Vehicle keyless welcome entry control system and method and vehicle

[0041]The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0042]Reference belowFigure 1-Figure 7Describes a vehicle keyless welcome entry control system, method, and vehicle according to embodiments of the present invention.

[0043]figure 1 It is a structural schematic diagram of a vehicle keyless welcome entry control system according to an embodiment of the present invention. Such asfigure 1 As shown, the vehicle keyless welcome entry control system 100 includes a communication module 110, a control module 120, and a positioning module 130.

[0044]Wherein, the communication module 110 is configured to search for a smart terminal with a preset communication mode within its communication range, and when the target smart terminal is searched for, issue a first instruction.

[0045]Specifically, the communication module 110 is installed on the vehicle, and is used to search for smart terminals within its communication range through a preset communication mode, and perform identity verification on the searched smart terminals, and use the verified smart terminal as the target smart terminal.

[0046]In an embodiment of the present invention, the preset communication mode includes low-power Bluetooth BLE communication, thereby having the advantages of wide communication range and low power consumption.

[0047]In an embodiment of the present invention, the communication module 110 may also use other non-BLE technologies such as low-frequency (such as 125k) communication to realize wake-up and interactive authentication with the smart terminal.

[0048]In another embodiment of the present invention, the communication module 110 can also communicate with the smart terminal using a unidirectional ranging method of UWB (Ultra Wide Band) technology.

[0049]In a specific embodiment, the smart terminal may be a wearable device such as a mobile phone, a tablet computer, or an electronic bracelet held by the user, for example.

[0050]The control module 12 is connected to the communication module 110 and is used to verify the identity of the target smart terminal according to the received first instruction, and after the verification is passed, issue a second instruction, and obtain the target smart terminal according to the received location data of the target smart terminal The trajectory of the terminal, and according to the trajectory to control the vehicle's welcome light or door.

[0051]In a specific embodiment, the control module 120 is, for example, an on-board controller (Electronic Control Unit, ECU).

[0052]In a specific embodiment, combiningfigure 2 As shown, taking the communication module 120 as a BLE module, that is, the preset communication mode is BLE communication as an example, the process of the communication module 110 polling and waking up the control module 120 in the BLE mode, such as a vehicle controller, is described. Specifically, in the initial state, the control module 120, such as the on-board controller is in a dormant state, that is, it does not work. When the vehicle keyless welcome entry control system is turned on, the communication module 110, such as a BLE module, enters the polling mode, and the communication module Search for smart terminals that enable BLE communication within the range, and if a corresponding smart terminal is found, it is further determined whether the smart terminal is a legally authorized smart terminal, that is, whether it is a target smart terminal. That is, perform identity verification on the searched smart terminal, for example, perform identity verification through a key generated by an encryption algorithm such as AES (Advanced Encryption Standard). If the identity verification is passed, the smart terminal will be used as the target smart terminal , That is, the smart terminal held by the user corresponding to the vehicle, the vehicle controller is further awakened, for example, the first instruction is sent to the vehicle controller to wake up; and the smart terminal that has not been verified can be ignored and continue to search for the target smart terminal. That is, the embodiments of the present invention are based on the low power consumption characteristics of BLE. When welcoming guests into the application, BLE implements polling under static working conditions and wake-up of the vehicle controller, thereby saving power consumption.

[0053]The positioning module 130 is connected to the control module 120, and is configured to obtain the position data of the target smart terminal according to the received second instruction, and send the position data to the control module 120.

[0054]In an embodiment of the present invention, the positioning module 130 may obtain position data through Time of Flight (ToF) ranging and positioning technology.

[0055]In another embodiment of the present invention, the positioning module 130 may also obtain position data through a non-ToF measurement method, such as Angle-of-Arrival (AOA) ranging positioning technology.

[0056]In an embodiment of the present invention, the positioning module 130 includes, for example, a plurality of positioning units arranged in the vehicle body and/or in the vehicle. Specifically, the positioning unit may be configured to include an ultra-wideband positioning node, that is, a UWB Node. That is, using the characteristics of high positioning accuracy and short measurement time of UWB, the relative position of the vehicle and the target intelligent terminal is determined according to the actual flight time of each node or according to the angle of arrival, etc., to obtain the position data of the target intelligent terminal, which is conducive to the calculation. And draw the movement trajectory of the target intelligent terminal to achieve precise positioning.

[0057]inFigure 5 In the example shown, there are five positioning units arranged in the vehicle body and/or in the vehicle, namely: UWB Node1, UWB Node2, UWB Node3, UWB Node4, UWB Node5.

[0058]Specifically, two UWB nodes are set in the vehicle. Among them, UWB Node5 can be set at the rear top light position in the car or under the shark fin, and the other UWB node in the car is integrated in the ECU (that is, the control module 120). Thus, the two UWB nodes set in the car can fully cover the car. It also participates in the auxiliary judgment of the motion trajectory of the smart terminal when the guest enters, that is, realizes the position and location compensation of the smart terminal, which is conducive to the realization of a keyless start with high accuracy and reliability.

[0059]Specifically, such asFigure 5 As shown, 4 UWB nodes can be arranged outside the vehicle, namely: UWB Node1/2 on the left and right sides of the head of the vehicle, UWB Node3/4 on the left and right sides of the rear of the vehicle, with the same height (the actual height depends on the actual vehicle). Among them, such asFigure 6 As shown, the definition coverage of UWB Node1 includes: A, B, C, D (F is not mandatory); the effective coverage of UWB Node2 includes: A, B, C, E (H is not mandatory); the effective coverage of UWB Node3 includes: D, F, G, H (A is not mandatory); UWB Node4 defines the coverage area to include: E, F, G, H (C is not mandatory). Therefore, the above-mentioned four UWB nodes are arranged outside the vehicle, which can fully cover the area around the vehicle body, and facilitate the positioning of the intelligent terminal around the vehicle body, that is, increase the coverage area and ensure the accuracy and reliability of positioning.

[0060]It can be understood that the number and arrangement of UWB nodes in the above-mentioned embodiments are only exemplary descriptions, and the number and arrangement of UWB nodes can also be flexibly deployed according to actual needs. For example, 6 UWB nodes are arranged outside the vehicle, or two UWB nodes are arranged inside the vehicle, and the two UWB nodes are independent and are not integrated in the user controller ECU. In addition, the connection between UWB nodes can be the LIN line of the vehicle, or the CAN line of the vehicle.

[0061]CombineFigure 5 withFigure 6 As shown, the communication module 110 uses BLE technology for communication, the positioning module 130 uses UWB technology for positioning, and the control module 120 is an on-board controller ECU as an example. That is, the vehicle's keyless welcome entry control system uses UWB and BLE technology, based on motion The trajectory judgment realizes the vehicle keyless welcoming entry, and the specific realization principle is exemplarily summarized as follows:

[0062]The user carries a smart terminal (such as a smart phone) that supports UWB and BLE, without the need for a traditional car key, no manual operation (the BLE of the smart terminal needs to be turned on), when the user brings the smart terminal into the vehicle's BLE coverage area, the vehicle main controller ECU Automatically connect with the smart terminal through BLE and confirm whether the identity is legal; if the smart terminal is legal, it is determined as the target smart terminal. The ECU will obtain the movement trajectory of the target smart terminal in real time through the 6 UWB nodes arranged in the vehicle. If the actual movement is obtained When the trajectory indicates that the target intelligent terminal is close to the vehicle and the distance meets the defined lighting distance, the vehicle automatically lights the exterior light at the corresponding position, that is, the welcome light; if the target intelligent terminal motion track indicates that it is close to the vehicle and meets the defined unlocking distance, the vehicle BLE will actively conduct interactive authentication with the target smart terminal BLE, and the four doors of the vehicle will be automatically unlocked after passing; if the target smart terminal's motion track indicates that it has left the vehicle and meets the defined locking distance, the vehicle BLE will actively conduct interactive authentication with the target smart terminal BLE , The four doors of the vehicle are automatically locked after passing.

[0063]The above implementation process is automatically completed in the user's normal operation. The user does not perform any deliberate operation, but normally approaches the vehicle and pulls the door, which improves the vehicle's sense of science and technology and intelligence, thereby enhancing the user experience; in addition, The combination of UWB technology and BLE technology has the advantages of low power consumption and strong anti-interference ability. Through the communication module, the polling wake-up control module and the interactive authentication process are completed, the high-precision positioning of the smart terminal is realized through the positioning module, and the target is obtained through the control module The motion trajectory of the smart terminal facilitates precise control of the vehicle's keyless welcome entry, which improves the reliability and safety of the vehicle.

[0064]In an embodiment of the present invention, the control module 120 controls the welcome light or door of the vehicle according to the movement trajectory, including: when it is determined according to the movement trajectory that the target intelligent terminal is continuously close to the vehicle, and the distance to the vehicle is less than or equal to At the first preset distance, control the welcome light to turn on for the first preset time; when it is determined according to the movement trajectory that the target smart terminal continues to approach the vehicle and the distance to the vehicle is less than or equal to the second preset distance, The control module 120 performs interactive authentication with the target smart terminal through the communication module 110, and after the authentication is passed, controls the unlocking of the vehicle door, wherein the second preset distance is less than the first preset distance.

[0065]Specifically, the control module 120 obtains the motion trajectory of the target smart terminal according to the location data of the target smart terminal sent by the positioning module 130, and can determine whether the target smart terminal is close to or far away from the vehicle according to the motion trajectory. Keep approaching the vehicle, and the distance to the vehicle is less than or equal to the first preset distance, such as 10 meters, think that the user is approaching the vehicle and intends to use the vehicle, control the vehicle's welcome light to light up, and Continue to light up for the first preset time, such as 8-10 seconds, in order to prompt the location of the vehicle to facilitate the user to find the car; further, when it is determined that the target smart terminal is continuously close to the vehicle, and the distance to the vehicle is less than or equal to the second The preset distance, such as 2 meters, thinks that the user is approaching the vehicle and is about to reach the door, then the control module 120 performs interactive authentication with the target smart terminal through the communication module 120, such as the BLE module, that is, performs identity verification again, ensuring safety After the authentication is passed, the door is controlled to unlock. When the user reaches the door, the door is already unlocked. Therefore, the user does not need any deliberate operation, such as the key to unlock the door light, just stretch and pull the door handle to open The door, entering the vehicle, greatly facilitates the user to use the vehicle. At the same time, it enhances the sense of technology and intelligence of the vehicle, and enhances the user's car experience.

[0066]In an embodiment of the present invention, the control module 120 is specifically configured to: when the position data sent by the positioning module 130 is received within the fourth preset time and the fifth preset time adjacent thereto, according to the position data The trajectory of the target intelligent terminal is calculated. That is, when the position data sent by the positioning module 130 is received within two consecutive set times, the corresponding movement track is calculated according to the position data.

[0067]In a specific embodiment, combiningimage 3 As shown, the control module 120, such as the on-board controller unlocking the door, can be summarized as follows: After the on-board controller receives the first command to wake up, it wakes up all UWB nodes through the CAN line or LIN line, that is, wakes up the positioning module 130, and determines that In the fourth preset time T_UWB_delay_slot1, whether the UWB node feeds back ToF data, if not, the UWB node sleeps, that is, the positioning module 130 does not work, and after the sixth preset time t_UWB_sleep, the on-board controller also sleeps; if so, then It is further judged whether the UWB node feeds back ToF data within the fifth preset time T_UWB_delay_slot2; if not, the UWB node sleeps, and after the sixth preset time t_UWB_sleep, the on-board controller also sleeps; if yes, it is in the fourth preset The position data ToF sent by the positioning module 130 is received at time T_UWB_delay_slot1 and the fifth preset time T_UWB_delay_slot2 adjacent thereto, and the vehicle controller calculates and draws the movement track of the target intelligent terminal according to the received ToF data. If according to the movement track, the on-board controller confirms that the target intelligent terminal continues to approach the vehicle, and the distance from the vehicle is less than or equal to the first preset distance, such as 10 meters, the on-board controller controls the vehicle’s welcome light to light up and continue to light up the first A preset time t_UWB_lamp. Further, if according to the movement trajectory, the on-board controller confirms that the target smart terminal is continuously approaching the vehicle and the distance from the vehicle is less than or equal to a second preset distance, such as 2 meters, the on-board controller communicates with the target smart terminal through the communication module 110, such as a BLE module. The terminal performs interactive authentication; judges whether the BLE interactive authentication is passed, and if the authentication passes, the on-board controller controls the door to unlock; if the authentication fails, it performs multiple consecutive BLE interactive authentications, and judges whether there is authentication in multiple consecutive BLE interactive authentications Pass; if yes, control the door to unlock, otherwise, the UWB node sleeps, and after the sixth preset time t_UWB_sleep, the onboard controller also sleeps.

[0068]In an embodiment of the present invention, within a second preset time after the door is unlocked, when it is not detected that the door is opened, the control module 120 is further configured to: when it is determined that the target smart terminal continues to be far away from the vehicle according to the motion trajectory, and When the distance between the vehicles is greater than or equal to the third preset distance, the control module performs interactive authentication with the target smart terminal through the communication module 110, and after the authentication is passed, controls the door to be locked, wherein the third preset distance is greater than the second preset distance. Set the distance and be smaller than the first preset distance.

[0069]Specifically, after the door is unlocked for the second preset time, such as within 3 minutes, if the door is not detected to be opened, that is, the user has not boarded the car and used the vehicle. For example, the user is likely to be passing by the vehicle, and there is no plan to use the car temporarily. , Or it may be that the user is making a phone call, not getting in the car in time, etc. Then, in order to accurately determine whether the user really intends to use the car, the movement trajectory of the target smart terminal can be further obtained, and the user's travel route can be determined according to the movement trajectory of the target smart terminal. Gradually away from the vehicle, it is considered that the user is just passing by the vehicle and has no intention of using the vehicle temporarily. When the target intelligent terminal gradually moves away from the vehicle to a distance greater than or equal to the third preset distance, such as 4 meters, the control module 130 communicates with the target intelligent terminal through the communication module 110. The terminal performs interactive authentication, and after the interactive authentication is passed, the door is controlled to lock to ensure vehicle safety. On the other hand, if it is determined according to the movement trajectory that the target smart terminal is not far away from the vehicle, but the user is not in the car, at this time, the user is close to the vehicle and keep the door unlocked. If it is subsequently detected that the user is far away from the vehicle and the distance is greater than or equal to the third preset Set the distance to control the door lock.

[0070]In an embodiment of the present invention, the control module 120 is further configured to, after the door is unlocked, when the communication module 110 does not search for the target smart terminal within the third preset time, or the communication module 110 searches for the target smart terminal, but controls The module 120 controls the vehicle door to be locked when the interactive authentication between the communication module 110 and the target smart terminal fails.

[0071]Specifically, after the door is unlocked, within a third preset time, such as 5 minutes, if the communication module 110 has not searched for the target smart terminal, such as the user is far away from the vehicle, or the communication module 110 has searched for the target smart terminal, but If the interactive authentication with the target smart terminal 110 fails, if the user's target smart terminal is stolen, the vehicle door is controlled to be locked, thereby ensuring the safety of the vehicle.

[0072]In an embodiment of the present invention, the control module 120 performs interactive authentication with the target intelligent terminal through the communication module 110, including: the control module 120 performs interactive authentication with the target intelligent terminal through the communication module 110 for a preset number of times, if the preset number of times is If any one of the interactive authentication passes, it is determined that the interactive authentication between the control module 120 and the target smart terminal through the communication module 110 has passed.

[0073]In other words, the control module 120 performs multiple consecutive interactive authentications with the target smart terminal through the communication module 110. If at least one of the multiple consecutive interactive authentications is passed, the control module 120 is considered to have passed the interactive authentication between the communication module 110 and the target smart terminal. by. For example, for example, the control module 120 performs 5 consecutive interactive authentications with the target smart terminal through the communication module 110. If at least one of the 5 interactive authentications is passed, it is considered that the control module 120 communicates with the target smart terminal through the communication module 110. Cross authentication passed.

[0074]In a specific embodiment, combiningFigure 4 As shown, the control module 120, such as the on-board controller locking the door, can be summarized as follows: after the on-board controller controls the door to be unlocked, it determines whether the door is opened within the second preset time t_UWB_unlock; if the door is opened, the present invention The vehicle keyless welcome entry control process of the embodiment ends; if the door is not opened, the communication module 110, such as the BLE module, actively starts the round training, that is, searches for the smart terminal within its communication range; if the smart terminal is found, it is determined Whether the smart terminal is a legally authorized smart terminal, that is, whether it is a target smart terminal; if not, perform multiple consecutive polling searches and identity verifications, and judge whether the multiple consecutive polling searches and identity verifications pass; if there are multiple consecutive polling searches and identity verifications If neither polling search nor identity verification passes the second time, the vehicle door is locked after the third preset time t_UWB_LOCK. If it is determined that the smart terminal is a legally authorized smart terminal, that is, the target smart terminal, all UWB nodes are controlled, that is, the positioning module 130 is enabled; it is determined whether the UWB node feedbacks ToF data within the fourth preset time T_UWB_delay_slot1, if If no, the UWB node sleeps, that is, the positioning module 130 does not work, and after the sleep for the third preset time t_UWB_LOCK, the on-board controller controls the door lock; if yes, it further determines whether the UWB node feedbacks ToF within the fifth preset time T_UWB_delay_slot2 Data; if not, the UWB node sleeps, and after sleep for the third preset time t_UWB_LOCK, the on-board controller controls the door to be locked; if yes, at the fourth preset time T_UWB_delay_slot1 and the adjacent fifth preset time T_UWB_delay_slot2 After receiving the position data ToF sent by the positioning module 130, the vehicle-mounted controller calculates and draws the movement track of the target smart terminal according to the received ToF data. If according to the movement trajectory, the on-board controller confirms that the target smart terminal is continuously far away from the vehicle and the distance from the vehicle is greater than or equal to the third preset distance, such as 4 meters, the on-board controller interacts with the target smart terminal through the communication module 110, such as a BLE module Authentication; judge whether the BLE interactive authentication is passed, if the authentication is passed, the on-board controller controls the door lock; if the authentication is not passed, the BLE interactive authentication is performed multiple times in succession, and it is judged whether the authentication is passed in multiple consecutive BLE interactive authentications; if yes , The door is controlled to be locked, otherwise, the UWB node sleeps, and after the third preset time t_UWB_LOCK of sleep, the on-board controller controls the door to be locked.

[0075]In a specific embodiment, the main frequency of the UWB node in the above-mentioned embodiment of the present invention is configured in the frequency band of 6GHz to 8GHz, the bandwidth is 500MHz, and the communication rate is less than 8Mbps; thus, the UWB node can complete fast and high-precision positioning measurement, and then It is helpful for the on-board controller to monitor and draw the real-time motion trajectory of the target intelligent terminal.

[0076]In a specific embodiment, the measured UWB positioning accuracy error in the open field is ≤10cm. When there is human interference, the positioning accuracy error is ≤20cm. When there is serious obstruction or shielding, the UWB positioning accuracy can also be guaranteed to be about 50cm (or there is no test result ), therefore, the embodiment of the present invention adopts UWB nodes for positioning, which can improve positioning accuracy, and at the same time, has strong anti-interference ability.

[0077]In summary, the embodiment of the present invention uses the fusion technology of UWB and BLE, BLE completes polling wake-up and interactive authentication, UWB achieves high-precision positioning and real-time motion trajectory drawing through ToF, thus completely getting rid of the limitations of traditional car keys, and users only need Carrying a smart terminal can realize the ideal experience of in-car keyless welcoming guests.

[0078]Specifically, the use of BLE to achieve polling and wake-up overcomes the problem of high battery quiescent current consumption when using low-frequency solutions when keyless entry applications are used-it is about 100 times less than saving, and there is no need to lengthen the polling cycle to reduce power consumption. , Which greatly improves the user experience. In addition, Bluetooth Low Energy BLE can use encryption algorithms such as AES to perform security protection during interactive authentication, thereby ensuring the security of vehicle control.

[0079]The use of UWB technology to achieve keyless entry for users overcomes the bottleneck of using low-frequency technology to cover short distances and small ranges; the measured UWB nodes are fully covered within 10m; the use of ToF measurement methods can solve the hidden dangers of low-frequency technology to prevent relaying. The vehicle system is safer and more reliable. In addition, UWB technology has strong anti-interference ability, stable and accurate positioning; it overcomes the shortcomings of BLE positioning that is easily interfered and misjudged. Even if there is human body cover (an unavoidable working condition for vehicle mobile terminals), UWB positioning accuracy can be maintained Within 20cm; this positioning effect is the highest and the most stable among many current car keyless entry applications, so it can enhance the user's intelligent experience and make the vehicle more technological.

[0080]In an embodiment of the present invention, the control module 120 is also used to: send the movement trajectory of the target smart terminal to the target smart terminal through the communication module 110, so that the target smart terminal can display the movement trajectory, thereby facilitating the user to view the movement of the target smart terminal The trajectory is conducive to determining whether the travel route is correct, so as to facilitate rapid and accurate search for vehicles. Among them, the target smart terminal is, for example, a mobile phone or a smart key of a vehicle carried by the user. The smart key has a display screen, so that when the control module 120 obtains the motion trajectory of the mobile phone or smart key, it sends the motion trajectory to the mobile phone or smart key. The key, mobile phone or smart key displays the movement track on the display screen, which helps the user to determine his current relative position to the vehicle, determine whether the travel route is correct, etc., so as to facilitate the user to quickly find the vehicle.

[0081]The vehicle keyless welcome entry control system according to the embodiment of the present invention has low power consumption and strong anti-interference ability, completes the polling wake-up control module and interactive authentication process through the communication module, and realizes the high-precision positioning of the intelligent terminal through the positioning module. The movement track of the target intelligent terminal is obtained through the control module, which facilitates precise control of the vehicle's keyless welcome and improves the reliability and safety of the vehicle. The system completely gets rid of the limitation of the traditional car key. The user only needs to carry the intelligent terminal without Any deliberate operation can achieve the ideal experience of vehicle keyless welcoming entry, thereby enhancing the vehicle's sense of technology and intelligence, and thereby enhancing the user experience.

[0082]A further embodiment of the present invention also provides a vehicle, including the vehicle keyless welcome entry control system described in any one of the above embodiments of the present invention.

[0083]It should be noted that the specific implementation of the vehicle in the embodiment of the present invention is similar to the specific implementation of the vehicle keyless welcome entry control system of the embodiment of the present invention. For details, please refer to the description of the system part. In order to reduce redundancy, here No longer.

[0084]According to the vehicle of the embodiment of the present invention, the polling wake-up control module and the interactive authentication process are completed through the communication module, the high-precision positioning of the intelligent terminal is realized through the positioning module, and the motion trajectory of the target intelligent terminal is obtained through the control module, thereby facilitating precise control of the vehicle. The key welcome entry improves the reliability and safety of the vehicle. The vehicle completely gets rid of the limitation of the traditional car key. The user only needs to carry the smart terminal without any deliberate operation to realize the ideal experience of the vehicle keyless welcome entry , Thereby improving the sense of technology and intelligence of the vehicle, thereby enhancing the user experience.

[0085]In addition, other configurations and functions of the vehicle according to the above-mentioned embodiments of the present invention are known to those of ordinary skill in the art, and in order to reduce redundancy, details are not repeated.

[0086]A further embodiment of the present invention also proposes a vehicle keyless welcome entry control method.

[0087]Figure 7 It is a flowchart of a keyless welcome entry control method for a vehicle according to an embodiment of the present invention. Such asFigure 7 As shown, the vehicle keyless welcome entry control method includes the following steps:

[0088]Step S1: The communication module searches for a smart terminal with a preset communication mode within its communication range, and when the target smart terminal is found, it sends a first instruction.

[0089]Specifically, the communication module may be set on the vehicle to search for smart terminals within its communication range through a preset communication mode, and perform identity verification on the searched smart terminals, and use the verified smart terminal as the target smart terminal.

[0090]In an embodiment of the present invention, the preset communication mode includes low-power Bluetooth BLE communication, thereby having the advantages of wide communication range and low power consumption.

[0091]In an embodiment of the present invention, the communication module may also use other non-BLE technologies such as low-frequency (such as 125k, etc.) communication to realize wake-up and interactive authentication with the smart terminal.

[0092]In another embodiment of the present invention, the communication module can also communicate with the smart terminal using the unidirectional ranging method of UWB technology.

[0093]In a specific embodiment, the smart terminal may be a wearable device such as a mobile phone, a tablet computer, or an electronic bracelet held by the user, for example.

[0094]Step S2: The control module performs identity verification on the target smart terminal according to the first instruction, and after the verification is passed, sends a second instruction.

[0095]Step S3: The positioning module obtains the position data of the target smart terminal according to the second instruction, and sends the position data to the control module.

[0096]Step S4: The control module obtains the movement trajectory of the target intelligent terminal according to the position data, and controls the welcome light or door of the vehicle according to the movement trajectory.

[0097]In a specific embodiment, the control module is, for example, an on-board controller ECU.

[0098]In a specific embodiment, combiningfigure 2 As shown, taking the communication module as a BLE module, that is, the preset communication mode is BLE communication, as an example, the process of the communication module polling and waking up a control module, such as a vehicle controller, in a BLE mode is described. Specifically, in the initial state, the control module, such as the on-board controller, is in the dormant state, that is, it does not work. When the vehicle keyless welcome entry control system is turned on, the communication module, such as the BLE module, enters the polling mode and is within its communication range. Search for the smart terminal that enables BLE communication, and if the corresponding smart terminal is found, it is further determined whether the smart terminal is a legally authorized smart terminal, that is, whether it is a target smart terminal. That is, perform identity verification on the searched smart terminal, for example, perform identity verification through a key generated by an encryption algorithm such as AES in advance. If the identity verification is passed, the smart terminal will be used as the target smart terminal, that is, owned by the user corresponding to the vehicle If the smart terminal is not verified, the vehicle controller is further awakened, for example, the first instruction is sent to the vehicle controller to wake up; and the smart terminal that has not been verified can be ignored, and the search for the target smart terminal will continue. That is, the embodiments of the present invention are based on the low power consumption characteristics of BLE, and when a guest enters the application, BLE implements polling under static working conditions and wake-up of the vehicle controller, thereby saving power consumption.

[0099]In an embodiment of the present invention, the positioning module can obtain position data through Time of Flight (ToF) ranging and positioning technology.

[0100]In another embodiment of the present invention, the positioning module may also obtain position data through non-ToF measurement methods, such as the angle of arrival AOA ranging positioning technology.

[0101]In an embodiment of the present invention, the positioning module includes, for example, a plurality of positioning units arranged in the vehicle body and/or in the vehicle. Specifically, the positioning unit may be configured to include an ultra-wideband positioning node, that is, a UWB Node. That is, using the characteristics of high positioning accuracy and short measurement time of UWB, the relative position of the vehicle and the target intelligent terminal is determined according to the actual flight time of each node or according to the angle of arrival, etc., to obtain the position data of the target intelligent terminal, which is conducive to the calculation. And draw the movement trajectory of the target intelligent terminal to achieve precise positioning.

[0102]inFigure 5 In the example shown, there are five positioning units arranged in the vehicle body and/or in the vehicle, namely: UWB Node1, UWB Node2, UWB Node3, UWB Node4, UWB Node5.

[0103]Specifically, two UWB nodes are set in the vehicle. Among them, UWB Node5 can be set at the rear top light position in the car or under the shark fin, and the other UWB node in the car is integrated in the ECU (ie control module), so that the two UWB nodes set in the car can fully cover the car It also participates in the auxiliary judgment of the motion trajectory of the smart terminal when welcoming guests, that is, realizes the position and location compensation of the smart terminal, which is conducive to the realization of a keyless start with high accuracy and reliability.

[0104]Specifically, such asFigure 5 As shown, 4 UWB nodes can be arranged outside the vehicle, namely: UWB Node1/2 on the left and right sides of the head of the vehicle, UWB Node3/4 on the left and right sides of the rear of the vehicle, with the same height (the actual height depends on the actual vehicle). Among them, such asFigure 6 As shown, the definition coverage of UWB Node1 includes: A, B, C, D (F is not mandatory); the effective coverage of UWB Node2 includes: A, B, C, E (H is not mandatory); the effective coverage of UWB Node3 includes: D, F, G, H (A is not mandatory); UWB Node4 defines the coverage area to include: E, F, G, H (C is not mandatory). Therefore, the above-mentioned four UWB nodes are arranged outside the vehicle, which can fully cover the area around the vehicle body, which is beneficial to positioning the intelligent terminal around the vehicle body, that is, increasing the coverage area and ensuring the accuracy and reliability of positioning.

[0105]It can be understood that the number and arrangement of UWB nodes in the foregoing embodiment are only exemplary descriptions, and the number and arrangement of UWB nodes can also be flexibly deployed according to actual needs. For example, 6 UWB nodes are arranged outside the vehicle, or two UWB nodes are arranged inside the vehicle, and these two UWB nodes are independent and are not integrated in the user controller ECU. In addition, the connection between UWB nodes can be the LIN line of the vehicle, or the CAN line of the vehicle.

[0106]CombineFigure 5 withFigure 6 As shown, the communication module adopts BLE technology for communication, the positioning module adopts UWB technology for positioning, and the control module is an on-board controller ECU as an example. That is, the vehicle keyless welcome entry control system adopts UWB and BLE technology and is realized based on motion trajectory judgment. An exemplary overview of the specific implementation principle of the vehicle keyless welcome entry is as follows:

[0107]The user carries a smart terminal (such as a smart phone) that supports UWB and BLE, without the need for a traditional car key, no manual operation (the BLE of the smart terminal needs to be turned on), when the user brings the smart terminal into the vehicle's BLE coverage area, the vehicle main controller ECU Automatically connect with the smart terminal through BLE and confirm whether the identity is legal; if the smart terminal is legal, it is determined as the target smart terminal. The ECU will obtain the movement trajectory of the target smart terminal in real time through the 6 UWB nodes arranged in the vehicle. If the actual movement is obtained When the trajectory indicates that the target intelligent terminal is close to the vehicle and the distance meets the defined lighting distance, the vehicle automatically lights the exterior light at the corresponding position, that is, the welcome light; if the target intelligent terminal motion track indicates that it is close to the vehicle and meets the defined unlocking distance, the vehicle BLE will actively conduct interactive authentication with the target smart terminal BLE, and the four doors of the vehicle will be automatically unlocked after passing; if the target smart terminal's motion track indicates that it has left the vehicle and meets the defined locking distance, the vehicle BLE will actively conduct interactive authentication with the target smart terminal BLE , The four doors of the vehicle are automatically locked after passing.

[0108]The above implementation process is automatically completed in the user's normal operation. The user does not perform any deliberate operation, but normally approaches the vehicle and pulls the door, which improves the vehicle's sense of science and technology and intelligence, thereby enhancing the user experience; in addition, The combination of UWB technology and BLE technology has the advantages of low power consumption and strong anti-interference ability. Through the communication module, the polling wake-up control module and the interactive authentication process are completed, the high-precision positioning of the smart terminal is realized through the positioning module, and the target is obtained through the control module The motion trajectory of the smart terminal facilitates precise control of the vehicle's keyless welcome entry, which improves the reliability and safety of the vehicle.

[0109]In an embodiment of the present invention, the control module controls the welcome light or door of the vehicle according to the movement trajectory, including: when it is determined according to the movement trajectory that the target intelligent terminal continues to approach the vehicle, and the distance to the vehicle is less than or equal to the first At a preset distance, control the welcome light to turn on for a first preset time; when it is determined that the target smart terminal continues to approach the vehicle according to the movement track, and the distance to the vehicle is less than or equal to the second preset distance, control The module performs interactive authentication with the target intelligent terminal through the communication module, and after the authentication is passed, controls the unlocking of the vehicle door, wherein the second preset distance is less than the first preset distance.

[0110]Specifically, the control module obtains the motion trajectory of the target smart terminal according to the position data of the target smart terminal sent by the positioning module, and then determines whether the target smart terminal is close to or far from the vehicle or not. When it is determined that the target smart terminal continues to approach Vehicle, and the distance between the vehicle and the vehicle is less than or equal to the first preset distance, such as 10 meters, think that the user is approaching the vehicle and intends to use the vehicle, then control the vehicle's welcome light to light up, and continue to light Lights up for the first preset time, such as 8-10 seconds, in order to prompt the location of the vehicle to facilitate the user to find the car; further, when it is determined that the target smart terminal continues to approach the vehicle, and the distance to the vehicle is less than or equal to the second preset Distance, such as 2 meters, thinks that the user is close to the vehicle and is about to reach the door, then the control module will interact with the target smart terminal through the communication module, such as the BLE module, for interactive authentication, that is, perform identity verification again, and that is, if security is guaranteed After passing, the door is controlled to unlock, so that when the user reaches the door, the door is already unlocked. Therefore, the user does not need any deliberate operation, such as the key to unlock the door light, just stretch the door handle to open the door and enter the vehicle , Which greatly facilitates the user's use of the vehicle, at the same time, enhances the sense of technology and intelligence of the vehicle, and enhances the user's car experience.

[0111]In an embodiment of the present invention, the control module obtains the movement trajectory of the target smart terminal according to the position data, including: if the information sent by the positioning module is received within the fourth preset time and the fifth preset time adjacent thereto The position data is calculated according to the position data to obtain the movement track of the target smart terminal. That is, when the position data sent by the positioning module is received within two consecutive set times, the corresponding movement track is calculated according to the position data.

[0112]In a specific embodiment, combiningimage 3 As shown, the control module, such as the on-board controller unlocking the door, can be summarized as follows: After the on-board controller receives the first command to wake up, it wakes up all UWB nodes through the CAN line or LIN line, that is, wakes up the positioning module. In the preset time T_UWB_delay_slot1, whether the UWB node feeds back ToF data, if not, the UWB node sleeps, that is, the positioning module does not work, and after the sixth preset time t_UWB_sleep, the on-board controller also sleeps; if it is, it further determines the first 5. In the preset time T_UWB_delay_slot2, whether the UWB node feeds back ToF data; if not, the UWB node sleeps, and after the sixth preset time t_UWB_sleep, the on-board controller also sleeps; if it is, the fourth preset time T_UWB_delay_slot1 and The position data ToF sent by the positioning module is received in the adjacent fifth preset time T_UWB_delay_slot2, and the vehicle controller calculates and draws the movement trajectory of the target intelligent terminal according to the received ToF data. If according to the movement track, the on-board controller confirms that the target intelligent terminal continues to approach the vehicle, and the distance from the vehicle is less than or equal to the first preset distance, such as 10 meters, the on-board controller controls the vehicle’s welcome light to light up and continue to light up the first A preset time t_UWB_lamp. Further, if according to the movement trajectory, the on-board controller confirms that the target intelligent terminal is continuously approaching the vehicle and the distance from the vehicle is less than or equal to a second preset distance, such as 2 meters, the on-board controller communicates with the target intelligent terminal through a communication module, such as a BLE module Perform interactive authentication; determine whether the BLE interactive authentication is passed, if the authentication is passed, the on-board controller controls the door to unlock; if the authentication fails, perform multiple BLE interactive authentications in succession, and judge whether the authentication is passed in multiple consecutive BLE interactive authentications ; If yes, control the door to be unlocked, otherwise, the UWB node sleeps, and after the sixth preset time t_UWB_sleep, the vehicle controller also sleeps.

[0113]In an embodiment of the present invention, after controlling the unlocking of the vehicle door, it further includes: within the second preset time, if the vehicle door is not detected to be opened, when it is determined according to the movement trajectory that the target smart terminal continues to be far away from the vehicle and is in contact with the vehicle When the distance is greater than or equal to the third preset distance, the control module performs interactive authentication with the target smart terminal through the communication module, and after the authentication is passed, controls the door to be locked, wherein the third preset distance is greater than the second preset distance and Less than the first preset distance.

[0114]Specifically, after the door is unlocked for the second preset time, such as within 3 minutes, if the door is not detected to be opened, that is, the user has not boarded the car and used the vehicle. For example, the user is likely to be passing by the vehicle, and there is no plan to use the car temporarily. , Or it may be that the user is making a phone call, not getting in the car in time, etc. Then, in order to accurately determine whether the user really intends to use the car, the movement trajectory of the target smart terminal can be further obtained, and the user's travel route can be determined according to the movement trajectory of the target smart terminal. If the user is gradually far away from the vehicle, it is considered that the user is just passing by the vehicle and has no intention of using the vehicle temporarily. When the target intelligent terminal gradually moves away from the vehicle to a distance greater than or equal to the third preset distance, such as 4 meters, the control module communicates with the target intelligent terminal through the communication module Cross-authentication, after the cross-authentication is passed, the door is controlled to lock to ensure the safety of the vehicle. On the other hand, if it is determined according to the movement trajectory that the target smart terminal is not far away from the vehicle, but the user is not in the car, at this time, the user is close to the vehicle and keep the door unlocked. If it is subsequently detected that the user is far away from the vehicle and the distance is greater than or equal to the third preset Set the distance to control the door lock.

[0115]In an embodiment of the present invention, after controlling the unlocking of the vehicle door, it further includes: if the communication module does not search for the target smart terminal within the third preset time, or the communication module searches for the target smart terminal, but the control module communicates If the interactive authentication between the module and the target intelligent terminal fails, the door is controlled to be locked.

[0116]Specifically, after the door is unlocked, within the third preset time, such as 5 minutes, if the communication module has not searched for the target smart terminal, such as the user is far away from the vehicle, or the communication module has searched for the target smart terminal, but it is not If the interactive authentication of the target smart terminal fails, if the user's target smart terminal is stolen, the vehicle door is controlled to be locked to ensure vehicle safety.

[0117]In an embodiment of the present invention, the control module performs interactive authentication with the target smart terminal through the communication module, including: the control module performs a preset number of interactive authentications with the target smart terminal through the communication module, if the preset number of interactive authentications If any authentication is passed, it is determined that the control module passes the interactive authentication between the communication module and the target smart terminal.

[0118]In other words, the control module performs multiple consecutive interactive authentications with the target smart terminal through the communication module. If at least one authentication is passed in the multiple consecutive interactive authentications, the control module is considered to have passed the interactive authentication between the communication module and the target smart terminal. For example, for example, the control module performs 5 consecutive interactive authentications with the target smart terminal through the communication module. If at least one of the 5 interactive authentication passes, the control module is considered to pass the interactive authentication between the communication module and the target smart terminal.

[0119]In a specific embodiment, combiningFigure 4 As shown, the control module, such as the on-board controller locking the door, can be summarized as follows: after the on-board controller controls the door to be unlocked, it determines whether the door is opened within the second preset time t_UWB_unlock; if the door is opened, the present invention is implemented For example, the vehicle keyless welcome entry control process ends; if the door is not opened, the communication module, such as the BLE module, actively starts the round training, that is, searches for the smart terminal within its communication range; if the smart terminal is found, the smart terminal is judged Whether it is a legally authorized smart terminal, that is, whether it is a target smart terminal; if not, perform multiple consecutive polling searches and identity verifications, and judge whether the multiple consecutive polling searches and identity verification pass; if multiple consecutive polls If the query search and identity verification fail, the vehicle door is controlled to be locked after the third preset time t_UWB_LOCK. If it is determined that the smart terminal is a legally authorized smart terminal, that is, the target smart terminal, all UWB nodes are controlled, that is, the positioning module is enabled; it is determined whether the UWB node feedbacks ToF data within the fourth preset time T_UWB_delay_slot1, if not , The UWB node sleeps, that is, the positioning module does not work, and after sleep for the third preset time t_UWB_LOCK, the on-board controller controls the door to lock; if so, it further determines whether the UWB node feeds back ToF data within the fifth preset time T_UWB_delay_slot2; If not, the UWB node sleeps, and after sleep for the third preset time t_UWB_LOCK, the on-board controller controls the door to be locked; if yes, it is within the fourth preset time T_UWB_delay_slot1 and the adjacent fifth preset time T_UWB_delay_slot2 After receiving the position data ToF sent by the positioning module, the on-board controller calculates and draws the movement track of the target smart terminal according to the received ToF data. If according to the movement trajectory, the vehicle controller confirms that the target smart terminal is continuously far away from the vehicle and the distance from the vehicle is greater than or equal to the third preset distance, such as 4 meters, the vehicle controller performs interactive authentication with the target smart terminal through the communication module, such as the BLE module ; Determine whether the BLE interactive authentication is passed, if the authentication is passed, the on-board controller controls the door lock; if the authentication fails, perform multiple consecutive BLE interactive authentications, and determine whether the authentication is passed in multiple consecutive BLE interactive authentications; if yes, Then control the door to be locked, otherwise, the UWB node sleeps, and after the third preset time t_UWB_LOCK of sleep, the on-board controller controls the door to be locked.

[0120]In a specific embodiment, the main frequency of the UWB node in the above-mentioned embodiment of the present invention is configured in the frequency band of 6GHz to 8GHz, the bandwidth is 500MHz, and the communication rate is less than 8Mbps; thus, the UWB node can complete fast and high-precision positioning measurement, and then It is helpful for the on-board controller to monitor and draw the real-time motion trajectory of the target intelligent terminal.

[0121]In a specific embodiment, the measured UWB positioning accuracy error in the open field is ≤10cm. When there is human interference, the positioning accuracy error is ≤20cm. When there is serious obstruction or shielding, the UWB positioning accuracy can also be guaranteed to be about 50cm (or there is no test result ), therefore, the embodiment of the present invention adopts UWB nodes for positioning, which can improve positioning accuracy, and at the same time, has strong anti-interference ability.

[0122]In summary, the embodiment of the present invention uses the fusion technology of UWB and BLE, BLE completes polling wake-up and interactive authentication, UWB achieves high-precision positioning and real-time motion trajectory drawing through ToF, thus completely getting rid of the limitations of traditional car keys, and users only need Carrying a smart terminal can realize the ideal experience of in-car keyless welcoming guests.

[0123]Specifically, the use of BLE to achieve polling and wake-up overcomes the problem of high battery quiescent current consumption when using low-frequency solutions when keyless entry applications are used-it is about 100 times less than saving, and there is no need to lengthen the polling cycle to reduce power consumption. , Which greatly improves the user experience. In addition, Bluetooth Low Energy BLE can use encryption algorithms such as AES to perform security protection during interactive authentication, thereby ensuring the security of vehicle control.

[0124]The use of UWB technology to achieve keyless entry for users overcomes the bottleneck of using low-frequency technology to cover short distances and small ranges; the measured UWB nodes are fully covered within 10m; the use of ToF measurement methods can solve the hidden dangers of low-frequency technology to prevent relaying. The vehicle system is safer and more reliable. In addition, UWB technology has strong anti-interference ability, stable and accurate positioning; it overcomes the shortcomings of BLE positioning that is easily interfered and misjudged. Even if there is human body cover (an unavoidable working condition for vehicle mobile terminals), UWB positioning accuracy can be maintained Within 20cm; this positioning effect is the highest and the most stable among many current car keyless entry applications, so it can enhance the user's intelligent experience and make the vehicle more technological.

[0125]In an embodiment of the present invention, the method further includes: the control module sends the movement trajectory of the target smart terminal to the target smart terminal through the communication module, so that the target smart terminal can display the movement trajectory, thereby facilitating the user to view the movement trajectory of the target smart terminal , It is helpful to determine whether the travel route is correct, so as to facilitate fast and accurate search for vehicles. Among them, the target smart terminal is, for example, a mobile phone or a smart key of a vehicle carried by the user. The smart key has a display screen, so that when the control module obtains the motion trajectory of the mobile phone or smart key, it sends the motion trajectory to the mobile phone or smart key. , The mobile phone or smart key displays the movement trajectory on the display screen, so that the user can determine his current relative position to the vehicle, determine whether the travel route is correct, etc., so that the user can quickly find the vehicle.

[0126]It should be noted that the specific implementation of the vehicle keyless welcome entry control method of the embodiment of the present invention is similar to the specific implementation of the vehicle keyless welcome entry control system of the embodiment of the present invention. For details, please refer to the description of the system section. In order to reduce redundancy, it will not be repeated here.

[0127]According to the vehicle keyless welcome entry control method of the embodiment of the present invention, it has low power consumption and strong anti-interference ability, completes the polling wake-up control module and interactive authentication process through the communication module, and realizes the high-precision positioning of the intelligent terminal through the positioning module. The movement track of the target intelligent terminal is obtained through the control module, which facilitates precise control of the vehicle's keyless welcome and improves the reliability and safety of the vehicle. This method completely gets rid of the limitation of the traditional car key. The user only needs to carry the intelligent terminal without Any deliberate operation can achieve the ideal experience of vehicle keyless welcoming entry, thereby enhancing the vehicle's sense of technology and intelligence, and thereby enhancing the user experience.

[0128]In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "Radial", "Circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the pointed device or The element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0129]In the description of the present invention, "plurality" means two or more.

[0130]In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. means to incorporate the implementation The specific features, structures, materials or characteristics described in the examples or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the aforementioned terms do not necessarily refer to the same embodiment or example.

[0131]Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present invention. The scope of the present invention is defined by the claims and their equivalents.