital car key provided by the embodiment of the present application. Movement trajectories are continuously tracked. Among them, when it is recognized that the digital car key enters area 3 from the car, the vehicle will make preset controls such as turning off the engine according to the preset intelligent control mechanism. Further optionally, when it is recognized that the digital car key enters area 2 from area 3, the vehicle determines preset controls such as turning off the lights, turning off the air conditioner, and closing the sunroof according to the preset intelligent control mechanism. Further optionally, when it is recognized that the digital car key enters area 1 from area 2, the vehicle decides to lock the door and other preset controls according to the preset intelligent control mechanism. Or alternatively, when it is recognized that the digital car key moves from area 4 to outside area 4, the vehicle decides to lock the trunk according to the preset intelligent control mechanism.

It should be noted that the locked door area, welcome area, unlocked door area and unlocked trunk area shown in Figure 1, as well as the intelligent control examples performed in the corresponding areas described in the above embodiments are only examples. The embodiments of this application It is not limited to scenes outside the vehicle. The intelligent control mechanism settings of the vehicle and the division of the exterior areas corresponding to the intelligent control mechanism depend on the specific functions and specific settings of the vehicle.

As an example, in an in-car scenario, an embodiment of the present application provides a positioning method for a digital car key, which can provide precise positioning of the digital car key in the car. For example, in an in-car scene, the positioning error of a digital car key can reach centimeter level. Based on this, the digital car key can be positioned at the seat granularity in the car, thereby providing intelligent control based on specific seats. For example, the vehicle can provide seat-specific intelligent control through the vehicle control device.

For example, please refer to FIG. 2 , which shows a schematic diagram of the car control service area in two in-car scenarios provided by embodiments of the present application. Among them, (a) in Figure 2 shows a service area division method for the main driver's seat area, the passenger seat area and the rear seat area in a car scene, and (b) in Figure 2 shows a way of dividing the service area in the car scene. The service area division method of the main driver's seat area, passenger seat area, left rear seat area and right rear seat area in the interior scene. The vehicle can be controlled according to the preset intelligent control mechanism by locating the area where the digital car key is located. For example, when it is recognized that the digital car key is located in the driver's seat area, the vehicle will start, play music, activate the central control screen and display the preset application interface on the central control screen, turn on the air conditioner, etc. according to the preset intelligent control mechanism. control. Or, when it recognizes that the digital car key is located in the passenger seat area, the vehicle will decide to play music, turn on the air conditioner, activate the passenger screen, and display the preset application interface on the passenger screen according to the preset intelligent control mechanism. Or, when it is recognized that the digital car key is located in the left rear seat area/right rear seat area, play music, turn on the air conditioner, and activate the left rear seat display screen (referred to as "left rear screen")/right rear seat display screen (referred to as "right rear seat screen"). "Back Screen") and displays preset controls such as the preset application interface.

It should be noted that the main driver's seat area, the passenger's seat area, the rear seat area, the left rear seat area and the right rear seat area shown in Figure 2, as well as the examples of intelligent control performed in the corresponding areas described in the above embodiments are only As an example, the embodiments of this application are not limited to in-car scenarios. The settings of the vehicle's intelligent control mechanism and the division of in-vehicle location areas corresponding to the intelligent control mechanism depend on the specific functions and specific settings of the vehicle.

In some embodiments of the present application, the carrier of the digital car key may be a smart device (such as a smart phone, tablet computer, smart speaker, remote control, etc.). For example, a digital car key can be installed in the smart device carried by the user in the form of software to realize the digital version of the car key-related functions. Compared with traditional remote control car keys, digital car keys can not only realize keyless entry and start, remote key authorization, personalized vehicle settings and other functions, but can also realize locking, unlocking, starting, opening and closing of windows and air conditioning, and sharing through smart devices Vehicle, vehicle status checking (such as checking whether it is locked, checking the vehicle location, etc.) and other functions.

In other embodiments of the present application, the carrier of the digital car key may be a physical key. The physical key not only has the vehicle unlocking and locking functions of a traditional car key, but also has keyless entry and starting of the digital car key, remote key authorization, personalized vehicle settings, starting, opening and closing of windows and air conditioning.

For example, taking the carrier of the digital car key described in the embodiment of the present application as a smart device, the smart device may include but is not limited to a mobile phone (such as a folding screen mobile phone, including an inward-folding folding screen mobile phone and an outward-folding folding screen mobile phone). , netbooks, tablets, wearable devices (such as smart watches, smart bracelets, smart glasses, etc.), cameras (such as SLR cameras, card cameras, etc.), PCs (including desktop computers or laptops), PDAs, personal digital cameras Assistant (personal digital assistant, PDA), portable multimedia player (PMP), projection equipment, smart screen equipment, augmented reality (AR)/virtual reality (VR) equipment, mixed reality ( mixed reality (MR) equipment or somatosensory game consoles in human-computer interaction scenarios, etc. This application does not limit the specific functions and structures of smart devices.

As an example, please refer to FIG. 3 , which shows a schematic diagram of the hardware structure of an intelligent device provided by an embodiment of the present application.

As shown in Figure 3, the smart device may include a processor 310, an external memory interface 320, an internal memory 321, a universal serial bus (USB) interface 330, a charging management module 340, a power management module 341, and a battery 342. Antenna 1, antenna 2, mobile communication module 350, wireless communication module 360, audio module 370, speaker 370A, receiver 370B, microphone 370C, headphone interface 370D, sensor module 380, button 390, motor 391, indicator 392, camera 393, Display 394 etc. The sensor module 380 may include a pressure sensor 380A, a gyro sensor 380B, an air pressure sensor 380C, a magnetic sensor 380D, an acceleration sensor 380E (or an accelerometer), a distance sensor 380F, a proximity light sensor 380G, a fingerprint sensor 380H, a temperature sensor 380J, a touch sensor. Sensor 380K, ambient light sensor 380L, bone conduction sensor 380M, etc.

It can be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the smart device. In other embodiments of the present application, the smart device may include more or less components than shown in the figures, or combine some components, or split some components, or arrange different components. The components illustrated may be implemented in hardware, software, or a combination of software and hardware.

The processor 310 may include one or more processing units. For example, the processor 310 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor ( image signal processor (ISP), audio processor/digital processor (the audio processor), controller, memory, video codec, audio codec, digital signal processor (digital signal processor, DSP), baseband processor processor, and/or neural network processing unit (NPU), etc. Among them, different processing units can be independent devices or integrated in one or more processors.

Among them, the controller can be the nerve center and command center of the smart device. The controller can generate operation control signals based on the operation codes and timing signals of the user's operation instructions to complete the control of fetching and executing instructions. For example, the processor 310 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in processor 310 is cache memory. This memory may hold instructions or data that have been recently used or recycled by processor 310 . If processor 310 needs to use the instructions or data again, it can be called directly from the memory. Repeated accesses are avoided and waiting events of the processor 310 are reduced, thus improving the efficiency of the system.

In some embodiments, processor 310 may include one or more interfaces. Interfaces may include integrated circuit (inter-intergrated circuit, I2C) interface, integrated circuit built-in audio (inter-intergrated circuit sound, I2S) interface, pulse code modulation (pluse code modulation, PCM) interface, universal asynchronous receiver and transmitter (universal asynchronous receiver/transmitter (UART) interface, mobile industry processor interface (MIPI), general-purpose input/output (GPIO), user identification module interface, and/or universal serial bus interface, etc. .

The power management module 341 is used to power the processor 310, internal memory 321, display screen 394, camera 393, wireless communication module 360, etc.

The wireless communication function of the smart device can be implemented through antenna 1, antenna 2, mobile communication module 350, wireless communication module 360, modem processor and baseband processor, etc.

Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in a smart device can be used to cover a single or multiple communication bands. Different antennas can also be reused to improve antenna utilization. The mobile communication module 350 can provide wireless communication solutions including 2G/3G/4G/5G applied to smart devices.

A modem processor may include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The wireless communication module 360 can provide applications on smart devices including wireless local area networks (WLAN) (such as wireless fidelity (wireless fidelity, WI-FI) network), Bluetooth (bluetooth, BT), Beidou satellite navigation system (BeiDou navigation satellite system, BDS), global navigation satellite system (global navigation satellite system, GNSS), frequency modulation (FM), near field communication technology (near field communication, NFC), infrared technology (infrared, IR) , ultra-wideband (UWB) and other wireless communication solutions.

In the embodiment of the present application, the smart device serves as a digital car key and supports UWB communication technology. Therefore, the digital car key in the embodiment of the present application is also called a UWB car key. Among them, UWB communication technology is a carrier-less communication technology. Due to the advantages of UWB, such as long coverage distance, strong penetration ability, and strong resistance to multipath attenuation, the solution provided by the embodiment of the present application can use UWB to achieve high-precision measurement. distance.

In this embodiment of the present application, a UWB chip can be integrated into the smart device, and the smart device can support UWB communication technology through the UWB chip.

Smart devices implement display functions through a graphics processor (graphics processing unit, GPU), display screen 394, and application processor. The GPU is an image processing microprocessor and is connected to the display screen 394 and the application processor. GPUs are used to perform data and geometric calculations for graphics rendering. Processor 310 may include one or more GPUs that execute program instructions to generate or alter display information.

The display screen 394 is used to display images, videos, etc. Display 394 includes a display panel. The display panel can use liquid crystal display (LCD), organic light-emitting diode (OLED), active-matrix organic light-emitting diode (AMOLED), flexible light-emitting diode Diode (flex light-emitting diode, FLED), quantum dot light emitting diode (quantum dot light emitting diode, QLED), etc.

Digital signal processors are used to process digital signals. In addition to digital image signals, they can also process other digital signals. For example, when a smart device selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

Video codecs are used to compress or decompress digital video. Smart devices can support one or more video codecs. In this way, smart devices can play or record videos in multiple encoding formats, such as moving picture experts group (MPEG)1, MPEG2, MPEG3, MPEG4, etc.

NPU is a neural network (NN) computing processor. By drawing on the structure of biological neural networks, such as the transmission mode between neurons in the human brain, it can quickly process input information and can continuously learn by itself.

The external memory interface 320 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the smart device. The external memory card communicates with the processor 310 through the external memory interface 320 to implement the data storage function. For example, save audio, video, pictures and other files in an external memory card.

Internal memory 321 may be used to store executable program code for computer programs. By way of example, computer programs may include operating system programs and application programs. Among them, the executable program code includes instructions. The processor 310 executes instructions stored in the internal memory 321 to execute various functional applications and data processing of the smart device. The internal memory 321 may include a program storage area and a storage data area. Among them, the stored program area can store the operating system, at least one application program required for the function, etc. The storage data area can store data created during the use of smart devices (such as task cards, etc.). In addition, the internal memory 321 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, a flash memory device, universal flash storage (UFS), etc.

The smart device can implement audio functions through the audio module 370, speaker 370A, receiver 370B, microphone 370C, headphone interface 370D, and application processor. For example, audio playback, recording, etc.

Touch sensor 380K, also called "touch panel". The touch sensor 380K can be disposed on the display screen 394. The touch sensor 380K and the display screen 394 form a touch screen, which is also called a "touch screen". Touch sensor 380K is used to detect a touch operation on or near it. The touch sensor can pass the detected touch operation (including information such as touch location, touch strength, contact area, and touch duration) to the processor to determine the touch event type. Visual output related to the touch operation may be provided through display screen 394. In other embodiments, the touch sensor 380K may also be disposed on the surface of the smart device at a different location from the display screen 394 .

The gyro sensor 380B may be used to determine the posture of the smart device during movement. In some embodiments, the rate of rotation (ie, angular velocity) of the smart device about three axes (ie, x, y, and z axes) may be determined by gyro sensor 380B.

Magnetic sensor 380D includes a Hall sensor. In some embodiments, physical parameters such as current, position, and direction can be measured by sensing magnetic field strength through smart devices.

The acceleration sensor 380E can detect the acceleration of the smart device in all directions (generally three axes). When the smart device is stationary, it can detect the magnitude and direction of gravity, and can also be used to identify the posture of the smart device.

It should be noted that in the embodiment of this application, vehicle does not specifically refer to a certain type of vehicle. Alternatively, the vehicle may be a ground-based vehicle, such as a car, a bus, a subway, a high-speed rail, etc. Alternatively, the vehicle may also be a water-based vehicle, such as a boat, hovercraft, submarine, etc. Optionally, the vehicle may also be an air vehicle, such as an airplane, a helicopter, etc.

Among them, the vehicle described in the embodiment of the present application is equipped with a vehicle-mounted system, and the vehicle-mounted system may include a digital car key positioning system. Please refer to FIG. 4 , which shows a schematic structural diagram of a digital car key positioning system provided by an embodiment of the present application. As shown in FIG. 4 , the digital car key positioning system 400 may include multiple ultra-wideband (UWB) modules 401 , a digital car key positioning device 402 and a motion data acquisition module 403 .

Among them, the UWB module 401 has the function of receiving and transmitting UWB signals (such as 6.5GHz frequency band UWB signals). In this embodiment of the present application, the UWB module 401 can communicate with the digital car key based on UWB technology. For example, a UWB car key can send and receive UWB signals to each other through the UWB chip and the UWB module 401.

As a possible situation, the carrier of the UWB car key is a smart device (such as a smartphone, a smart bracelet), and the UWB chip is integrated in the smart device. For this case, the smart device can send and receive UWB signals to each other through the UWB chip integrated therein and the UWB module 401 deployed on the vehicle.

As another possible situation, the carrier of the UWB car key is a physical key, and the UWB chip is integrated into the physical key. For this situation, the UWB car key can send and receive UWB signals to each other through the UWB chip integrated in the physical key and the UWB module 401 deployed on the vehicle. The motion data acquisition module 403 is used to acquire motion data of the smart device carried by the user. In the embodiment of this application, the movement data of the smart device is also called pedestrian dead reckoning (pedestrian dead reckoning, PDR) data.

It can be understood that when the carrier of the digital car key is a smart device, since the UWB car key is installed in the smart device in the form of software, the motion data of the smart device can be understood as the motion data of the UWB car key. For the case where the carrier of the digital car key is a physical key, since both the smart device and the physical key are carried by the user, the motion data of the smart device can be understood as the motion data of the physical key, that is, the motion data of the UWB car key. The motion data of the UWB car key is used to represent the coordinate offset and angle change of the UWB car key.

In the embodiment of the present application, the digital car key positioning device 402 can, when the UWB car key is outside the car, use the motion data of the smart device carried by the user and the ranging data of the UWB car key (also called the "ranging value") The fused algorithm (hereinafter referred to as "fusion pose strategy" (also called "fusion pose algorithm")) continuously tracks the movement trajectory of the UWB car key. When it is recognized that the UWB car key enters the car from outside the car, it switches to the in-car location recognition strategy (hereinafter referred to as the "enhanced recognition strategy" (also known as the "enhanced recognition algorithm")), and searches for similar ranging data from the positioning database. The highest accuracy positioning data can determine the specific location of the UWB car key in the car with a very small error. Among them, the position of the UWB car key in the car is the position corresponding to the positioning data with the highest similarity to the ranging data in the positioning database.

Among them, the ranging data of the UWB car key is the distance between the UWB module 401 and the UWB car key calculated by the digital car key positioning device 402 based on the communication between the UWB module 401 and the UWB chip based on UWB technology.

It should be noted that the scene outside the vehicle described in the embodiment of the present application refers to the scene in which the UWB car key is located in an area beyond the preset distance (such as 20 cm) outside the outer contour of the vehicle; correspondingly, the scene in the car refers to the scene in which the UWB car key is located in the area outside the outer contour of the vehicle. Scenes in which the outer contour of the vehicle extends to an area within a preset distance (such as 20 cm). In the same way, the outside of the vehicle refers to the area beyond the preset distance (such as 20 cm) from the outer contour of the vehicle; the inside of the vehicle refers to the area within the preset distance (such as 20 cm) from the outer contour of the vehicle.

In addition, in the embodiment of the present application, the position of the UWB car key outside the car or the position of the UWB car key inside the car determined by the digital car key positioning device may be the position relative to a preset coordinate system (such as an inertial reference coordinate system) . For example, the inertial reference coordinate system may have its origin located on the vehicle (such as the center position of the vehicle, the left position of the vehicle front, the right position of the vehicle front, etc., which are not limited in this embodiment), and the x-axis points in the transverse direction of the vehicle. The y-axis points to the longitudinal direction of the vehicle. Regarding the specific definition of the inertial reference coordinate system, the embodiment of this application does not limit it.

For example, please refer to FIG. 5 , which shows a schematic diagram of a UWB car key positioning logic process provided by an embodiment of the present application. As shown in Figure 5, the digital car key positioning device can use the fusion pose strategy to track the movement trajectory of the UWB car key outside the car and identify the UWB car key inside and outside the car. When it is recognized that the UWB car key is still outside the car (that is, entering the car from outside the car), the fusion pose strategy is continued to be used to track the movement trajectory of the UWB car key outside the car and identify the UWB car key inside and outside the car. On the contrary, when it is recognized that the UWB car key is located in the car, an enhanced recognition strategy is used to locate the UWB car key in the car. Furthermore, the digital car key positioning device also continues to identify the UWB car key inside and outside the car while the UWB car key is located in the car. When it is recognized that the UWB car key moves from inside the car to outside the car, it switches to the fusion pose strategy to track the movement trajectory of the UWB car key outside the car.

In this embodiment of the present application, multiple UWB modules may be deployed on the vehicle. The UWB module can be a network node such as a UWB base station. Typically, the number of UWB modules deployed on a vehicle is at least 3. For example, the number of UWB modules deployed on the vehicle may be 5-6.

In some embodiments, in order to ensure that the UWB signal is not blocked, the multiple UWB modules can be installed in a location on the vehicle with relatively little metal and an open radiation surface. For example, the plurality of UWB modules may be disposed at the front, rear, roof, etc. of the vehicle. The embodiments of this application do not limit the specific placement locations of the multiple UWB modules.

For example, taking the UWB module as a UWB base station as an example, please refer to Figure 6 or Figure 7 . Figures 6 and 7 show a schematic distribution diagram of the UWB module on the vehicle (Figures 6 and 7 take the UWB base station as an example). There are six UWB base stations deployed on the vehicle shown in Figure 6 or Figure 7, namely UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6. As shown in Figure 6 or Figure 7, UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 are respectively located on the left side of the front of the car, the right side of the front of the car, and the front side of the roof. The position on the left side of the rear of the car, the right position of the rear of the car, and the position on the rear side of the roof.

Taking the schematic diagram of UWB module distribution shown in Figure 6 as an example, the digital car key positioning device 402 can be used to communicate with UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, respectively through the UWB chip according to the UWB car key located outside the car. Communication between UWB base station 5 and UWB base station 6, calculate the distances L1, L2, L3, L4 between the UWB car key and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 respectively. , L5 and L6.

Or, taking the UWB module distribution diagram shown in Figure 7 as an example, the digital car key positioning device 402 can be used to communicate with UWB base station 1, UWB base station 2, UWB base station 3, and UWB base station respectively through the UWB chip according to the UWB car key located in the car. 4. Communication between UWB base station 5 and UWB base station 6, calculate the distances L1, L2, and L3 between the UWB car key and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5, and UWB base station 6 respectively. , L4, L5 and L6, and then calculate the specific position of the UWB car key based on L1, L2, L3, L4, L5 and L6 to achieve precise positioning of the UWB car key in the car.

Illustratively, when the digital car key positioning device 402 in the embodiment of the present application calculates the distance (i.e., ranging value) between the UWB module 401 and the UWB car key based on UWB communication, it can use time of flight (TOF). ) algorithm (also called the time difference method) determines the distance between the UWB module 401 and the UWB car key based on the time it takes for the UWB signal to be transmitted. Optionally, the digital car key positioning device 402 can also determine the angle between the UWB car key and the multi-antenna array by setting up a multi-antenna array, and determine the distance between the UWB module 401 and the UWB car key based on each angle. The embodiments of this application do not specifically limit the specific method and process of calculating the distance between the UWB module 401 and the UWB car key.

Among them, when the digital car key positioning device 402 in the embodiment of the present application locates the UWB car key according to the distance between the UWB module 401 and the UWB car key, it can be based on the time of arrival (TOA) method or the arrival time difference positioning. (time difference of arrival, TDOA) method and other methods, or based on any positioning module such as circular/spherical positioning model, hyperbola/surface positioning model or angle positioning model. The embodiments of this application are not specifically limited.

Optionally, in this embodiment of the present application, the UWB module 401 and the digital car key positioning device 402 shown in Figure 4 can be used when positioning the UWB car key in both the exterior and interior scenes. Based on this, the cost of hardware deployment and maintenance can be reduced while simplifying the vehicle system.

For example, the motion data acquisition module 403 can be based on an inertial measurement unit (IMU), a visual inertial odometer (VIO), an inertial navigation system (INS), and wheel speed in a smart device. Ji et al. obtain the movement data of the smart device from the data collected during the movement of the smart device.

Among them, IMU is a sensor combination (such as a combination of acceleration sensor and gyroscope sensor). In the embodiment of this application, the IMU can be used to obtain acceleration data such as motion acceleration and motion direction of the smart device (i.e., UWB car key), as well as gyroscope data such as rotation rate and rotation direction.

VIO is also called visual-inertial system (VINS). VIO can integrate acceleration data and gyroscope data collected by cameras and IMUs to achieve instant positioning and map construction or concurrent mapping and positioning (simultaneous localization and mapping, SLAM).

Inertial navigation is a system that uses gyroscope sensors and acceleration sensors to determine the position of its carrier (i.e., smart device). Inertial navigation can determine the position of its carrier (that is, smart device) in the inertial reference coordinate system based on the acceleration data and gyroscope data of its carrier (that is, smart device) measured by the gyroscope sensor and acceleration sensor.

For example, the origin of the inertial reference coordinate system can be the location of the armrest box of the vehicle. The x-axis and y-axis are parallel to the ground and perpendicular to each other. The positive direction of the x-axis is pointing from the origin to the starboard side of the vehicle, and the positive direction of the y-axis is from the origin. Point in the direction of the front of the car. However, the embodiment of the present application does not limit the specific definition of the inertial reference coordinate system.

In the embodiment of this application, the working principle of the acceleration sensor is to determine the motion acceleration and motion direction of the smart device by measuring the force on the component in a certain axial direction. The working principle of the gyro sensor is to determine the movement posture of the smart device in the three-dimensional space (i.e. the movement posture of the UWB car key) by measuring the rotation rate (i.e. angular velocity) between the vertical axis of the gyro rotor and the smart device in the three-dimensional coordinate system.

In the embodiment of the present application, the data collected by the acceleration sensor and the gyroscope sensor can be represented by the three-axis angular velocity ωx, ωy, ωz and the three-axis acceleration ax, ay, az. Among them, the three-axis angular velocity can be understood as the angular velocity of the smart device around the three axes x, y, and z, and the three-axis acceleration can be understood as the acceleration of the smart device on the three axes x, y, and z.

For example, as shown in Figure 8, the movement of the smart device in the x, y, z three-dimensional coordinate system may include three translational movements and three rotational movements, where the three translational movements include the movement of the smart device on the x-axis. Translational motion to the left and right, forward and backward translational motion on the y-axis, and upward and downward translational motion on the z-axis. The three rotational motions include the rotational motion of the smart device around the x-axis (the angle of rotation is also called the pitch angle), the rotational motion around the y-axis (the angle of rotation is also called the yaw angle Yaw), and the rotational motion around the z-axis (the angle of rotation is also called the yaw angle). The angle is also called the roll angle (Roll).

It can be understood that when the motion of a smart device includes translational motion on the three axes of x, y, and z, there will be an acceleration corresponding to ax, ay, and az on the three axes of x, y, and z. When the motion of a smart device includes rotational motion around the three axes of x, y, and z, each of the three axes of x, y, and z will correspond to an angular velocity, namely ωx, ωy, and ωz. Because the movement of smart devices in three-dimensional space can be decomposed into translation and/or movement on the three axes of x, y, and z. Therefore, the position and attitude changes of the smart device during driving can be represented by the three-axis angular velocity ωx, ωy, ωz and the three-axis acceleration ax, ay, az of the smart device on the three axes of x, y, and z.

Since the data collected by the acceleration sensor and gyroscope sensor are used to characterize the three translational movements and three rotational movements of the smart device in the x, y, z three-dimensional coordinate system, it is also called six degrees of freedom. Therefore, in some embodiments, the data collected by the acceleration sensor and the gyroscope sensor may also be referred to as degree-of-freedom data.

Further optionally, in the embodiment of the present application, the vehicle-mounted system may also include an intelligent control module for providing intelligent control for users, such as vehicle control, welcome, unlocking doors, unlocking the trunk, locking the trunk, Lock the door, turn off the lights, start the vehicle, play music, display the preset application interface on the display, turn on the air conditioner, etc.

Further optionally, in this embodiment of the present application, the vehicle-mounted system may also include a vehicle-mounted terminal. Among them, the vehicle-mounted terminal is a terminal device installed on the vehicle. For example, the vehicle-mounted terminal may be integrated on the vehicle. Optionally, the vehicle-mounted terminal can also be installed on the vehicle independently of the vehicle. The vehicle-mounted terminal may include multiple display screens located at multiple locations in the vehicle, such as a central control screen (also called a main driving screen), a passenger screen, a left rear screen, and a right rear screen. Regarding other functional modules in the vehicle system, conventional technologies may be referred to, and are not specifically limited in the embodiments of this application.

Among them, the continuous tracking of the movement trajectory of the UWB car key is used to accurately identify the position of the UWB car key outside the car, so that when it is determined that the UWB car key is close to the vehicle, corresponding intelligent functions such as welcoming guests, unlocking the door, and unlocking the trunk can be provided. Car control services; and, when it is determined that the UWB car key is far away from the vehicle, corresponding intelligent car control services such as locking the trunk, locking the doors, and turning off the lights are provided.

And, determining the specific location of the UWB car key in the car is used to provide personalized and intelligent car control services based on the precise location of the UWB car key in the car. For example, when it is determined that the UWB car key is in the driver's seat, functions such as keyless starting of the vehicle, starting the central control screen and displaying the preset application interface on the central control screen, and turning on the air conditioner are provided. For another example, when it is determined that the UWB car key is located in the passenger seat, functions such as starting the passenger screen and displaying a preset application interface on the passenger screen are provided.

It can be understood that when locating the UWB car key outside the car, if you rely solely on ranging data, the UWB car key may be located in the non-line of sight (NLOS) area of the UWB module outside the car (such as When the NLOS blind zone cannot communicate due to occlusion and other reasons), the ranging data is missing or even the ranging data acquisition fails due to the inability of the UWB car key and the UWB module to communicate. The lack of ranging data will greatly affect the accuracy of UWB car key positioning in off-car scenarios. The failure to obtain ranging data will directly lead to the failure of UWB car key positioning in the scene outside the car.

Also, when locating the UWB car key outside the car, if you rely solely on the movement data of the UWB car key, although the position change of the UWB car key can be determined, the relative positional relationship between the UWB car key and the vehicle cannot be determined.

The solution provided by the embodiments of this application uses a positioning strategy that integrates motion data and ranging data in the off-car scene. This solution can use the motion data of the UWB car key to compensate for the lack of ranging data or the failure to obtain ranging data when it is in the NLOS zone. The disadvantages of using ranging data to compensate for the inability to determine the relative positional relationship between the UWB car key and the vehicle based solely on the motion data of the UWB car key. Moreover, in the line of sight (LOS) area outside the vehicle, the positioning strategy that integrates motion data and ranging data can also obtain more accurate positioning results than based on a single category of data. Therefore, regardless of whether the UWB car key is located in the NLOS area or LOS area outside the car, the fusion pose strategy can provide stable, consistent, and accurate UWB car key positioning capabilities in the outside scene.

In addition, it can be understood that when locating the UWB car key in the car, since the motion data of the UWB car key can only determine the position change of the UWB car key phase, but cannot determine the specific position of the UWB car key in the vehicle. Therefore, it is impossible to position the UWB car key based on the motion data of the UWB car key. Moreover, in the car scene, due to the occlusion of seats and other reasons, if the traditional method of calculating the UWB car key position based on ranging data is used, the ranging data may be missing or even the ranging data may fail to be obtained or the ranging may be inaccurate. Problems that lead to inaccurate positioning results. The solution provided by the embodiment of the present application adopts an enhanced recognition strategy in the car scene and determines the position of the UWB car key in the car by matching with a large amount of positioning data in the positioning database. This method can provide stable and reliable identification in the car scene. Consistent and accurate UWB car key positioning capabilities, such as identifying whether the UWB car key is located in the main driver's seat, passenger seat or rear seat, or further identifying whether the UWB car key is located in the left rear seat or right rear seat of the rear row.

Among them, in the embodiment of the present application, the digital car key positioning device may pre-store a positioning database used to assist in positioning the UWB car key in the car. Alternatively, the digital car key positioning system (as shown in FIG. 4 as the digital car key positioning system 400 ) further includes a storage unit for storing the positioning database. The positioning database includes a large amount of positioning data. The positioning data is used to represent the ranging values between multiple locations in the car and multiple UWB modules installed in the car. The multiple locations in the car may include locations where multiple seats are located in the vehicle, or may include any other location except where the seats are located, which is not limited in the embodiments of this application.

In some embodiments, the digital car key positioning system may also include a positioning data training module. The digital car key positioning system can use the positioning data training module to train the ranging data of the UWB car key (that is, the sample data based on subsequent positioning data training) when the user carries the UWB car key at multiple locations in the car, and then obtains the positioning database.

In other embodiments, the digital car key positioning system can send the ranging data of the UWB car key obtained by the positioning data training module when the user carries the UWB car key at multiple locations in the car to the cloud, and the cloud will process the ranging data. Conduct training to obtain the positioning database and send the positioning database to the digital car key positioning system.

Wherein, a piece of positioning data in the positioning database includes a set of ranging values between a position in the car and multiple UWB modules in the car. A location data is associated with a location tag. One positioning data is a distance data set (denoted as a second distance data set).

For example, positioning data can be

express. Among them, p _i is the label of position i; O _ij is used to represent the ranging value between position i and the jth UWB module; N is the number of UWB modules in the car. The distance measurement value between position i and the j-th UWB module is the distance measurement value between the UWB car key and the j-th UWB module measured by the digital car key positioning device when the user carries the UWB car key at position i.

The positioning data in the positioning database are respectively associated with the position tags of positions 901, 902, 903, 904, 905, 906, ... shown in Figure 9. The UWB shown in Figure 9 is installed in the car. Taking base station (i.e. UWB module) 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 as an example, the positioning database may include positioning data 1, positioning data 2, positioning data 3, positioning data 4, Positioning data 5, positioning data 6, positioning data 7, ... and other positioning data. Wherein, positioning data 1 includes a set of ranging values between the in-vehicle position 901 and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 respectively. Positioning data 2 includes a set of ranging values between the in-vehicle position 902 and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 respectively. The positioning data 3 includes a set of ranging values between the in-vehicle position 903 and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 respectively. The positioning data 4 includes a set of ranging values between the in-vehicle position 904 and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 respectively. The positioning data 5 includes a set of ranging values between the in-vehicle position 905 and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 respectively. The positioning data 6 includes a set of ranging values between the in-vehicle position 906 and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 respectively. And so on.

For example, positioning data 1 can be represented by {(label of position 901, O ₁₁ ), (label of position 901, O ₁₂ ), (label of position 901, O ₁₃ ), (label of position 901, O ₁₄ ), (position The label of 901, O ₁₅ ), (the label of position 901, O ₁₆ )} means. Among them, O ₁₁ , O ₁₂ , O ₁₃ , O ₁₄ , O ₁₅ and O ₁₆ respectively represent the UWB car key and UWB base station 1, UWB base station 2, UWB base station 3, and UWB base station 4 when the user carries the UWB car key at position 901. , the ranging value between UWB base station 5 and UWB base station 6.

Similarly, positioning data 2 can be used {(label of position 902, O ₂₁ ), (label of position 902, O ₂₂ ), (label of position 902, O ₂₃ ), (label of position 902, O ₂₄ ), ( Label at position 902, O ₂₅ ), (label at position 902, O ₂₆ )} is represented. Positioning data 3 can be used {(label of position 903, O ₃₁ ), (label of position 903, O ₃₂ ), (label of position 903, O ₃₃ ), (label of position 903, O ₃₄ ), (label of position 903 Label, O ₃₅ ), (label at position 903, O ₃₆ )} is represented. Positioning data 4 can be used {(label of position 904, O ₄₁ ), (label of position 904, O ₄₂ ), (label of position 904, O ₄₃ ), (label of position 904, O ₄₄ ), (label of position 904 Label, O ₄₅ ), (label at position 904, O ₄₆ )} is represented. Positioning data 5 can be used {(label of position 905, O ₅₁ ), (label of position 905, O ₅₂ ), (label of position 905, O ₅₃ ), (label of position 905, O ₅₄ ), (label of position 905 Label, O ₅₅ ), (label at position 905, O ₅₆ )} is represented. The positioning data 6 can be represented by {(label of position 906, O ₆₁ ), (label of position 906, O ₆₂ ), (label of position 906, O ₆₃ ), (label of position 906, O ₆₄ ), (label of position 906 Label, O ₆₅ ), (label at position 906, O ₆₆ )} is represented. And so on.

The following will be combined with the accompanying drawings. Taking the carrier of the UWB car key as the mobile phone, the user carries the mobile phone and gradually walks towards the vehicle as shown in Figure 10 (denoted as stage 1) → enters the vehicle → is in the car (denoted as phase 2) → walks out of the vehicle → gradually Taking the process of moving away from the vehicle (denoted as stage 3) as an example, a method for locating a digital car key provided by an embodiment of the present application will be introduced in detail.

Among them, a digital car key positioning method provided by the embodiment of the present application is used. In stage 1 shown in Figure 10, the digital car key positioning device recognizes that the UWB car key is located outside the car, and uses a fusion pose strategy to perform UWB car key positioning. Tracking of movement outside the car and identification of UWB car keys inside and outside the car. When it is recognized that the UWB car key enters the car from outside the car, the digital car key positioning device switches the positioning strategy to the enhanced recognition strategy. Further, while in the car (i.e., stage 2 shown in Figure 10), the digital car key positioning device determines the specific location of the UWB car key in the car by comparing the ranging data with the positioning data in the positioning database ( That is, the position corresponding to the positioning data with the highest similarity to the ranging data).

Further, in stage 2 shown in Figure 10, the digital car key positioning device will also perform identification inside and outside the vehicle. When it is recognized that the UWB car key leaves the car, the digital car key positioning device switches the positioning strategy to the fusion posture strategy. Furthermore, when the UWB car key moves away from the vehicle (i.e., stage 3 shown in Figure 10), the digital car key positioning device uses a fusion pose strategy to track the movement trajectory of the UWB car key outside the vehicle.

Please refer to Figure 11. Figure 11 uses the digital car key as the UWB car key. The movement process of the UWB car key is shown in Figure 10, gradually moving towards the vehicle (denoted as stage 1) → entering the vehicle → located in the car (denoted as stage 2) Taking the process as an example, a flow chart of a UWB car key positioning method provided by an embodiment of the present application is shown. As shown in Figure 11, a UWB car key positioning method provided by an embodiment of the present application may include the following S1101-S1109:

S1101: When the UWB car key is outside the car, the digital car key positioning system continues to obtain the ranging data of the UWB car key outside the car and the movement data of the UWB car key.

For example, the digital car key positioning system can continuously (such as periodically) acquire the acceleration data of the smart device through the acceleration sensor when the user carries the UWB car key outside the car, and the gyroscope of the smart device acquired through the gyro sensor. The movement data of the UWB car key can be obtained from the instrument data.

And, when the user carries the UWB car key outside the car, the UWB car key can communicate with multiple UWB modules (shown as 401 in Figure 4) deployed on the vehicle based on UWB technology. For example, a UWB car key can realize UWB technology-based communication with multiple UWB modules through a UWB chip. During the communication process between the UWB car key and multiple UWB modules deployed on the vehicle, the digital car key positioning system can calculate the ranging values between the UWB car key and multiple UWB modules based on the UWB signal, and obtain the UWB car key and multiple UWB modules. Ranging data between UWB modules (denoted as the third distance data group).

Taking the UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 as shown in Figure 10 deployed on the vehicle as an example, the third distance data group can be used (O _{t (i), 1} , O _t(i),2 , O _t(i),3 , O _t(i),4 , O _t(i),5 , O _t(i),6 ). Among them, O _t(i),1 , O _t(i),2 , O _t(i),3 , O _t(i),4 , O _t(i),5 and O _t(i),6 respectively is the ranging value between the UWB car key and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 at time t(i). The motion data of the UWB car key can be expressed by (x _t(i) , y _t(i) , θ _t(i) . Among them, x _t(i) and y _t(i) are the UWB at time t(i) respectively. The coordinates of the car key. _{θ t(i)} is the angle of the UWB car key at time t(i). θ _t(i) is calculated based on the gyroscope data collected by the gyro sensor and the acceleration data collected by the acceleration sensor.

S1102: The UWB car key positioning unit establishes constraints based on the distance measurement data of the UWB car key outside the car and the motion data of the UWB car key, and obtains the preliminary motion trajectory of the UWB car key.

In the embodiment of the present application, the UWB car key positioning unit establishing constraint conditions based on the distance measurement data of the UWB car key outside the car (ie, the third distance data group) may include: the UWB car key positioning unit based on the continuously acquired UWB car key in The ranging data outside the vehicle establishes multiple UWB ranging constraints. Among them, the UWB ranging constraint conditions are used to constrain the positional relationship between the UWB car key and multiple UWB base stations during movement outside the vehicle.

In the embodiment of the present application, the UWB car key positioning unit establishing constraints based on the motion data of the UWB car key may include: the UWB car key positioning unit calculates the movement data of the UWB car key during the movement based on the motion data of the UWB car key obtained in real time. position; and establishing inertial navigation constraints based on the relationship between adjacent positions. Among them, the inertial navigation constraints are used to constrain the motion route between adjacent spatial poses determined by the UWB car key during its movement outside the vehicle.

For example, the UWB car key positioning unit can obtain the corresponding movement route (ie, the first movement route) based on the calculated multiple positions of the UWB car key during its movement outside the vehicle through methods such as double integration. Among them, the general idea of the method based on double integration is: integrate the acceleration obtained based on the data collected by the sensor to obtain the movement speed, and further integrate the obtained movement speed to obtain the cumulative coordinates of the initial position, and then obtain the movement route. The embodiments of this application do not limit the specific methods, and conventional techniques can be referred to.

As an example, please refer to Figure 12 or Figure 13. Figure 12 and Figure 13 respectively show a schematic diagram of the calculation process of the fusion pose strategy provided by the embodiment of the present application. As shown in Figure 12 or Figure 13, when using the fusion pose strategy to track the out-of-car motion trajectory of the UWB car key, the digital car key positioning system can continuously collect acceleration data based on the acceleration sensor and the gyroscope sensor. Gyroscope data determines the UWB car key's multiple positions during movement. Further, the digital car key positioning system establishes multiple inertial navigation constraints based on the determined multiple positions of the UWB car key during movement.

Synchronously with the establishment of inertial navigation constraints, as shown in Figure 12 or Figure 13, the digital car key positioning system can continuously establish multiple UWB ranging constraints based on the ranging data continuously obtained by the UWB car key during movement.

As a possible implementation, the UWB car key positioning unit establishes multiple inertial navigation constraints based on the motion data of the UWB car key. Specifically, the UWB car key positioning unit determines the UWB based on the continuously acquired motion data of multiple UWB car keys. Multiple positions of the car key; the UWB car key positioning unit establishes distance constraints and angle constraints between two adjacent positions.

For example, assuming that the user carries the UWB car key and moves from the position _Pi to Pi ₊₁ described in Figure 14, the UWB car key positioning unit determines the movement data of the UWB car key at Pi _and Pi ₊₁ (x _t The adjacent positions determined by _(i) , y _t(i) ) and (x _t(i+1) , y _t(i+1) ) correspond to the adjacent points Pi and P _i shown in (a) in Figure 15 Pi ₊₁ . Among them, the distance constraint condition between _Pi and Pi ₊₁ is L, and the angle constraint condition is Δθ.

For example, L can be the distance between _Pi and Pi ₊₁ , for example, L can be expressed by the following calculation formula 1; Δθ can be the angle change between _Pi and Pi ₊₁ , for example, Δθ can be expressed by the following Calculation formula 2 means:

L=|(x _t(i) , y _t(i) )-(x _t(i+1) , y _t(i+1) )|. (Calculation formula 1)

Δθ=θ _t(i+1) -θ _t(i) . (Calculation formula 2)

Among them, in the sports scene shown in Figure 14, among the various positions passed during the motion, the points filled with white indicate that only the motion data of the UWB car key was obtained at that position; the points filled with black diagonal lines indicate that only the motion data of the UWB car key was obtained at that position. The ranging data of the UWB car key has been obtained; the point filled half with white and half with black diagonal lines indicates that both the movement data of the UWB car key and the ranging data of the UWB car key have been obtained at that position.

Taking the sports scene shown in Figure 14 as an example, the distance constraint L is used to constrain the edge relationship between adjacent points _Pi and Pi ₊₁ shown in (a) in Figure 15. The angle constraint condition Δθ is used to constrain the angle between adjacent points _Pi and Pi ₊₁ shown in (a) in Figure 15 . The combination of L and Δθ can be used to constrain the motion route between adjacent points _Pi and Pi ₊₁ shown in (a) in Figure 15.

It should be noted that the white-filled points described in (a) in Figure 15 are all locations where the motion data of the UWB car key is obtained. For each point, the UWB car key positioning unit will establish corresponding inertial navigation constraints ((a) in Figure 15 are not shown one by one), such as distance constraints and angle constraints.

As a possible implementation method, the UWB car key positioning unit establishes UWB ranging constraints based on the UWB car key's ranging data outside the car (i.e., the third distance data group). Specifically, the UWB car key positioning unit establishes UWB ranging constraints according to the continuous acquisition The ranging values between the UWB car key and multiple UWB modules establish multiple ranging constraints corresponding to the location and multiple UWB modules.

For example, assuming that the user carries the UWB car key and is located at the position Pi ₊₁ shown in Figure 14, the ranging constraint conditions of the position Pi ₊₁ include the ranging constraint conditions K1, K2 shown in (b) in Figure 15, K3, K4, K5 and K6. Among them, the ranging constraint K1 shown in (b) in Figure 15 is used to constrain the ranging edge between the UWB car key located at Pi ₊₁ and the UWB base station 1, and the ranging constraint K2 is used to constrain the ranging edge located at P The ranging edge between the UWB car key at _i+1 and UWB base station 2, the ranging constraint K3 is used to constrain the ranging edge between the UWB car key at P _i+1 and UWB base station 3, ranging Constraint condition K4 is used to constrain the ranging edge between the UWB car key located at Pi ₊₁ and UWB base station 4, and ranging constraint condition 5 is used to constrain the distance between the UWB car key located at Pi ₊₁ and UWB base station 5. distance measuring edge between. The ranging constraint condition 6 is used to constrain the ranging edge between the UWB car key located at Pi ₊₁ and the UWB base station 6 .

It should be noted that the points filled with black diagonal lines in (b) in Figure 15 are all locations where UWB car key ranging data is obtained. For each point, the UWB car key positioning unit will establish corresponding ranging constraints ((b) in Figure 15 are not shown one by one).

In some embodiments, as shown in Figure 12, the digital car key positioning system can perform nonlinear fusion pose optimization by integrating inertial navigation constraints and UWB ranging constraints to obtain the optimal solution, which is the motion trajectory of the UWB car key. .

For example, the digital car key positioning system can use nonlinear optimization algorithms such as Gauss-Newton iteration method, general graphic optimization (g2o), Ceres, quasi-Newton method (BFGS), etc., based on comprehensive inertial navigation constraints and UWB measurements. Perform nonlinear fusion pose optimization based on distance constraints to obtain the motion trajectory of the UWB car key. The embodiments of this application do not limit the specific nonlinear optimization algorithm used and the specific process of nonlinear fusion pose optimization, and conventional techniques can be referred to.

Among them, for the situation where the digital car key positioning system directly obtains the motion trajectory of the UWB car key based on the inertial navigation constraints and UWB ranging constraints, further, the digital car key positioning system can continue to execute the following S1105-S1109.

In other embodiments, in order to provide more accurate out-of-vehicle UWB car key positioning results, as shown in Figure 11, after executing S1102, the digital car key positioning system may continue to execute the following S1103-S1109.

Illustratively, in the embodiment of the present application, the preliminary movement trajectory obtained by the digital car key positioning system can be as shown in Figure 16 (a). The points filled with black diagonal lines in the preliminary movement trajectory as shown in Figure 16 (a) It is the position determined based on the ranging data of the UWB car key outside the car; the white filled point in the preliminary motion trajectory shown in (a) in Figure 16 is the position determined based on the motion data of the UWB car key outside the car.

Among them, the position determined based on the ranging data of the UWB car key outside the car shown in (a) of FIG. 16 has a corresponding relationship with the position determined based on the movement data of the UWB car key outside the car. For example, the position determined based on the ranging data of the UWB car key outside the car may correspond to the closest position among the positions determined based on the motion data of the UWB car key outside the car. For example, O1 shown in (a) in FIG. 16 corresponds to P1, O2 corresponds to P3, O3 corresponds to P7, and O4 corresponds to P9. The preliminary motion trajectory shown in (a) in Figure 16 is also constrained by multiple constraints, including the inertial navigation constraints and UWB ranging constraints determined above. Among them, O1, O2 and O3 shown in (a) in Figure 16 are also constrained by their corresponding UWB ranging constraint conditions. For the convenience of viewing, (a) in Figure 16 is not shown.

Optionally, the position determined based on the ranging data of the UWB car key outside the car may also correspond to an interpolation value, wherein the interpolation value may be the position between two adjacent positions determined based on the movement data of the UWB car key outside the car. , this interpolation satisfies a linear relationship with the two adjacent positions mentioned above.

S1103: The digital car key positioning system determines the weights of multiple constraints based on the data characteristics of the UWB car key's ranging data outside the car.

As an example, in the embodiment of the present application, the digital car key positioning system can determine the weight of the inertial navigation constraint and the UWB ranging constraint based on a preset confidence level, experience value, etc.

For example, in the embodiment of the present application, when the UWB car key is outside the car, the weights of the inertial navigation constraint conditions and the UWB ranging constraint conditions may be different. Among them, the weight of the constraint condition is used to indicate the reference degree of the corresponding constraint condition when performing UWB car key positioning. The greater the weight of the constraint, the greater the reference degree of the constraint when locating the UWB car key; conversely, the smaller the weight of the constraint, the greater the reference degree of the constraint when locating the UWB car key. The smaller the reference level.

For example, in this embodiment of the present application, the weight of the inertial navigation constraint may be constant C1. The weight of the UWB ranging constraint can be a constant C2. For example, C2 may satisfy C2∈[0,1]. Wherein, C1 and C2 may be preset confidence values or experience values, etc., which are not limited in the embodiment of this application.

As another example, in the embodiment of the present application, in order to provide more accurate off-vehicle UWB car key positioning results, the digital car key positioning system can also perform weight optimization on one or more UWB ranging constraint conditions.

Among them, the weight of a UWB ranging constraint is used to indicate the reference degree of the UWB ranging constraint when performing UWB car key positioning. The greater the weight of the UWB ranging constraint, the greater the reference degree of the UWB ranging constraint in UWB car key positioning; conversely, the smaller the weight of the UWB ranging constraint, it means that the UWB ranging constraint The smaller the distance constraint can be used as a reference when positioning UWB car keys.

For example, as shown in Figure 13, after establishing the UWB ranging constraint conditions, the digital car key positioning system can use the short range enhancement method to perform weight optimization on one or more UWB ranging constraint conditions. Among them, the digital car key positioning system uses a short-range enhancement method to optimize the weight of one or more UWB ranging constraints, which may include: the digital car key positioning system based on the ranging values between the UWB car key and multiple UWB modules. Different, adjust the weights of multiple ranging constraints used to constrain ranging edges.

For example, the digital car key positioning system can determine the weight x _w of multiple ranging constraints at time t(i+1) according to the following calculation formula 3:

Among them, in the above calculation formula 3, if

like

w _i+1 '=0;

It is the average value of the ranging values between the UWB car key and multiple UWB modules calculated at time t(i+1), C3 constant. or if

w _i+1 'can also be other small constants (such as less than

), this application is not limited.

It can be understood that in the embodiment of the present application, the digital car key positioning system performs positioning of the UWB car key in the scene outside the car so that it can promptly and accurately identify the UWB car key when it is close to the vehicle until it enters the vehicle. Therefore, if it is determined When the ranging value between the UWB car key and a certain UWB base station is small, in order to avoid missing the identification of the approaching event of the UWB car key or the event of entering the vehicle, you can focus on the smaller ranging value. In addition, in practical applications, we found that if the UWB car key is in the NLOS area of a certain UWB base station, the UWB signal will take longer to transmit between the UWB car key and the UWB base station because the UWB signal is blocked. Therefore, the obtained ranging value is usually greater than the actual distance. Therefore, compared with a smaller ranging value, the UWB base station corresponding to a larger ranging value has a greater probability of being blocked. Based on these considerations, in the embodiment of the present application, for a short ranging edge (for example, smaller than the average ranging value), a greater weight can be given to its corresponding UWB ranging constraint condition.

Take the UWB ranging constraint condition of Pi ₊₁ shown in (b) in Figure 15 as an example. Since the ranging edge corresponding to UWB ranging constraint condition 1 is the shortest, it must be smaller than the average ranging corresponding to Pi _+1. value; and, since the ranging edge corresponding to UWB ranging constraint 4 is the longest, it must be greater than the average ranging value corresponding to P _i+1 . Therefore, when performing short-range enhancement, the digital car key positioning system can give UWB ranging constraint 1 has a greater weight than UWB ranging constraint 4. Similarly, for UWB ranging constraint 2, UWB ranging constraint 3 and UWB ranging constraint 5, corresponding weights can also be given according to preset rules.

As another example, in the embodiment of the present application, the digital car key positioning system can determine the weight of the inertial navigation constraint and the UWB ranging constraint based on the preset confidence level, experience value, etc., and then determine the weight of one or more Perform weight optimization based on UWB ranging constraints (such as using the above-mentioned short-range enhancement method for weight optimization).

S1104: The digital car key positioning system optimizes the preliminary movement trajectory based on the determined weights of multiple constraints, and obtains the movement trajectory of the UWB car key outside the car.

For example, the digital car key positioning system can adjust the position of one or more points on the preliminary movement trajectory based on the optimized weights of multiple constraints to obtain the movement trajectory of the UWB car key outside the vehicle.

Taking the preliminary motion trajectory shown in (a) in Figure 16 as an example, assuming that the weight of constraint K1 is greater than the weight of constraint conditions K2, K3, K4, K5 and K6, then the motion trajectory of the UWB car key outside the car is being carried out. When determining, you can prefer the ranging value corresponding to the K1 constraint. In the final movement trajectory of the UWB car key outside the car, the position at P9 better satisfies the K1 constraint. For example, after optimizing the preliminary motion trajectory shown in (a) in Figure 16 according to the determined weights of multiple constraints, the motion trajectory shown in (b) in Figure 16 can be obtained, which is the UWB car key in the car. external motion trajectory. Among them, the points half filled with white and half filled with black diagonal lines in the motion trajectory shown in (b) of Figure 16 are the positions where the measurement step points of the ranging data coincide with the measurement step points of the motion data.

It should be noted that (b) in FIG. 16 only takes as an example that the measurement step points of the ranging data and the measurement step points of the motion data can overlap. In other embodiments, for ranging data whose measurement step points do not coincide with the measurement step points of the motion data, the ranging data can be fitted to the movement trajectory of the UWB car key outside the car through linear interpolation. middle.

S1105: The digital car key positioning system tracks the movement trajectory of the UWB car key outside the car.

Among them, the digital car key positioning system tracks the movement trajectory of the UWB car key outside the car to provide preset intelligent control when the relative position of the digital car key and the vehicle meets preset conditions.

For example, the digital car key positioning system can share the specific location of the UWB car key outside the car with the intelligent control module, so that the intelligent control module can provide the preset location when the relative position of the digital car key and the vehicle meets preset conditions. Intelligent control.

For example, the preset conditions include entering the locked door area, entering the welcome area, entering the unlocked door area, entering the unlocked trunk area, leaving the unlocked trunk area, leaving the unlocked door area, etc. Intelligent controls include greeting guests, unlocking doors, unlocking the trunk, locking the trunk, locking doors, turning off lights, etc. The embodiments of this application are not specifically limited.

Or, for example, the preset condition is such as entering the car, and the intelligent control is such as switching to the enhanced recognition strategy. For details, see the following S1106:

S1106: When the digital car key positioning system recognizes that the UWB car key enters the car from outside the car, it switches the strategy used for UWB car key positioning to the enhanced recognition strategy.

For example, the digital car key positioning system may be preset with a judgment condition for judging whether the UWB car key enters the car from outside the car. The judgment condition is, for example, that the nearest distance measurement value between the UWB car key and the vehicle is less than a preset threshold, and the preset threshold can be a centimeter-level value.

Among them, the enhanced recognition strategy is used to achieve precise positioning of UWB car keys in the car scene. The specific idea of the enhanced identification strategy is: during the process of being in the car (shown in stage 2 in Figure 10), the digital car key positioning system compares the ranging data collected while in the car with the positioning in the positioning database. Data to determine the specific location of the UWB car key in the car.

S1107: When the UWB car key is located in the car, the digital car key positioning system obtains the ranging data of the UWB car key in the car.

Among them, the distance measurement data of the UWB car key in the car (denoted as the first distance data group) includes the distance measurement data (such as distance measurement values) between the UWB car key and multiple UWB modules respectively.

For example, when the user carries the UWB car key and is in the car, the UWB car key can communicate with multiple UWB modules (shown as 401 in Figure 4) deployed on the vehicle based on UWB technology. For example, a UWB car key can communicate with multiple UWB modules based on UWB technology through a UWB chip. During the communication process between the UWB car key and multiple UWB modules deployed on the vehicle, the digital car key positioning system can calculate the ranging values between the UWB car key and multiple UWB modules based on the UWB signal, and obtain the UWB car key and multiple UWB modules. Ranging data between UWB modules (denoted as the first distance data group).

Taking the UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 as shown in Figure 10 deployed on the vehicle as an example, the first distance data group can be used (O' _{t(j), 1} , O' _t(j),2 , O' _t(j),3 , O' _t(j),4 , O' _t(j),5 , O' _t(j),6 ). Among them, O' _t(j),1 , O' _t(j),2 , O' _t(j),3 , O' _t(j),4 , O' _t(j),5 and O' _{t (j), 6} are the ranging values between the UWB car key and UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6 at time t(j) respectively.

S1108: The digital car key positioning system determines the positioning data with the highest degree of matching with the ranging data of the UWB car key in the car from the positioning database.

As a possible implementation method, the digital car key positioning system can determine the matching degree with the ranging data of the UWB car key in the car by separately calculating the similarity between the first distance data group and multiple positioning data in the positioning database. Highest positioning data. Among them, the positioning data that has the highest matching degree with the ranging data of the UWB car key in the car is the positioning data that has the greatest similarity with the first distance data group in the positioning database.

Optionally, the digital car key positioning system may use a classification algorithm to calculate the similarity between the first distance data group and multiple positioning data in the positioning database. Exemplarily, the classification algorithm may include but is not limited to one or more of the following: Naive Bayes classification algorithm, logistic regression algorithm, decision tree algorithm, support vector machine algorithm, K-nearest neighbor (KNN) Algorithms, artificial neural network algorithms.

In this embodiment of the present application, the similarity between the first distance data group and the positioning data is related to the spatial distance between the multiple ranging values in the first distance data group and the corresponding ranging values in the positioning data.

As an example, the similarity between the first distance data set and the positioning data may be negatively correlated with the spatial distance between the first distance data set and the positioning data. For example, the smaller the spatial distance between the first distance data group and the positioning data, the greater the similarity between the first distance data group and the positioning data; the smaller the spatial distance between the first distance data group and the positioning data. If it is large, it means that the similarity between the first distance data group and the positioning data is smaller.

For example, the spatial distance Bj between the first distance data group and the positioning data can be calculated based on the following calculation formula 4:

B _j =(1-A _j )*||OO' _j || ₂ . (Calculation formula 4)

In the above calculation formula 4, O is the positioning data, O' _j is the first distance data group,

COUNT(O∩O' _j ) is the number of UWB base stations in the positioning data that correspond to the same ranging value in the first distance data group. COUNT(O∪O' _j ) is the sum of the number of non-overlapping UWB base stations corresponding to the positioning data and the ranging value in the first distance data group.

It can be understood that for each positioning data in the positioning database, the digital car key positioning system can calculate the spatial distance between it and the first distance data group. Based on this, the digital car key positioning system can determine the positioning data that best matches the ranging data of the UWB car key in the car. For example, the positioning data with the highest matching degree to the ranging data of the UWB car key in the car is the positioning data with the smallest space between the first distance data group and the positioning database.

As an example, the spatial distance between the first distance data group and the positioning data can be represented by the sum of spatial distances between multiple ranging values in the first distance data group and the corresponding ranging value of the positioning data center. The first distance data group is represented by (O' _t(j),1 , O' _t(j),2 ,..., O' _t(j),n ), and the positioning data is represented by {(label of position 901, O ₁₁ ), (label at position 901, O ₁₂ ), ..., (label at position 901, O _1n )} are expressed as an example, the spatial distance between the first distance data group and the positioning data = |O' _{t (j),1} -O ₁₁ |+|O' _t(j),2 -O ₁₂ |+...+|O' _t(j),n -O _1n |.

As another example, the spatial distance between the first distance data group and the positioning data may be represented by an average of the spatial distances between multiple ranging values in the first distance data group and the corresponding ranging value of the center of the positioning data. The first distance data group is represented by (O' _t(j),1 , O' _t(j),2 ,..., O' _t(j),n ), and the positioning data is represented by {(label of position 901, O ₁₁ ), (label at position 901, O ₁₂ ), ..., (label at position 901, O _1n )} are expressed as an example, the spatial distance between the first distance data group and the positioning data = (|O' _t(j),1 -O ₁₁ |+|O' _t(j),2 -O ₁₂ |+...+|O' _t(j),n -O _1n |)/n.

It can be understood that for each positioning data in the positioning database, the digital car key positioning system can calculate the spatial distance between it and the ranging value in the first distance data group. Based on this, the digital car key positioning system can determine the positioning data that best matches the ranging data of the UWB car key in the car. For example, the positioning data with the highest matching degree to the ranging data of the UWB car key in the car is the positioning data with the smallest spatial distance between the ranging value in the first distance data group in the positioning database.

Alternatively, in the embodiment of the present application, the digital car key positioning system can also use other methods to calculate the spatial distance between each positioning data in the positioning database and the first distance data group, which is not specifically limited in the embodiment of the present application. For example, the digital car key positioning system can also extract the distance features of each positioning data in the positioning database and the distance features of multiple ranging values in the first distance data group, and then calculate the similarity of the distance features to determine the positioning data and the third distance data. A distance is the spatial distance between data sets.

S1109: The digital car key positioning system determines that the position of the UWB car key in the car is the position indicated by the position tag corresponding to the positioning data that has the highest matching degree with the ranging data of the UWB car key in the car.

For example, as mentioned above, the positioning data determined by the digital car key positioning system to have the highest matching degree with the distance measurement data of the UWB car key in the car may be the distance measurement value in the first distance data group as described in the above embodiment. positioning data with the smallest spatial distance between them. For this situation, the digital car key positioning system can determine the position of the UWB car key in the car as the position indicated by the position tag corresponding to the positioning data with the smallest spatial distance between the ranging values in the first distance data group.

The positioning data with the smallest spatial distance from the ranging value in the first distance data group is {(label at position 901, O ₁₁ ), (label at position 901, O ₁₂ ), (label at position 901, O ₁₃ ), (label of position 901, O ₁₄ ), (label of position 901, O ₁₅ )} For example, the digital car key positioning system can determine that the position of the UWB car key in the car is position 901.

Or alternatively, the positioning data determined by the digital car key positioning system to have the highest matching degree with the distance measurement data of the UWB car key in the car can be the space between the distance measurement value in the first distance data group as described in the above embodiment. Positioning data with the smallest sum of distances. For this situation, the digital car key positioning system can determine the position of the UWB car key in the car as the position indicated by the position tag corresponding to the positioning data with the smallest sum of spatial distances between the ranging values in the first distance data group. .

The positioning data with the smallest sum of spatial distances from the ranging values in the first distance data group is {(label at position 901, O ₁₁ ), (label at position 901, O ₁₂ ), (label at position 901, O ₁₃ ), (label at position 901, O ₁₄ ), (label at position 901, O ₁₅ )} For example, the digital car key positioning system can determine the position of the UWB car key in the car as position 901.

Or alternatively, the positioning data determined by the digital car key positioning system to have the highest matching degree with the distance measurement data of the UWB car key in the car can be the space between the distance measurement value in the first distance data group as described in the above embodiment. Location data with the smallest average distance. For this situation, the digital car key positioning system may determine that the position of the UWB car key in the car is indicated by the position tag corresponding to the positioning data with the smallest average of the spatial distances between the ranging values in the first distance data group. Location.

The positioning data with the smallest average spatial distance between the ranging values in the first distance data group is {(label of position 901, O ₁₁ ), (label of position 901, O ₁₂ ), (label of position 901 , O ₁₃ ), (label of position 901 , O ₁₄ ), (label of position 901 , O ₁₅ )} For example, the digital car key positioning system can determine the position of the UWB car key in the car as position 901.

It should be noted that in other embodiments of the present application, the digital car key positioning system can also determine multiple ( For example, there are M (M is a positive integer greater than or equal to 3) candidate positioning data, and then by counting the location tags corresponding to the multiple candidate positioning data, it is determined that the position of the UWB car key in the car is the location corresponding to the multiple candidate positioning data. Among the location tags, the location indicated by the location tag with the most statistics.

Taking the digital car key positioning system to determine three candidate positioning data, which respectively correspond to the label at position 901, the label at position 902, and the label at position 902, the digital car key positioning system can determine that the UWB car key is in the car. The position within is position 902.

After determining the specific location of the UWB car key in the car, further, the digital car key positioning system can share the specific location of the UWB car key in the car with the intelligent control module, so that the intelligent control module can detect when the UWB car key is in the car. When the position is the preset position, it provides preset intelligent control. For example, when the position of the UWB car key in the car is determined to be the first position, the first preset operation is performed; or when the position of the UWB car key in the car is determined to be the second position, the second preset operation is performed.

As an example, if the first position is the main driving position, the above-mentioned first preset operation may include but is not limited to one or more of the following: starting the vehicle, playing music, starting the central control screen and displaying it on the central control screen Default application interface and turn on the air conditioner.

As another example, if the second position is the passenger seat or the rear seat, the second preset operation may include but is not limited to one or more of the following: playing music, activating the display screen at the second position. And display the preset application interface on the corresponding display screen and turn on the air conditioner.

It can be understood that in the off-car scene, based on the solution provided by the embodiment of the present application, the digital car key positioning system uses a positioning strategy that integrates motion data and ranging data to position the UWB car key. This solution can use the motion data of the UWB car key to make up for the shortcomings of the lack of ranging data when it is in the NLOS zone, and use the ranging data to make up for the inability to determine the relative position between the UWB car key and the vehicle based solely on the motion data of the UWB car key. Disadvantages. Moreover, in the LOS area outside the vehicle, the positioning strategy that fuses motion data and ranging data can also obtain more accurate positioning results than based on a single category of data. Therefore, regardless of whether the UWB car key is located in the NLOS area or the LOS area outside the car, the fusion pose strategy can provide stable, consistent, and accurate UWB car key positioning capabilities in the outside scene.

Illustratively, Figure 17 shows the digital car key positioning system in an outdoor scene based on the solution provided by the embodiment of the present application. When the user carries the UWB car key and walks about 1.5 meters outside the vehicle, the digital car key positioning system The resulting high-precision motion trajectory tracking rendering.

In addition, it can be understood that when locating the UWB car key in the car, since the motion data of the UWB car key can only determine the position change of the UWB car key, but cannot determine the specific position of the UWB car key in the vehicle, therefore The positioning of the UWB car key cannot be achieved based on the motion data of the UWB car key. Moreover, in the car scene, due to the occlusion of seats and other reasons, if the traditional method of calculating the UWB car key position based on ranging data is used, the ranging data may be missing or even the ranging data may fail to be obtained or the ranging may be inaccurate. Problems that lead to inaccurate positioning results. The embodiments of this application provide an enhanced recognition strategy in the car scene to determine the location of the UWB car key in the car by matching with a large amount of positioning data in the positioning database. This method can provide stable and coherent identification in the car scene. , Accurate UWB car key positioning capabilities, such as identifying whether the UWB car key is located in the main driver's seat, passenger seat, or rear seat, or it can further identify whether the UWB car key is located in the left rear seat or the right rear seat of the rear row.

For example, as shown in Figure 18, the box plot of the ranging value distribution when the UWB car key is located on different seats. Among them, as shown in Figure 18 (a), Figure 18 (b), Figure 18 (c) and Figure 18 (d), no matter the UWB car key is located in the main driver's seat, passenger seat, Whether it is the left rear seat or the right rear seat, the ranging value of the UWB car key has different distribution characteristics depending on the location of the UWB car key. Based on this, it can be determined by comparing the ranging data with the positioning data in the positioning database. The location of UWB in the car. In addition, as shown in (c) of Figure 18 , although the distance measurement value between the UWB car key and the UWB base station 4 cannot be obtained due to the obstruction of the seat or other reasons, based on the solution provided by the embodiment of the present application, it is still possible to obtain the distance measurement value through comparison The ranging value between the UWB car key and other UWB base stations (including UWB base station 1, UWB base station 2, UWB base station 3, UWB base station 5 and UWB base station 6) and the positioning data in the positioning database determine the UWB position in the car . And, as shown in (d) in Figure 18, although the ranging value between the UWB car key and the UWB base station 1 cannot be obtained due to the obstruction of the seat and other reasons, based on the solution provided by the embodiment of the present application, it can still be compared The ranging value between the UWB car key and other UWB base stations (including UWB base station 2, UWB base station 3, UWB base station 4, UWB base station 5 and UWB base station 6) and the positioning data in the positioning database determine the UWB position in the car . Therefore, based on the embodiments of this application, a strategy for enhanced identification is provided in the in-car scene. By matching the existing ranging data with a large amount of positioning data in the positioning database, stable and coherent UWB in the in-car scene can still be achieved. Car key locating capability.

For another example, please refer to the following Table 1. Table 1 shows the positioning accuracy of the UWB car key in the car that can be achieved based on the method provided by the embodiment of the present application. As shown in Table 1, based on the method provided by the embodiment of the present application, the position recognition accuracy in the in-car scene is greater than 94%, and the recall rate is greater than 95%. This indicator can usually meet the needs of multiple businesses (such as intelligent control functions).

Table 1

The above embodiment only takes the process of gradually walking towards the vehicle (denoted as stage 1)→entering the vehicle→locating in the car (denoted as stage 2) as shown in Figure 10 as an example to illustrate a UWB car key provided by the embodiment of the present application. positioning method. For the process shown in Figure 10 of being in the car (denoted as stage 2) → walking out of the vehicle → gradually moving away from the vehicle (denoted as phase 3), a similar method can also be used to switch from in-car scene positioning to scene positioning outside the car. The embodiments of this application will not be repeatedly introduced.

For example, for the process of being in the car (denoted as stage 2) → walking out of the vehicle → gradually moving away from the vehicle (denoted as phase 3) shown in Figure 10, the digital car key positioning system can use the collected UWB in the in-car scene The ranging data of the car key in the car is determined from the positioning database to the positioning data that best matches the ranging data of the UWB car key in the car, so as to realize the positioning of the UWB car key in the car (refer to S1107 and S1108 above) . Further, when it is recognized that the UWB car key moves from inside the car to outside the car, the digital car key positioning system can switch the strategy used for UWB car key positioning to the fusion posture strategy, and the UWB car key can be continuously obtained outside the car through the positioning strategy. The ranging data and the motion data of the UWB car key establish constraint conditions, obtain the preliminary motion trajectory of the UWB car key, determine the weights of multiple constraints, and optimize the preliminary motion trajectory based on the determined weights of the multiple constraints to realize the UWB car key. Positioning outside the vehicle (refer to S1101 and S1104 above).

It should be understood that the various solutions in the embodiments of the present application can be used in reasonable combinations, and the explanations or explanations of various terms appearing in the embodiments can be referred to or explained in each embodiment, without limitation.

It should also be understood that in various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its functions and internal logic, and should not be implemented in this application. The implementation of the examples does not constitute any limitations.

It can be understood that, in order to realize the functions of any of the above embodiments, the digital car key positioning device includes corresponding hardware structures and/or software modules to perform each function. Persons skilled in the art should easily realize that, with the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving the hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Embodiments of the present application can divide the digital car key positioning device into functional modules. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods.

It should also be understood that each module in the digital car key positioning device can be implemented in the form of software and/or hardware, and there is no specific limitation on this. In other words, the digital car key positioning device is presented in the form of a functional module. "Module" here may refer to an application specific integrated circuit (ASIC), a circuit, a processor and memory that executes one or more software or firmware programs, an integrated logic circuit, and/or other devices that can provide the above functions.

In an optional manner, when software is used to implement data transmission, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are implemented in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available media that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media. The available media may be magnetic media, (such as floppy disks, hard disks, etc. , tape), optical media (such as digital video disk (DVD)), or semiconductor media (such as solid state disk (SSD)), etc.

The steps of the methods or algorithms described in conjunction with the embodiments of the present application can be implemented in hardware, or can be implemented in a processor executing software instructions. Software instructions can be composed of corresponding software modules, and the software modules can be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, mobile hard disks, CD-ROM or any other form of storage well known in the art. in the medium. An exemplary storage medium is coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage media may be located in an ASIC. In addition, the ASIC can be located in the digital car key locating device. Of course, the processor and the storage medium may also exist as discrete components in the digital car key locating device.

Through the above description of the embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated as needed. It is completed by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

Claims

A method for locating a digital car key, characterized in that the method includes:

Obtaining a first distance data set between a digital car key located in the car and multiple UWB modules in the car, where the first distance data set includes ranging between the digital car key and the multiple UWB modules respectively. value;

Determine the positioning data that has the highest matching degree with the first distance data set from a positioning database, where the positioning data in the positioning database is used to represent the measurement distance between multiple locations in the vehicle and the multiple UWB modules. distance value;

The position of the digital car key in the car is determined to be the position indicated by the position tag corresponding to the positioning data with the highest matching degree of the first distance data set.
The method of claim 1, further comprising:

Obtain multiple second distance data groups between the digital car key and the plurality of UWB modules when the user carries the digital car key and is located at multiple locations in the car, respectively, to obtain sample data;

The sample data is trained to obtain the positioning database. The positioning database includes a plurality of positioning data, one of which includes ranging values between a position in the vehicle and the plurality of UWB modules; Location data is associated with a location tag.
The method according to claim 1 or 2, wherein determining the positioning data with the highest matching degree to the first distance data group from the positioning database includes:

Calculate the similarity between the first distance data group and the plurality of positioning data respectively, and the similarity is the sum of the plurality of ranging values in the first distance data group and the corresponding ranging value in the positioning data. related to the spatial distance between;

It is determined that the positioning data with the highest similarity to the first distance data group is the positioning data with the highest matching degree to the first distance data group.
The method according to any one of claims 1-3, characterized in that the method further includes:

If it is determined that the position of the digital car key in the car is the first position, perform the first preset operation;

If it is determined that the position of the digital car key in the car is the second position, a second preset operation is performed.
The method according to claim 4, characterized in that the first position is the main driving position, and the first preset operation includes one or more of the following: starting the vehicle, playing music, starting the central control screen The preset application interface is displayed on the central control screen and the air conditioner is turned on.
The method according to claim 5, characterized in that the positioning data in the positioning database that has the highest matching degree with the first distance data group is associated with the main driving position.
The method of claim 4, wherein the second position is a passenger seat or a rear seat, and the second preset operation includes one or more of the following: playing music, starting the The display screen at the second position displays the preset application interface on the corresponding display screen and turns on the air conditioner.
The method according to claim 7, characterized in that the positioning data in the positioning database that has the highest matching degree with the first distance data group is associated with the passenger seat.
The method according to any one of claims 1-6, characterized in that the method further includes:

When the digital car key is located outside the car, track the digital car key;

When it is recognized that the digital car key enters the car from outside the car, the strategy is switched to an in-car location identification strategy to identify the location of the digital car key in the car.
The method according to claim 9, wherein tracking the digital car key includes:

When the user is outside the car with the digital car key, continuously obtain the third distance data group of the digital car key relative to the plurality of UWB modules, and the movement data of the digital car key;

Establish constraints according to the third distance data group and the motion data, and obtain the preliminary motion trajectory of the digital car key;

Adjust the weights of the multiple constraints of the preliminary motion trajectory according to the data characteristics of the third distance data group;

The preliminary movement trajectory is optimized according to the weights of the plurality of constraints in the preliminary movement trajectory to obtain the movement trajectory of the digital car key.
The method of claim 10, wherein the plurality of UWB modules include a first UWB module and a second UWB module, and the ranging value between the digital car key and the first UWB module is less than The ranging value between the digital car key and the second UWB module;

After adjusting the plurality of constraints, the weight of the constraint corresponding to the digital car key and the first UWB module is greater than the weight of the constraint corresponding to the digital car key and the second UWB module.
A vehicle control method, characterized in that the method is applied to a vehicle control device, and the method includes:

Obtain the location of the digital car key located in the car;

Corresponding control is performed on the vehicle according to the position of the digital car key in the car. Where the position of the digital car key in the car is different, the control authority for the vehicle is different.
The method according to claim 12, characterized in that the position of the digital car key in the car is the main driving position, and performing corresponding intelligent control on the vehicle according to the specific position of the digital car key in the car includes: :

Perform one or more of the following: start the vehicle, play music, start the central control screen and display the preset application interface on the central control screen, and turn on the air conditioner.
The method according to claim 12, characterized in that the position of the digital car key in the car is the passenger seat, and performing corresponding intelligent control on the vehicle according to the specific position of the digital car key in the car includes :

Perform one or more of the following: playing music, starting the passenger screen and displaying a preset application interface on the passenger screen, and turning on the air conditioner.
The method according to any one of claims 12-14, wherein determining the location of the digital car key located in the car includes:

Obtaining a first distance data set between the digital car key and multiple UWB modules in the car, where the first distance data set includes ranging values between the digital car key and the multiple UWB modules respectively;

Determine the positioning data that has the highest matching degree with the first distance data set from the positioning database; wherein the positioning data in the positioning database is used to represent the measurement distance between multiple locations in the vehicle and the multiple UWB modules. distance value;

The position of the digital car key in the car is determined to be the position indicated by the position tag corresponding to the positioning data with the highest matching degree of the first distance data set.
A vehicle-mounted system, characterized in that the vehicle-mounted system includes a digital car key positioning device, and the digital car key positioning device includes:

A storage unit configured to store a positioning database, the positioning database including a plurality of positioning data, the plurality of positioning data being used to represent ranging values between multiple locations in the vehicle and multiple UWB modules in the vehicle;

The first data acquisition unit is used to collect the first distance data set between the digital car key located in the car and the plurality of UWB modules. The first distance data set includes the digital car key and the plurality of UWB modules respectively. Ranging value between UWB modules;

A processing unit, configured to determine the positioning data with the highest matching degree to the first distance data group from the positioning database, and then determine the position of the digital car key in the car; wherein the digital car key is in the car The position of is the position indicated by the position tag corresponding to the positioning data with the highest matching degree of the first distance data group.
The vehicle-mounted system according to claim 16, characterized in that:

The first data collection unit is also configured to obtain a plurality of second distance data sets between the digital car key and the plurality of UWB modules when the user carries the digital car key and is located at multiple locations in the car. , get sample data;

The digital car key positioning device also includes:

A model training unit, used to train the sample data to obtain the positioning database. The positioning database includes a plurality of positioning data, one of which includes the distance between a position in the vehicle and the plurality of UWB modules. ranging value; a positioning data is associated with a location label.
The vehicle-mounted system according to claim 16 or 17, characterized in that the processing unit determines the positioning data with the highest matching degree with the first distance data group from the positioning database, including:

The processing unit calculates the similarity between the first distance data group and the plurality of positioning data respectively, and determines that the positioning data with the highest similarity to the first distance data group is the same as the first distance data group. The positioning data with the highest matching degree of the data group.
The vehicle-mounted system according to any one of claims 16-18, characterized in that the vehicle-mounted system further includes: a vehicle control device;

The vehicle control device is used for:

When the digital car key positioning device determines that the position of the digital car key in the car is the first position, perform a first preset operation;

When the digital car key positioning device determines that the position of the digital car key in the car is the second position, a second preset operation is performed.
The vehicle system according to claim 19, characterized in that the first position is the main driving position, and the first preset operation includes one or more of the following: starting the vehicle, playing music, starting the central control screen and display the preset application interface on the central control screen and turn on the air conditioner.
The vehicle system according to claim 19, characterized in that the second position is the passenger seat, and the second preset operation includes one or more of the following: playing music, starting the passenger screen and clicking on the passenger seat. The passenger screen displays the preset application interface and turns on the air conditioner.
The vehicle system according to any one of claims 16-21, characterized in that the digital car key positioning device is also used for:

When the digital car key is outside the car, track the digital car key; and,

When it is recognized that the digital car key enters the car from outside the car, it switches to the in-car location identification strategy to identify the location of the digital car key in the car.
The vehicle-mounted system according to claim 22, wherein the first data collection unit is further configured to: when the user carries the digital car key and is outside the vehicle, continuously obtain the relative information of the digital car key relative to the multiple The third distance data group of the UWB module;

The digital car key locating device further includes: a second data acquisition unit, configured to obtain movement data of the digital car key when the user is outside the car carrying the digital car key;

The digital car key positioning device performs trajectory tracking on the digital car key, including:

The processing unit establishes constraints based on the third distance data group and the motion data to obtain the preliminary motion trajectory of the digital car key; adjusts the multiple parameters of the preliminary motion trajectory according to the data characteristics of the third distance data group. The weight of each constraint condition; and, optimizing the preliminary movement trajectory according to the weights of multiple positions in the preliminary movement trajectory to obtain the movement trajectory of the digital car key.
A computer-readable storage medium, characterized in that computer-executable instructions are stored on the computer-readable storage medium. When the computer-executable instructions are executed by a processing circuit, the computer-executable instructions implement any one of claims 1-11 or 12-15. method described in the item.
A chip system, characterized in that the chip system includes a processing circuit and a storage medium, and instructions are stored in the storage medium; when the instructions are executed by the processing circuit, the implementation of claims 1-11 or 12- The method described in any one of 15.
A computer program product, characterized in that the computer program product includes program instructions, and when the program instructions are executed, the method as described in any one of claims 1-11 or 12-15 is implemented.