A vehicle precise positioning and communication method and system based on UWB technology

Abstract

This invention discloses a vehicle precise positioning and communication method and system based on UWB technology. The method includes the following steps: transmitting a UWB pulse signal; determining whether the distance between the vehicle and a mobile terminal reaches a preset distance range; if so, responding to the pulse signal to initiate a preset interaction mode between the vehicle and the mobile terminal. Using this invention, the positioning accuracy of the relative position of the vehicle and passenger can be improved, solving the problems of difficulty in finding each other and high communication costs for both drivers and passengers. Simultaneously, it can also promptly detect items left behind by passengers, avoiding the waste of significant time for both parties in subsequent return communication.

Description

Technical Field

[0001] This invention relates to mobile communication and ultra-wideband (UWB) positioning fusion application technology, and in particular to a vehicle precise positioning and communication method and system based on UWB technology. Background Technology

[0002] With the development of technologies such as network communication and electronic maps, the online ride-hailing business has flourished, and now choosing ride-hailing has become a part of people's daily lives.

[0003] However, when choosing a ride-hailing service, you will often encounter the following problems:

[0004] First, since ride-hailing platform apps typically use satellite signals, such as GPS, for location tracking, and the accuracy of civilian GPS signals is not high, when a driver arrives at the passenger's pre-set pick-up location, the actual location is often tens or even hundreds of meters away from the passenger's location. This results in the passenger and driver needing to communicate by phone constantly, generating significant communication costs.

[0005] Secondly, due to the poor positioning accuracy of ride-hailing platform apps, in complex road conditions, ride-hailing drivers may miss the designated pick-up location when arriving at the passenger's pre-set pick-up point, causing the vehicle to overshoot the destination. Then, the driver needs to spend a lot of time turning around, wasting the time of both the driver and the passenger, resulting in a poor riding experience.

[0006] Third, passengers often leave valuables such as mobile phones in ride-hailing vehicles after getting off. Due to current technological limitations, it is difficult for both drivers and passengers to notice the lost phones immediately, which wastes a lot of time for both parties in the process of finding the lost items.

[0007] Even worse, in some urban roads with large topographical variations, or in some multi-level transportation environments, such as airports and stations with multiple road layers, if a ride-hailing app is used to book a ride, the driver and passenger cannot determine each other's location due to the low accuracy of GPS positioning and the weak or even non-existent satellite signal coverage. Therefore, it is even more difficult to communicate by phone and find each other.

[0008] While relatively mature Assisted GPS (A-GPS) technology exists that combines mobile communication network base station signals with GPS signals to locate passengers' mobile phones and then feeds the location information back to the driver's app, it still relies on GPS technology. Although this technology can improve positioning accuracy to some extent in flat traffic environments, its positioning performance remains unsatisfactory in complex road conditions. Especially in some multi-level traffic environments, even combining GPS and A-GPS positioning technologies cannot achieve accurate positioning for both drivers and passengers in the aforementioned application scenarios.

[0009] In recent years, with the development of Ultra Wideband (UWB) technology based on the IEEE 802.15.4a and IEEE 802.15.4z standards, secure ranging and positioning technologies utilizing UWB have become widely popular in the application market. Because UWB is a wireless communication technology based on non-sinusoidal waves (carrier waves), it uses nanoseconds (1 ns = 10^65 nm). -9 (s) level or even picosecond (1ps = 10 -12 UWB (Ultra-Wideband) communication utilizes narrow-pulse signals at the s level. Narrow-pulse signals offer advantages such as strong penetration, anti-interference, good multipath resistance, high security, and low power consumption. In indoor real-time positioning systems (RTLS), UWB ranging and positioning technology enables dynamic positioning, tracking, and navigation of stationary or moving objects and people, providing precise positioning data down to 10 centimeters. Furthermore, its development based on the IEEE 802.15.4z standard extension has enabled additional security features, allowing UWB to achieve even safer and more accurate centimeter-level ranging and positioning. This further supports various applications in smart homes, smart buildings, the Internet of Things (IoT), and the Car Connectivity Consortium (CCC).

[0010] Chinese invention application No. 20211111451901.9, entitled "UWB-based vehicle positioning prediction method, device and storage medium", discloses a vehicle positioning prediction method based on UWB technology. This method utilizes the current UWB positioning data of a vehicle, along with the corresponding current time, the vehicle's historical UWB positioning data at a first historical time, historical speed, and predicted average acceleration. The first historical time is the moment before the current time when the vehicle's UWB positioning data was most recently updated. Based on the current time, the first historical time, the historical UWB positioning data, the historical speed, and the predicted average acceleration, the method predicts the vehicle's current positioning data. This improves the accuracy of vehicle positioning by addressing the problem of inaccurate positioning when relying solely on UWB positioning data.

[0011] Chinese invention application No. 202111505182.4, entitled "Vehicle Positioning Method, System, Device and Storage Medium", discloses a method for deploying an RTK positioning system and a UWB positioning system on a vehicle-mounted terminal to obtain RTK positioning observations and UWB positioning observations of the vehicle, respectively, to obtain the confidence levels of the RTK positioning system and the UWB positioning system, to select a target positioning observation value whose system confidence level meets the set conditions from the RTK positioning observations and UWB positioning observations, and to use the target positioning observation value as the vehicle-mounted positioning result to improve the vehicle positioning accuracy, thereby controlling the vehicle to perform corresponding driving behaviors.

[0012] Chinese invention application No. 202111520713.7, entitled "A Method for Integrating 4G / 5G Communication Base Stations Using UWB Positioning", discloses a method for integrating existing 4G / 5G network communication base stations with a UWB positioning system to achieve both communication and precise positioning, thereby saving the cost of building and maintaining a separate positioning network. At the same time, by binding mobile phones and positioning tags and using electronic maps, it enables functions such as underground positioning and underground navigation.

[0013] However, none of the existing technologies based on UWB mentioned above, whether for indoor positioning, improving the positioning accuracy of automatic navigation and autonomous vehicles, or for the concept of network integration between existing 4G / 5G networks and UWB, can solve the series of problems caused by the inaccurate positioning of the relative positions of the driver and passengers in this invention application. Summary of the Invention

[0014] In view of this, the main objective of this invention is to provide a vehicle precise positioning and communication method and system based on UWB technology. By improving the positioning accuracy of the relative position between the vehicle and passengers, it solves the problems of difficulty in finding each other and high communication costs for both drivers and passengers. Simultaneously, it can also promptly detect items left behind by passengers, avoiding the waste of significant time for both parties in subsequent return communication.

[0015] To achieve the above objectives, the technical solution of the present invention is as follows:

[0016] A method for precise vehicle positioning and communication based on UWB technology includes the following steps:

[0017] Transmit a UWB pulse signal to determine whether the distance between the vehicle and the mobile terminal has reached a preset distance range;

[0018] If so, the vehicle responds to the pulse signal to initiate a preset interaction mode between the vehicle and the mobile terminal.

[0019] Furthermore, when the vehicle or mobile terminal responds to the UWB pulse signal, a preset interaction mode is initiated between the vehicle and the mobile terminal, including: obtaining the current travel time of the UWB pulse signal between the vehicle and the mobile terminal or obtaining the time difference of the UWB pulse signal received by different UWB base stations, calculating the relative distance between the vehicle and the mobile terminal, and then updating the location data.

[0020] Furthermore, in the step of transmitting a UWB pulse signal to determine whether the distance between the vehicle and the mobile terminal reaches a preset distance range, if so, it also includes the step of switching the satellite navigation positioning function previously used by the vehicle and / or the mobile terminal to the UWB positioning and navigation.

[0021] Furthermore, the distance between the vehicle and the mobile terminal reaches a preset distance range, specifically less than 200 meters.

[0022] Furthermore, the preset interaction mode between the vehicle and the mobile terminal also includes: initiating and establishing a UWB wireless communication link between the vehicle and the mobile terminal.

[0023] Furthermore, after calculating the relative distance between the vehicle and the mobile terminal and updating the location data, the method further includes: transmitting the next UWB pulse signal again to calculate the new relative distance between the vehicle and the mobile terminal, and updating the location data again.

[0024] Furthermore, the mobile terminal connects to the vehicle's onboard terminal via the UWB wireless communication link, controlling the vehicle to emit alert signals via sound and light.

[0025] Furthermore, the vehicle's onboard terminal connects to the mobile terminal via the UWB wireless communication link, controlling the mobile terminal to emit a notification signal in a flashing manner.

[0026] Furthermore, the vehicle's onboard terminal and the mobile terminal establish a full-duplex communication channel through the UWB wireless communication link to communicate in voice and / or video modes.

[0027] Further, the step of determining whether the distance between the vehicle and the mobile terminal reaches a preset distance range is performed. If not, the UWB pulse signal continues to be transmitted to search for the vehicle or the mobile terminal.

[0028] A communication system for implementing the UWB-based vehicle precise positioning and communication method, comprising:

[0029] The mobile terminal is used to maintain a data connection with the positioning server via a mobile communication network, and is also used to measure distances and locate vehicle-mounted terminals, and to establish a UWB communication link with vehicle-mounted terminals to upload first positioning data to the positioning server and receive second positioning data.

[0030] The vehicle-mounted terminal is used to maintain a data connection with the positioning server via a mobile communication network, and is also used to measure distance and position the mobile terminal, and to establish a UWB communication link with the mobile terminal to upload second positioning data to the positioning server and receive the first positioning data.

[0031] A positioning server is configured to receive the first positioning data and the second positioning data, and to send the second positioning data and the first positioning data to the mobile terminal and / or vehicle terminal to update their respective location data in the electronic map.

[0032] A mobile terminal, comprising one or more processors and memory;

[0033] The processor is used to read and execute one or more computer programs stored in the memory to implement the steps of the UWB-based vehicle precise positioning and communication method.

[0034] An in-vehicle terminal includes one or more processors and a memory;

[0035] The processor is used to read and execute one or more computer programs stored in the memory to implement the steps of the UWB-based vehicle precise positioning and communication method.

[0036] A positioning server includes one or more processors and a memory; the processors are configured to read and execute one or more computer programs stored in the memory to implement the steps of the UWB-based vehicle precise positioning and communication method.

[0037] A computer-readable storage medium storing one or more computer programs for being read and / or executed by one or more processors to implement the steps of the UWB-based vehicle precise positioning and communication method.

[0038] The present invention, a vehicle precise positioning and communication method and system based on UWB technology, has the following beneficial effects:

[0039] 1) When a ride-hailing vehicle approaches a passenger, the high-precision UWB positioning technology improves the positioning accuracy of both the driver and the passenger. The positioning accuracy of UWB can reach about 10cm, which is higher than that of civilian satellite positioning. Moreover, because UWB signals have the advantages of penetration and strong resistance to multipath fading, they are not affected by surrounding buildings and environment, and their application scenarios are not limited. Therefore, it can ensure the positioning accuracy of both the driver and the passenger in complex road conditions.

[0040] 2) When the driver approaches the passenger's location, the passenger can control the flashing or color of the ride-hailing vehicle's hazard lights, passenger indicator, and other lighting systems through the UWB communication link, so that the passenger can more easily find the specific location of the ride-hailing vehicle they are about to take.

[0041] 3) When the driver approaches the passenger's boarding location, the driver can control the flashing and flashing frequency of the passenger's mobile phone flashlight through the UWB communication link so that the driver can find the passenger's specific location in time at night or in crowded places.

[0042] 4) In the solution of this invention, when the driver approaches the passenger's location, they can establish a channel for voice or video calls with the passenger via UWB communication after encryption through the APP. Since UWB has local area network characteristics, communication with the passenger is only possible when the driver is nearby and the APP software is encrypted, thus better protecting the privacy of both driver and passenger. Furthermore, because communication is based on hardware-based UWB technology, there is no phone bill incurred. Current technologies encrypt the driver's and passenger's communication numbers before communication through the app's number forwarding function, generally allowing only voice calls and not video calls. Moreover, since many mobile phones now have high-frequency call blocking functions, if the forwarded number in the ride-hailing system is dialed frequently, it is easily identified as a high-frequency call number or blacklisted, leading to communication disruptions. Existing ride-hailing software needs to store a large number of numbers for forwarding to solve this problem, which is very inconvenient.

[0043] 5) After the passenger arrives at their destination, the in-vehicle UWB will also locate the passenger's mobile phone. Specifically, when the ride-hailing vehicle arrives at the destination, the in-vehicle UWB antenna begins to locate the passenger's mobile phone. When the car door is opened and then closed, if the system detects that the passenger's mobile phone is still in the car, the system will remind the driver through the in-vehicle screen and the in-vehicle voice system, so that the driver can remind the passenger to retrieve the mobile phone in time. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of a vehicle precise positioning and communication system based on UWB technology according to an embodiment of the present invention;

[0045] Figure 2This is a schematic diagram of the vehicle precise positioning and communication network composition based on UWB technology according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the time-of-flight (TOF) ranging method used to achieve UWB positioning in an embodiment of the present invention.

[0047] [Key Component Labels]

[0048] 1: Vehicle; 11: First positioning base station; 12: Second positioning base station; 13: Third positioning base station; 14: Fourth positioning base station; 15: Fifth positioning base station

[0049] 2: Mobile terminal, 3: Vehicle terminal, 4: Positioning server. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments thereof.

[0051] The main concept of this invention is as follows: Vehicle 1, such as a ride-hailing vehicle, while accepting a reservation request from a passenger's mobile terminal 2 and en route to the passenger's departure point, still uses existing satellite navigation and positioning functions (such as GPS, BDS, etc.). When the ride-hailing vehicle approaches the passenger's reserved pick-up point within a preset range (e.g., 200 meters), it activates the onboard UWB positioning base station to scan and locate the passenger's mobile terminal 2. Upon successful scanning and positioning, the mobile terminal 2 responds to a UWB pulse signal, initiating a preset interaction mode between the ride-hailing vehicle and the mobile terminal, establishing a UWB wireless communication link. At this time, the system automatically switches the ride-hailing vehicle's positioning system to UWB positioning and navigation, allowing the driver to accurately locate the passenger's position under the guidance of an electronic map. This avoids the previous hassle of repeatedly communicating to confirm the location of both parties, thereby improving the passenger's ride-hailing experience. Ideally, since UWB ranging and positioning technology not only has high-precision positioning capabilities but also high bandwidth, both drivers and passengers can use the wireless communication network composed of UWB technology to make voice and / or video calls. They can also control specific functions of the vehicle and mobile phone, further enhancing the passenger experience.

[0052] Figure 1 This is a schematic diagram of a vehicle precise positioning and communication system based on UWB technology, according to an embodiment of the present invention.

[0053] like Figure 1 As shown, this vehicle precise positioning and communication system based on UWB technology mainly includes a vehicle 1, a passenger's mobile terminal 2, and an in-vehicle terminal 3. Wherein:

[0054] The vehicle 1 can be a ride-hailing vehicle, a taxi, etc.

[0055] The mobile terminal 2 is a smart mobile terminal with a ride-hailing passenger app installed and a built-in UWB tag.

[0056] The vehicle-mounted terminal 3 can be an in-vehicle computer or a smart mobile terminal with a ride-hailing driver app installed, capable of communicating with the vehicle-mounted UWB base station via wired or wireless communication. The vehicle-mounted UWB base station includes a first positioning base station 11, a second positioning base station 12, a third positioning base station 13, a fourth positioning base station 14, and a fifth positioning base station 15. The first positioning base station 11, second positioning base station 12, fourth positioning base station 14, and fifth positioning base station 15 are respectively located at the four corners of the vehicle 1; the third positioning base station 13 is located at the top center of the vehicle 1. Each of the first positioning base station 11, second positioning base station 12, third positioning base station 13, fourth positioning base station 14, and fifth positioning base station 15 includes a chip supporting UWB technology and a UWB antenna, and supports communication with the vehicle-mounted terminal 3 via Ethernet interface, CAN bus, RS485, or via Bluetooth or Wi-Fi. The vehicle-mounted terminal 3 can connect to the mobile terminal 2 via any three, four, or five UWB positioning base stations using UWB communication.

[0057] In this embodiment of the invention, the vehicle 1, such as a ride-hailing vehicle, needs to be equipped with at least 3 UWB positioning base stations that are not on the same straight line, and the passenger's mobile terminal 2 also needs to support UWB communication function.

[0058] When the ride-hailing vehicle approaches the passenger's location, it activates the vehicle's UWB antenna to search for the UWB signal emitted by the passenger's mobile terminal 2. The search process involves the vehicle's UWB antenna transmitting the UWB location request signal of the target passenger's mobile terminal 2 to the surrounding area (see reference). Figure 3 Each UWB antenna contains a globally unique Media Access Control Address (MAC). The MAC address of the UWB in the target passenger's mobile terminal 2 can be obtained in advance through authorization when hailing a ride via the client APP.

[0059] When a non-target passenger's mobile terminal receives the location request signal, it will not respond because its own MAC address does not correspond to the MAC address of the base station antenna requesting location.

[0060] When the target passenger's mobile device receives the location request, since the MAC address matches, the mobile device will receive and respond to the location request sent through the ride-hailing vehicle's UWB base station antenna via its UWB antenna. After the ride-hailing vehicle's UWB base station antenna receives the target passenger's mobile device's response signal, the other UWB base station antennas in the ride-hailing vehicle will then sequentially send location requests to the target passenger.

[0061] Here, the principle of UWB base station antenna positioning for ride-hailing vehicles is: using the Time of Flight (ToF) ranging algorithm, the distance is calculated using the signal travel time.

[0062] like Figure 3 The image shows a basic description of how the ToF algorithm works in a vehicle equipped with a UWB base station antenna and a mobile terminal using UWB. The left side shows the UWB base station antenna on vehicle 1, and the right side shows the UWB base station antenna on mobile terminal 2.

[0063] To calculate the Time of Flight (ToF), we measure the time it takes for a signal to travel from vehicle 1 to vehicle 1 receiving a return response signal. We select the round-trip time reading, which includes the processing time in mobile terminal 2. Subtracting the processing time and dividing by 2 gives the ToF. To determine the distance covered during transmission, we multiply the ToF by the speed of light, C.

[0064]

[0065] Therefore, the distance S between the ride-hailing vehicle and the passenger is:

[0066] S = C × ToF. (2)

[0067] Here, C represents the speed of light.

[0068] In equation (1): T0 is the time when the vehicle-mounted UWB base station sends a location request, T1 is the time when the passenger's mobile terminal receives the location request, T2 is the time when the mobile terminal sends a response signal through the UWB antenna, and T3 is the time when the vehicle-mounted UWB base station receives the response signal.

[0069] The ToF algorithm described in equation (1) above is applicable to scenarios where the signal transmitter and receiver have a unified communication clock. If the clocks of the transmitter and receiver cannot be strictly synchronized, it will cause a large error in the positioning accuracy (i.e., the distance S between the driver and passenger). However, the positioning error distance is still within an acceptable range within the line-of-sight range. To reduce the error, a reverse measurement method can also be used, that is, the mobile terminal 2 sends a positioning request (data packet) to the vehicle-mounted UWB base station, and the vehicle-mounted UWB base station receives and responds automatically. By averaging the average of multiple forward and reverse measurements, the influence of the constant offset can be reduced, thereby reducing the ranging error.

[0070] In one embodiment of the present invention, the frequency range of the UWB wireless pulse signal is between 3.1 GHz and 10.6 GHz, the data transmission rate can reach 500 Mb / s, and the pulse repetition period is approximately 25 ns to 1 ms. If calculated based on a 25 ns pulse repetition period, the time for one UWB base station antenna to complete positioning is approximately 25 ns (transmission) + 25 ns (reception) + 10000 ns (MCU processing) = 10050 ns. Therefore, the time for three UWB antennas on a ride-hailing vehicle to complete one positioning operation is 10050 ns * 3 = 30150 ns. When the ride-hailing vehicle approaches the passenger at a speed of 60 km / h, the distance traveled per second is 16.67 m, and the number of positioning operations that can be completed in one second is 1 s / 30150 ns = 33167. Therefore, a ride-hailing vehicle can send 33,167 location-tracking wireless pulse signals to passengers per second. Each pulse, due to the vehicle's movement, represents a positional change of approximately 16.67m / 33,167 pulses ≈ 0.0005 meters = 0.05cm. It is evident that the error caused by changes in vehicle speed is only 0.05cm, which is negligible for ride-hailing vehicles locating passengers.

[0071] Embodiments of the present invention can also employ the Time Difference of Arrival (TDoA) algorithm for ranging and positioning. The TDoA algorithm is a positioning method that utilizes the time difference of arrival, also known as hyperbolic positioning. Specifically, the mobile terminal 2 sends out a UWB wireless pulse signal. All UWB positioning base stations within the coverage area of ​​the mobile terminal 2's UWB signal will receive this wireless pulse signal. Since the distances between the different UWB positioning base stations and the mobile terminal 2 are different, the time points at which the different UWB positioning base stations receive the same wireless pulse signal are different. The positioning principle of the TDoA algorithm is to determine the position of the mobile terminal 2 by using the time difference of the pulse signals received by the multiple UWB positioning base stations. Using the TDoA algorithm for ranging and positioning eliminates the need for repeated communication between the mobile terminal 2 and the UWB positioning base stations; only one UWB pulse signal transmission is required. Therefore, the working time is shortened, and power consumption is reduced accordingly. This facilitates higher positioning dynamics and positioning capacity. Since the ranging and positioning principle of the TDoA algorithm is existing technology, its positioning process will not be described in detail in this invention.

[0072] Furthermore, to address the issue of accurate positioning for both drivers and passengers under complex road conditions (such as multi-level roads and three-dimensional traffic environments), in another embodiment of the present invention, the ride-hailing vehicle can simultaneously utilize four or five UWB base stations to perform ranging and positioning of the passenger's mobile terminal 2, thereby supporting more accurate positioning of both drivers and passengers in a three-dimensional environment. The algorithm is slightly more complex, but the principle employed is similar to the aforementioned ToF and TDoA algorithms, and will not be elaborated further in this application's embodiments. Additionally, embodiments of the present invention can also employ other algorithms for ranging and positioning, such as ToA and TW-ToF algorithms.

[0073] In summary, after the system calculates the distances between the 3, 4, or 5 UWB antennas of the ride-hailing vehicle's UWB base station and the passenger's mobile terminal 2, it can calculate the distance and location between the ride-hailing vehicle and the passenger using simple mathematical operations. This positioning process is then repeated continuously to update the passenger's location on the electronic maps of both the driver and passenger (correspondingly, their respective apps will display the entire movement trajectory). The system then updates this distance and location information to the mobile terminal app maps of the ride-hailing vehicle and the passenger via the positioning server 4, replacing the currently used satellite positioning information with UWB positioning information, and displaying the specific location of the ride-hailing vehicle and passenger based on UWB positioning on the app map.

[0074] In addition, since UWB has not only high-precision positioning capabilities but also very high signal bandwidth, once the driver and passenger establish a UWB communication connection, they can use UWB to make voice calls, video calls, and control vehicle signals (such as vehicle lights and horns).

[0075] For example, in this embodiment, when the driver approaches the passenger's location, the passenger can control the flashing or color of the ride-hailing vehicle's hazard lights, passenger indicator signs, and other lighting systems via UWB, so that the passenger can more easily find the specific location of the ride-hailing vehicle they are about to take.

[0076] Correspondingly, when the driver approaches the passenger's location, the driver can also use UWB technology to control the flashing and flashing frequency of the passenger's mobile terminal's flashlight, so that the driver can promptly locate the passenger's specific location at night or in crowded places.

[0077] In an embodiment of the invention, when the driver approaches the passenger's location, they can conduct voice / video calls via UWB technology after encryption through the app. Because UWB has localized characteristics, communication with the passenger can only occur when the driver is near them and the communication is encrypted by the app software on their respective terminals, thus protecting the privacy of both driver and passenger. Furthermore, since the communication between the driver and passenger is based on hardware-based UWB technology, no call charges are incurred.

[0078] Currently, most ride-hailing platforms encrypt the driver's and passenger's phone numbers before allowing calls via their app's number forwarding function, generally only allowing voice calls and not video calls. Furthermore, because many mobile devices now have high-frequency call blocking capabilities, frequently dialed numbers in ride-hailing systems are easily identified as high-frequency callers or blacklisted, hindering communication. To solve this problem, existing ride-hailing platforms would need to maintain a large number of numbers for forwarding, which is very inconvenient.

[0079] Once the passenger arrives at their destination, the in-vehicle UWB system will also locate the passenger's mobile device. Specifically, when the ride-hailing vehicle reaches its destination, the in-vehicle UWB antenna is activated to begin locating the passenger's mobile device. When the car door opens and closes, if the system detects that the passenger's mobile device is still in the car, it will remind the driver through the in-vehicle screen and voice system that the passenger's mobile device is still in the car and ask the driver to remind the passenger to retrieve their mobile device.

[0080] Figure 2 This is a schematic diagram of the vehicle precise positioning and communication network composition based on UWB technology in an embodiment of the present invention.

[0081] like Figure 2As shown in the schematic diagram of the vehicle precise positioning and communication network based on UWB technology, the mobile terminal 2, the vehicle-mounted terminal 3, and the positioning server 4 achieve wireless connection and data communication through a mobile communication network. The mobile communication network is a 3G / 4G or 5G network. When the relative distance between the mobile terminal 2 and the vehicle-mounted terminal 3 reaches a certain range, the mobile terminal 2 establishes a full-duplex communication link with the vehicle-mounted terminal 3 via a UWB base station using UWB wireless communication.

[0082] The positioning server 4 is configured to run one or more computer programs to provide online ride-hailing and real-time electronic map positioning services via the vehicle terminal 3 and / or mobile terminal 2. The positioning server 4 can update the location of each component in the electronic map in real time based on GPS, BeiDou Navigation Satellite System (BDS), and other satellite navigation location data received and uploaded by the vehicle terminal 3 and / or mobile terminal 2, and then distribute the location data to the mobile terminal 2 and / or vehicle terminal 3.

[0083] Preferably, when the vehicle terminal 3 and the mobile terminal 2 enter a certain preset distance range, the positioning server 4 receives the distance and positioning data of the vehicle terminal 3 and / or the mobile terminal 2 in the UWB communication network through the mobile communication network, and sends it to the vehicle terminal 3 and / or the mobile terminal 2 through the mobile communication link to update their respective location information in the electronic map in real time.

[0084] In another embodiment, if mobile terminal 2 or vehicle terminal 3 is located in an area without mobile network signal coverage, and the positioning server 4 can communicate with either mobile terminal 2 or vehicle terminal 3, then the positioning server 4 can instruct the vehicle terminal 3 or mobile terminal 2 to transmit / update its location information in the electronic map via the UWB communication link. For example, when mobile terminal 2 is in a mobile communication network blind spot, the positioning server 4 issues an instruction for vehicle terminal 3 to transmit / update its location data / information to mobile terminal 2 via the UWB communication link, thus enabling both the driver and passenger to still monitor their respective distance and location information in real time.

[0085] The positioning server 4, vehicle terminal 3, and mobile terminal 2 are each equipped with a computer-readable storage medium and one or more (computer) processors, such as CPU, MPU, or MCU. The computer-readable storage medium includes, but is not limited to, internal memory, flash memory, and external memory, storing multiple computer programs for being read and / or executed by the one or more computer processors to implement the UWB-based vehicle precise positioning and communication method described in this invention.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A method for precise vehicle positioning and communication based on UWB technology, characterized in that, Includes the following steps: Transmit a UWB pulse signal to determine whether the distance between the vehicle and the mobile terminal has reached a preset distance range; If so, then in response to the UWB pulse signal, a specific interaction mode is initiated between the vehicle and the mobile terminal; The frequency range of the UWB pulse signal is between 3.1 GHz and 10.6 GHz; the specific interaction method includes voice or video communication implemented through a UWB wireless communication link; When a vehicle or mobile terminal responds to the UWB pulse signal, a specific interaction mode is initiated between the vehicle and the mobile terminal, including: obtaining the current travel time of the UWB pulse signal between the vehicle and the mobile terminal or obtaining the time difference of the UWB pulse signal received by different UWB base stations, calculating the relative distance between the vehicle and the mobile terminal, and then updating the location data. The relative distance is calculated using a time-of-flight (ToF) ranging algorithm or a time difference of arrival (TDoA) algorithm. The step of transmitting a UWB pulse signal to determine whether the distance between the vehicle and the mobile terminal reaches a preset distance range, if yes, further includes the step of switching the satellite navigation and positioning function previously used by the vehicle and / or the mobile terminal to the UWB positioning and navigation, wherein the satellite navigation and positioning function includes GPS or BDS positioning.

2. The vehicle precise positioning and communication method based on UWB technology according to claim 1, characterized in that, The distance between the vehicle and the mobile terminal reaches a preset distance range, specifically less than 200 meters.

3. The vehicle precise positioning and communication method based on UWB technology according to claim 1, characterized in that, The specific interaction method between the vehicle and the mobile terminal also includes: initiating and establishing a UWB wireless communication link between the vehicle and the mobile terminal, wherein the data transmission rate of the UWB wireless communication link can reach 500Mb / s.

4. The vehicle precise positioning and communication method based on UWB technology according to claim 1, characterized in that, After calculating the relative distance between the vehicle and the mobile terminal and updating the location data, the method further includes: transmitting the next UWB pulse signal to calculate the new relative distance between the vehicle and the mobile terminal and updating the location data again. The pulse repetition period of the UWB pulse signal is 25ns to 1ms.

5. The vehicle precise positioning and communication method based on UWB technology according to claim 4, characterized in that, The mobile terminal connects to the vehicle's onboard terminal via the UWB wireless communication link and controls the vehicle to issue prompt signals in the form of sound and light. The sound and light signals include controlling the hazard lights of the ride-hailing vehicle and the flashing or color of the passenger indicator light system.

6. The vehicle precise positioning and communication method based on UWB technology according to claim 4, characterized in that, The vehicle's onboard terminal connects to the mobile terminal via the UWB wireless communication link and controls the mobile terminal to emit a warning signal in a flashing manner. The flashing manner includes controlling the flashing of the passenger's mobile phone flashlight and the flashing frequency.

7. The vehicle precise positioning and communication method based on UWB technology according to claim 4, characterized in that, The vehicle's onboard terminal and mobile terminal establish a full-duplex communication channel through the UWB wireless communication link to communicate in voice and / or video modes. The communication is encrypted by the APP and is based on hardware-based UWB technology.

8. The vehicle precise positioning and communication method based on UWB technology according to claim 1, characterized in that, The process includes determining whether the distance between the vehicle and the mobile terminal has reached a preset distance range. If not, the process continues to transmit UWB pulse signals to search for the vehicle or the mobile terminal. It also includes locating the passenger's mobile terminal with the vehicle-mounted UWB antenna when the ride-hailing vehicle reaches its destination and detecting lost items when the car door is opened and closed.

9. A communication system for implementing the vehicle precise positioning and communication method based on UWB technology as described in any one of claims 1 to 8, characterized in that, include: The mobile terminal is used to maintain a data connection with the positioning server via a mobile communication network, and is also used to measure distances and locate vehicle-mounted terminals, and to establish a UWB communication link with vehicle-mounted terminals to upload first positioning data to the positioning server and receive second positioning data. The vehicle-mounted terminal is used to maintain a data connection with the positioning server via a mobile communication network, and is also used to measure distance and position the mobile terminal, and to establish a UWB communication link with the mobile terminal to upload second positioning data to the positioning server and receive the first positioning data. A positioning server is configured to receive the first positioning data and the second positioning data, and to send the second positioning data and the first positioning data to the mobile terminal and / or vehicle terminal to update their respective location data in the electronic map.

10. A mobile terminal, characterized in that, Includes one or more processors and memory; The processor is used to read and execute one or more computer programs stored in the memory to implement the steps of the vehicle precise positioning and communication method based on UWB technology as described in any one of claims 1 to 8.

11. A vehicle-mounted terminal, characterized in that, Includes one or more processors and memory; The processor is used to read and execute one or more computer programs stored in the memory to implement the steps of the vehicle precise positioning and communication method based on UWB technology as described in any one of claims 1 to 8.

12. A positioning server, characterized in that, It includes one or more processors and a memory; the processor is used to read and execute one or more computer programs stored in the memory to implement the steps of the vehicle precise positioning and communication method based on UWB technology as described in any one of claims 1 to 8.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more computer programs for being read and / or executed by one or more processors to implement the steps of the vehicle precise positioning and communication method based on UWB technology as described in any one of claims 1 to 8.

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